CN111645678B - Vehicle braking and steering coordinated control anti-collision system and control method - Google Patents

Vehicle braking and steering coordinated control anti-collision system and control method Download PDF

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CN111645678B
CN111645678B CN202010427760.6A CN202010427760A CN111645678B CN 111645678 B CN111645678 B CN 111645678B CN 202010427760 A CN202010427760 A CN 202010427760A CN 111645678 B CN111645678 B CN 111645678B
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vehicle
lane
self
distance
acceleration
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CN111645678A (en
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李静
滕飞
范天昕
吴桐
王欣志
何闫
孟令帅
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Jilin 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B60W2420/408—
    • 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
    • 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
    • B60W2520/105—Longitudinal acceleration

Abstract

The system consists of a data acquisition module, an integrated processing module and an execution module, wherein the data acquisition module acquires vehicle running information and road information and sends the data information to the integrated processing module, the integrated processing module sequentially judges whether steering lane change is needed or not and whether the steering lane change is safe or not, when the steering lane change is judged to be safe or not, whether lane boundary lines are broken lines or not is sequentially judged, whether the vehicle distance between the front vehicle and the rear vehicle after lane change is qualified or not is judged, whether side lanes are smooth or not is judged, the lane change track side displacement is obtained, whether the barycenter side deviation angle, the steering angle and the side acceleration meet requirements or not is judged, and after the integrated processing module analyzes and processes the data, the execution module is controlled to perform braking, steering or early warning operation. The invention comprehensively considers the influence of road conditions, other vehicle running conditions and the change of the vehicle parameters so as to improve the running safety when the vehicle changes the lane.

Description

Vehicle braking and steering coordinated control anti-collision system and control method
Technical Field
The invention belongs to the technical field of vehicle active safety, and particularly relates to a vehicle braking and steering coordinated control anti-collision system and a control method.
Background
Along with the development of automobile intellectualization, the popularization rate of the emergency braking system in automobiles is higher and higher, and the improvement of the active safety performance of the automobiles is facilitated. When the automobile runs at a high speed, due to the fact that the longitudinal safe distance is insufficient, even under the emergency braking working condition, the danger of collision can occur, therefore, lateral lane changing can be considered, risks are avoided, and the active safety performance of the automobile is further improved. At present, a lateral lane-changing track model of an automobile comprises a sine function track model, a track model based on trapezoidal lateral acceleration, a constant-speed offset track model and the like, and when the track models are constructed, the lane-changing track model is optimized only by considering the influence of automobile lane changing on the change of self parameters, and the road condition and the running condition of a vehicle on a lane-changing target lane are not considered.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the anti-collision system and the control method for the vehicle braking and steering coordination control, which comprehensively consider the influence of road factors and the change of the running condition of surrounding vehicles on the basis of considering the change of the vehicle and the parameters thereof so as to improve the running safety when the vehicle changes the lane. The technical scheme of the invention is as follows by combining and explaining the attached drawings:
a vehicle braking and steering coordinated control anti-collision system comprises a data acquisition module, a comprehensive processing module and an execution module;
in the data acquisition module: the laser radar, the millimeter wave radar, the camera, the ZigBee and the self vehicle information reading unit respectively send the collected vehicle running data and road information data to the comprehensive processing module;
in the comprehensive processing module, a data processing unit analyzes and processes received vehicle driving data and road information data to obtain decision data and sends the decision data to a decision unit, and the decision unit judges to generate a decision instruction and sends the decision instruction to an execution module;
in the execution module, the brake, the steering gear, the buzzer and the indicator light respectively receive the decision instruction sent by the decision unit and execute steering, braking or early warning operation.
Further, the vehicle travel data includes:
the method comprises the following steps that the laser radar acquires the speed and the acceleration of a front vehicle on the same lane, a rear vehicle on a side lane and a front vehicle on a side lane, the distance between the self vehicle and the front vehicle on the same lane, the longitudinal distance between the self vehicle and the rear vehicle on the side lane, the longitudinal distance between the self vehicle and the front vehicle on the side lane and the distance between the rear vehicle on the side lane and the front vehicle on the side lane;
the millimeter wave radar acquires the speed and the acceleration of a front vehicle in the same lane, a rear vehicle in a side lane and a front vehicle in the side lane;
the ZigBee acquires the speed and the acceleration of a front vehicle on the same lane, a rear vehicle on a side lane and a front vehicle on the side lane, the number of different vehicle types on a lane where the self vehicle is located and the number of different vehicle types on a side lane of the self vehicle in a data communication mode;
the speed and the acceleration of the vehicle are acquired by the vehicle information reading unit;
the road information data includes:
the method comprises the following steps that the width of a road, the transverse distance between a driving center line where a vehicle is located and a driving center line where a vehicle in a side lane is located, the transverse distance between the driving center line where the vehicle is located and a lane boundary between the side lanes and the virtual and real conditions of the lane boundary between the lane where the vehicle is located and the side lanes are acquired by a camera;
a control method for a vehicle braking and steering coordinated control anti-collision system comprises the following specific steps:
s1: collecting vehicle driving data and road information data;
s2: the data is primarily analyzed and processed to obtain the driving data of the surrounding vehicles;
s3: the data is further analyzed and processed to obtain decision data, and decision instructions of steering, braking or early warning are generated and executed after judgment;
in the step S1:
the vehicle driving data comprises driving data of a vehicle A, a front vehicle B in the same lane, a rear vehicle C in a side lane and a front vehicle D in the side lane; wherein:
collecting the speed v of the front vehicle B on the same lane by a laser radar B1 Acceleration a of the same-lane front vehicle B B1 Speed v of the rear vehicle C on the side lane C1 Acceleration a of the rear vehicle C on the side lane C1 Speed v of the preceding vehicle D on the side lane D1 Acceleration a of the preceding vehicle D on the side lane D1 The distance d between the vehicle A and the front vehicle B on the same lane b Longitudinal distance d between the host vehicle A and the rear vehicle C on the side lane c Longitudinal distance D between the vehicle A and the front vehicle D of the side lane d The distance D between the rear vehicle C on the side lane and the front vehicle D on the side lane cd ；
Collecting the speed v of the front vehicle B on the same lane by a millimeter wave radar B2 Acceleration of the same lane front vehicle Ba B2 Speed v of the rear vehicle C on the side lane C2 Acceleration a of the rear vehicle C on the side lane C2 Speed v of the preceding vehicle D on the side lane D2 Acceleration a of the preceding vehicle D on the side lane D2 ；
Collecting the speed v of the front vehicle B on the same lane through ZigBee B3 Acceleration a of the same-lane front vehicle B B3 Speed v of the rear vehicle C on the side lane C3 Acceleration a of the rear vehicle C on the side lane C3 Speed v of the preceding vehicle D on the side lane D3 Acceleration a of the preceding vehicle D on the side lane D3 And the number n of passenger cars on the lane of the host vehicle A 11 Number n of passenger cars 12 N number of general trucks 13 N number of large trucks 14 The number n of passenger cars on the lateral lane of the own vehicle A 21 Number n of passenger cars 22 N number of general trucks 23 N number of large trucks 24 ；
The speed v of the bicycle A is collected by the bicycle information reading unit A Acceleration a of the bicycle A A Total angular stiffness k of suspension of bicycle a φ Sprung mass m of bicycle A s A distance h' from the sprung mass centre of mass of the vehicle a to the roll axis;
the road information data comprises road width w acquired through a camera, a transverse distance h between a driving center line of the vehicle A and a driving center line of a vehicle in a side lane, a transverse distance z between the driving center line of the vehicle A and a lane boundary between the side lanes, and an imaginary condition of the lane boundary between the lane of the vehicle A and the side lane.
In the step S2:
the surrounding vehicle running data obtained by the preliminary analysis processing of the vehicle running data obtained in the step S1 includes: speed v of front vehicle B on same lane B And acceleration a B Speed v of the rear vehicle C on the side lane C And acceleration a C And the vehicle speed v of the vehicle D ahead of the side lane D And acceleration a D The calculation formula is specifically as follows:
Figure GDA0003777268460000041
Figure GDA0003777268460000042
Figure GDA0003777268460000043
Figure GDA0003777268460000044
Figure GDA0003777268460000045
Figure GDA0003777268460000046
in this step S3:
and further analyzing and processing the data obtained in the step S1 and the step S2 to obtain decision data, and generating and executing a decision instruction by judgment to control the specific process of executing corresponding operation as follows:
s31: detecting that a vehicle is in front of the same lane of the self-vehicle and calculating the longitudinal early warning distance d z1 ；
S32: judging the distance d between the vehicle A and the front vehicle B on the same lane b A longitudinal early warning distance d z1 If d is a magnitude relation of b ≥d z1 Generating and executing a normal driving instruction; if d is b ＜d z1 Then, the process proceeds to step S33;
s33: and judging whether the lateral lane change is safe, if so, executing steering operation to realize the lateral lane change, and if not, executing early warning and braking operation.
In the step S31:
the longitudinal early warning distance d z1 The calculation formula of (a) is as follows:
Figure GDA0003777268460000047
the longitudinal early warning distance d z1 In the calculation formula (2):
a max the maximum braking deceleration of the bicycle A;
t 1 the braking reaction time of the bicycle A is shown;
t 2 braking delay time of the bicycle A;
t 3 increasing the braking time for the bicycle A;
d 0 the parking distance of the bicycle A.
In the step S33:
the specific steps of judging whether the lateral lane change is safely put in are as follows:
s331: judging whether a lane boundary between a lane where the own vehicle A is located and a side lane is a dotted line or not, if so, entering the step S332, and if not, generating and executing an early warning and a slight braking command, namely, a solid line;
s332: judging the safe distance d between the rear vehicle C of the side lane and the changed vehicle A r The actual distance d between the rear vehicle C of the side lane and the self-vehicle A' after lane change 2 The size relation between the two, and the safety distance D between the front vehicle D of the side lane and the self vehicle A' after lane change f The actual distance D between the front vehicle D of the side lane and the self-vehicle A' after lane change 3 If d is a magnitude relation between r ＜d 2 And d is f ＜d 3 Step S333 is entered, otherwise, an early warning and a slight braking instruction are generated and executed;
the safe distance d between the rear vehicle C with the side lane and the self vehicle A' after lane change r Is a preset value;
the safe distance D between the front vehicle D of the side lane and the changed self vehicle A f Is a preset value;
the rear vehicle C of the side lane and the self-vehicle A' after lane changeActual distance d between 2 The calculation formula of (c) is as follows:
d 2 ＝d c +l-S r
Figure GDA0003777268460000051
the above-mentioned actual distance d 2 In the calculation formula (c):
d c the longitudinal distance between the self-vehicle A and the rear vehicle C of the side lane is shown;
l is the longitudinal running displacement of the self-vehicle A in the lane change time;
S r the driving displacement of the rear vehicle C of the side lane in lane changing time;
t 0 is d b ＝d z1 The time of day;
v A (t 0 ) Is t 0 The speed of the bicycle A at the moment;
v C (t 0 ) Is t 0 The speed of the rear vehicle C of the side lane at the moment;
a C the vehicle acceleration of the rear vehicle C of the side lane is obtained;
t b is the lane change time of the bicycle A, wherein:
Figure GDA0003777268460000061
the self-vehicle lane change time t b In the calculation formula (c):
Figure GDA0003777268460000062
is the tire lateral adhesion coefficient;
g is the acceleration of gravity;
h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;
w is the road width;
z is a transverse distance between a driving center line of the self-vehicle A and a lane boundary between the lateral lanes;
finally, the actual distance d between the self-vehicle A and the rear vehicle C of the side lane is obtained 2 The calculation formula of (a) is as follows:
Figure GDA0003777268460000063
the actual distance D between the front vehicle D of the side lane and the changed self vehicle A 3 The calculation formula of (c) is as follows:
d 3 ＝d d +S f -l
Figure GDA0003777268460000064
the actual distance D between the vehicle A and the front vehicle D in the side lane 3 In the calculation formula (2):
d d the longitudinal distance between the self vehicle A and the front vehicle D of the side lane is shown;
l is the longitudinal running displacement of the bicycle A in lane change time;
S f the driving displacement of a front vehicle D of a lateral lane in lane changing time is obtained;
t 0 is d b ＝d z1 The time of day;
v A (t 0 ) Is t 0 The speed of the vehicle is determined at the moment;
v D (t 0 ) Is t 0 The speed of a front vehicle D of the side lane at the moment;
a D the vehicle acceleration of the front vehicle D of the side lane is obtained;
t b for the time of changing lanes from the car, wherein:
Figure GDA0003777268460000071
the self-vehicle lane change time t b In the calculation formula (2):
Figure GDA0003777268460000072
is the tire lateral adhesion coefficient;
g is the acceleration of gravity;
h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;
w is the road width;
z is a transverse distance between a driving center line of the self-vehicle A and a lane boundary between the lateral lanes;
finally, the actual distance D between the self-vehicle A and the rear vehicle D of the side lane is obtained 2 The calculation formula of (a) is as follows:
Figure GDA0003777268460000073
s333: judging the same lane road unobstructed rate gamma of the lane where the self vehicle A is positioned 1 Road clear rate gamma of the side lane and the A side lane of the self-vehicle 2 In the magnitude relation of (c), if gamma 2 ＞γ 1 If not, generating and executing an early warning and a light braking instruction;
in step S331:
the road clear rate gamma of the same lane 1 Road clear rate gamma of side lane 2 The calculation formula of (a) is as follows:
Figure GDA0003777268460000074
Figure GDA0003777268460000075
clear rate gamma of the same lane road 1 Road clear rate gamma of side lane 2 In the calculation formula (c):
n 11 the number of the passenger cars on the lane where the self-vehicle A is located;
n 12 the number of the passenger cars on the lane of the self-car A is shown;
n 13 the number of the ordinary trucks on the lane where the self vehicle A is located;
n 14 the number of large trucks on the lane where the self vehicle A is located;
n 21 the number of the passenger cars on the side lane of the self-vehicle A is shown;
n 22 the number of the passenger cars on the side lane of the self-car A is shown;
n 23 the number of the ordinary trucks on the side lane of the self-vehicle A is set;
n 24 the number of large trucks on the lane at the side of the bicycle A is shown;
s334: the calculation formula for calculating the lane change track side displacement y (t) from the lane change lane to the side lane of the vehicle A is as follows:
Figure GDA0003777268460000081
in the above formula for calculating the track-changing side displacement y (t):
t≤t b ；
h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;
t 0 is d b ＝d z1 The time of day;
v A (t 0 ) Is t 0 The speed of the vehicle is determined at the moment;
t b for the time of changing lanes from the car, wherein:
Figure GDA0003777268460000082
the self-vehicle lane change time t b In the calculation formula (2):
Figure GDA0003777268460000083
is the tire lateral adhesion coefficient;
g is gravity acceleration;
w is the road width;
z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;
s335: judging the centroid slip angle phi and the centroid slip angle phi of the upper limit of human comfort during the process of changing the lane of the vehicle A from the lane to the lateral lane lim If phi < phi, the magnitude relationship of lim If not, generating and executing an early warning and a light braking instruction;
the mass center side slip angle phi of the upper limit of human body comfort lim Is a preset value;
the calculation formula of the centroid slip angle phi in the process that the vehicle A changes lanes from the lane to the side lanes is as follows:
Figure GDA0003777268460000091
in the above formula for calculating the centroid slip angle phi:
Figure GDA0003777268460000092
is the lateral acceleration;
s336: steering angle theta and upper limit value theta of steering angle for operation stability in the process of changing lane from the lane where the vehicle A is located to the side lane lim If theta < theta lim If not, generating and executing an early warning, namely a slight braking instruction;
the upper limit value theta of the steering angle for the steering stability lim Is a preset value;
the calculation formula of the steering angle theta in the process of changing the lane of the vehicle A from the lane to the side lane is as follows:
Figure GDA0003777268460000093
in the above calculation formula of the steering angle θ:
v Ay the lateral speed of the self-vehicle during lane changing,
Figure GDA0003777268460000094
v Ax longitudinal speed, v, for changing lanes from vehicle to vehicle Ax ＝v A (t 0 )；
Namely:
Figure GDA0003777268460000095
s337: judging the lateral acceleration of the vehicle A in the process of changing the lane from the lane to the lateral lane
Figure GDA0003777268460000096
Lateral acceleration to the upper limit of human comfort
Figure GDA0003777268460000101
The magnitude relationship between them, if
Figure GDA0003777268460000102
Generating and executing steering operation, controlling a steering gear to work, enabling the self vehicle A to follow the track changing track of the self vehicle to change the lane laterally, and otherwise generating and executing an early warning and slight braking instruction;
lateral acceleration of the upper limit of human comfort
Figure GDA0003777268460000103
Is a preset value;
the lateral acceleration of the vehicle A in the process of changing lanes from the lane to the lateral lane
Figure GDA0003777268460000104
Obtaining the lateral displacement y (t) of the track-changing track by derivation;
the track changing track of the self vehicle is as follows:
Figure GDA0003777268460000105
in the above equation of lane change of the vehicle:
t≤t b ；
y (t) is the lateral displacement of the track change of the bicycle A;
and S (t) is the longitudinal displacement of the bicycle A.
Compared with the prior art, the invention has the beneficial effects that:
the anti-collision system and the control method for coordinated control of vehicle braking and steering comprehensively consider the influence of road conditions, the driving condition of the vehicle on the lane change target lane and the change of the own vehicle parameters, and comprehensively make corresponding lane change decisions so as to improve the driving safety when the vehicle changes lanes.
Drawings
FIG. 1 is a block diagram schematically illustrating the structure of a vehicle braking and steering coordination control anti-collision system according to the present invention;
FIG. 2 is a flow chart of a method for controlling anti-collision in coordination with braking and steering of a vehicle according to the present invention;
fig. 3 is a flow chart of a process of further analyzing and processing data to obtain decision data, and determining to generate and execute a decision command in the anti-collision control method according to the present invention;
fig. 4 is a schematic diagram of a vehicle running condition in the vehicle braking and steering coordinated control anti-collision system and control method.
Detailed Description
For clearly and completely describing the technical scheme and the specific working process thereof, the specific implementation mode of the invention is as follows by combining the attached drawings of the specification:
in the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
As shown in fig. 1, the invention discloses a vehicle braking and steering coordinated control anti-collision system, which comprises: the system comprises a data acquisition module, a comprehensive processing module and an execution module; the data acquisition module acquires vehicle running information and road information and sends the acquired data information to the comprehensive processing module, the comprehensive processing module analyzes and processes the received data information and then designates a control decision, and the execution module is further controlled to perform braking, steering or early warning operation according to the control decision.
As shown in fig. 4, the vehicle located in the same lane as the host vehicle a and in front of the host vehicle a is: a front vehicle B on the same lane; the vehicle behind the vehicle A' which is positioned on the lane beside the vehicle A and behind the lane change is as follows: a rear vehicle C of the side lane; the vehicles which are positioned on the lanes at the side of the vehicle A and are positioned in front of the vehicle A' after lane change are as follows: a front vehicle D of the side lane;
as shown in fig. 1, the data acquisition module is composed of a laser radar, a millimeter wave radar, a camera, a ZigBee and a vehicle information reading unit, and the laser radar, the millimeter wave radar, the camera, the ZigBee and the vehicle information reading unit are respectively in signal connection with the data processing unit in the comprehensive processing module to respectively send the acquired vehicle running information and road information to the data processing unit for analysis and processing; wherein:
the laser radar is used for acquiring the speed v of the front vehicle B on the same lane B1 Acceleration a of the same-lane front vehicle B B1 Speed v of the rear vehicle C on the side lane C1 Acceleration a of the rear vehicle C on the side lane C1 Speed v of the preceding vehicle D on the side lane D1 Acceleration a of the preceding vehicle D on the side lane D1 The distance d between the vehicle A and the front vehicle B on the same lane b Longitudinal distance d between the host vehicle A and the rear vehicle C of the side lane c Longitudinal distance D between the vehicle A and the front vehicle D on the side lane d The distance D between the rear vehicle C on the side lane and the front vehicle D on the side lane cd ；
The millimeter wave radar is respectively arranged at the left front part, the right front part, the left rear part and the right rear part of the vehicle and is used for acquiring the speed v of the front vehicle B on the same lane B2 Acceleration a of the same-lane front vehicle B B2 Speed v of the rear vehicle C on the side lane C2 Acceleration a of the rear vehicle C on the side lane C2 Speed v of the vehicle D ahead of the side lane D2 Acceleration a of the preceding vehicle D on the side lane D2 ；
The cameras are respectively installed below a left rearview mirror and a right rearview mirror of the vehicle, and are used for acquiring road information according to the shot images, and as shown in fig. 4, the road information includes: a road width w, a lateral distance h between a driving center line of the host vehicle a and a driving center line of a vehicle in a side lane, a lateral distance z between a driving center line of the host vehicle a and a lane boundary line (shown by a dotted line in the figure) between the side lane, and a lane boundary line between the lane of the host vehicle a and the side lane;
the ZigBee is a wireless communication network and used for data communication among vehicles, data sharing can be realized among the vehicles through the ZigBee, and the vehicle speed of the vehicle A, which can obtain the vehicle B in front of the same lane through the ZigBee, is recorded as v B3 And the acceleration of the front vehicle B on the same lane is recorded as a B3 And the speed of the rear vehicle C on the side lane is recorded as v C3 And the acceleration of the rear vehicle C on the side lane is marked as a C3 The vehicle speed of the front vehicle D of the side lane is recorded as v D3 And the acceleration of the front vehicle D in the side lane is recorded as a D3 And the number n of passenger cars on the lane of the host vehicle A 11 Number n of passenger cars 12 N number of general trucks 13 N number of large trucks 14 The number n of passenger cars on the side lane of the vehicle A 21 Number n of passenger cars 22 N number of general trucks 23 N number of large trucks 24 ；
The vehicle information reading unit is used for collecting the speed v of the vehicle A A Acceleration a of the bicycle A A Total angular stiffness k of suspension of bicycle a φ Sprung mass m of bicycle A s A distance h' from the sprung mass centre of mass of the vehicle a to the roll axis;
as shown in fig. 1, the comprehensive processing module is composed of a data processing unit and a decision unit; the data processing unit analyzes and processes the received vehicle running information and road information acquired by the data acquisition module, sends the processed data to the decision unit, makes a corresponding decision through the decision unit, sends a decision control signal to the execution module, and controls the execution module to perform braking, steering or early warning operation; wherein:
the data processing unit is used for analyzing and calculating the vehicle running information and the road information to obtain: speed v of front vehicle B on same lane B And acceleration a B Side lane rear vehicle CVehicle speed v C And acceleration a C Vehicle speed v of the front vehicle D on the side lane D And acceleration a D Longitudinal early warning distance d between the self-vehicle A and the front vehicle B on the same lane z1 The actual distance d between the bicycle A and the rear bicycle C on the side lane 2 The actual distance D between the vehicle A and the front vehicle D of the side lane 3 Road clear rate gamma of lane where self-vehicle A is located 1 Road unobstructed rate gamma of a lane at the side A of the vehicle 2 The lane-changing lateral displacement y (t) of the self-vehicle A from the lane to the side lane, the centroid slip angle phi in the process of changing the self-vehicle A from the lane to the side lane, the steering angle theta in the process of changing the self-vehicle A from the lane to the side lane, and the lateral acceleration in the process of changing the self-vehicle A from the lane to the side lane
Figure GDA0003777268460000131
The decision unit makes decision judgment according to the related data obtained by the data processing unit and sends corresponding control signals to the execution module so as to control the execution module to perform braking, steering or early warning operation; wherein:
the decision making by the decision making unit comprises: whether an obstacle exists in the front of the same lane of the vehicle A or not and whether lane changing is safe from the side of the vehicle A or not;
if the obstacle does not exist in the front of the same lane of the self-vehicle A, the self-vehicle A is decided and controlled to continue to normally run, and if the obstacle exists in the self-vehicle A, the decision is continued to judge whether lane changing at the side of the self-vehicle A is safe or not;
and if the lane change of the side of the self-vehicle A is safe, the lane change of the side of the self-vehicle A is decided and controlled, and if the lane change of the side of the self-vehicle A is unsafe, the self-vehicle A is decided and controlled to brake slightly and an early warning is given.
As shown in fig. 1, the execution module is composed of a brake, a steering gear, a buzzer and an indicator light; wherein:
the brake receives the brake control signal sent by the decision unit and then performs brake operation, so that the vehicle is slightly braked;
the steering device receives the steering control signal sent by the decision unit and then performs steering operation, so that lane changing of the side of the vehicle is realized;
and the buzzer and the indicator lamp respectively receive the early warning signals sent by the decision unit and then carry out early warning operation, so that the vehicle sends out auditory and visual early warning warnings.
The invention also discloses an anti-collision control method for coordinated control of vehicle braking and steering, which is based on the system for coordinated control of anti-collision of vehicle braking and steering and realizes anti-collision control by comprehensively considering road conditions, driving conditions of vehicles on lane change target lanes and self-vehicle parameter changes.
As shown in fig. 2, fig. 3 and fig. 4, the specific processes of the method for controlling anti-collision in coordination with braking and steering of a vehicle according to the present invention are as follows:
s1: collecting vehicle driving data and road information data;
in the step S1, the vehicle driving data includes driving data of a vehicle a, a vehicle B ahead of the same lane, a vehicle C behind a side lane, and a vehicle D ahead of the side lane; wherein:
collecting the speed v of the front vehicle B on the same lane by a laser radar B1 Acceleration a of the same-lane front vehicle B B1 Speed v of the rear vehicle C on the side lane C1 Acceleration a of the rear vehicle C on the side lane C1 Speed v of the vehicle D ahead of the side lane D1 Acceleration a of the preceding vehicle D on the side lane D1 The distance d between the vehicle A and the front vehicle B on the same lane b Longitudinal distance d between the host vehicle A and the rear vehicle C on the side lane c Longitudinal distance D between the vehicle A and the front vehicle D on the side lane d The distance D between the rear vehicle C on the side lane and the front vehicle D on the side lane cd ；
Collecting the speed v of the front vehicle B on the same lane by a millimeter wave radar B2 Acceleration a of the same-lane front vehicle B B2 Speed v of the rear vehicle C on the side lane C2 Acceleration a of the rear vehicle C on the side lane C2 Speed v of the preceding vehicle D on the side lane D2 Acceleration a of the preceding vehicle D on the side lane D2 ；
The ZigBee is used for acquiring the speed v of the front vehicle B on the same lane B3 Acceleration a of the same-lane front vehicle B B3 Speed v of the rear vehicle C on the side lane C3 Acceleration a of the rear vehicle C on the side lane C3 Speed v of the preceding vehicle D on the side lane D3 Acceleration a of the preceding vehicle D on the side lane D3 And the number n of passenger cars on the lane of the host vehicle A 11 Number n of passenger cars 12 N number of general trucks 13 N number of large trucks 14 The number n of passenger cars on the lateral lane of the own vehicle A 21 Number of passenger cars n 22 N number of general trucks 23 N number of large trucks 24 ；
The speed v of the bicycle A is collected by the bicycle information reading unit A Acceleration a of the bicycle A A Total angular stiffness k of suspension of bicycle a φ Sprung mass m of bicycle A s A distance h' from the sprung mass centre of mass of the vehicle a to the roll axis;
in this step S1, the road information data is collected by a camera mounted on the host vehicle a, and the road information data includes: a road width w, a lateral distance h between a driving center line of the vehicle a and a driving center line of a vehicle in a side lane, a lateral distance z between a driving center line of the vehicle a and a lane boundary (shown by a dotted line in the figure) between the side lanes, and a virtual-real case of the lane boundary between the lane of the vehicle a and the side lanes;
s2: the data is primarily analyzed and processed to obtain the driving data of the surrounding vehicles;
in step S2, the peripheral vehicle travel data obtained by the preliminary analysis processing of the vehicle travel data obtained in step S1 includes: speed v of front vehicle B on same lane B And acceleration a B Speed v of the rear vehicle C on the side lane C And acceleration a C And the speed v of the vehicle D ahead of the side lane D And acceleration a D The calculation formula is specifically as follows:
Figure GDA0003777268460000151
Figure GDA0003777268460000161
Figure GDA0003777268460000162
Figure GDA0003777268460000163
Figure GDA0003777268460000164
Figure GDA0003777268460000165
s3: the data is further analyzed and processed to obtain decision data, and decision instructions are generated and executed after judgment;
as shown in fig. 3 and 4, in step S3, decision data is obtained by further analyzing and processing the data obtained in step S1 and step S2, and a specific process of controlling to execute a corresponding operation by judging, generating and executing a decision instruction is as follows:
s31: detecting that a vehicle is in front of the same lane of the vehicle, and calculating the longitudinal early warning distance d z1 ；
In this step S31, when there is a vehicle in front of the same lane of the vehicle a within the monitoring range of the lidar and the millimeter wave radar of the vehicle a, it is indicated that there is a vehicle B in front of the same lane of the vehicle a at this time, and at this time, the longitudinal warning distance d is calculated z1 ；
In step S331:
the longitudinal early warning distance d z1 The calculation formula of (c) is as follows:
Figure GDA0003777268460000166
the longitudinal early warning distance d z1 In the calculation formula (2):
a max the maximum braking deceleration of the bicycle A;
t 1 the braking response time of the bicycle A is a preset value, and the time is taken to be 0.5s in the embodiment;
t 2 the braking delay time of the self vehicle A is a preset value, and the time is 0.2s in the embodiment;
t 3 in order to increase the braking time of the self vehicle A and obtain a preset value, the time is taken for 0.2s in the embodiment;
d 0 the parking distance of the self vehicle A is a preset value, and 5m is taken in the embodiment;
s32: judging the distance d between the vehicle A and the front vehicle B on the same lane b A longitudinal early warning distance d z1 If d is a magnitude relation of b ≥d z1 Generating and executing a normal driving instruction; if d is b ＜d z1 Then, the process proceeds to step S33;
s33: judging whether the lateral lane change is safe or not;
the specific steps of judging whether the lateral lane change is safely put in are as follows:
s331: judging whether a lane boundary between a lane where the vehicle A is located and a side lane is a dotted line, if the lane boundary is the dotted line, entering the step S332, if the lane boundary is not the dotted line, namely the dotted line is a solid line, generating and executing an early warning and a slight braking instruction, controlling a buzzer and an indicator lamp to send out the early warning, and controlling a brake to give a 0.15m/S warning 2 Braking deceleration of (d);
s332: judging the safety distance d between the rear vehicle C of the side lane and the changed self-vehicle A r The actual distance d between the rear vehicle C of the side lane and the self-vehicle A' after lane change 2 The size relation between the two, and the safety distance D between the front vehicle D of the side lane and the self vehicle A' after lane change f The actual distance D between the front vehicle D of the side lane and the self-vehicle A' after lane change 3 If d is a magnitude relation between r ＜d 2 And d is f ＜d 3 Entering the following step S333, otherwise generating and executing the early warning and the light braking instruction, controlling the buzzer and the indicator lamp to send out the early warning, and controlling the brakeThe device gives 0.15m/s 2 Braking deceleration of (a);
in step S332:
the safe distance d between the rear vehicle C with the side lane and the self vehicle A' after lane change r In this example, 5m is taken as a preset value;
the safe distance D between the front vehicle D of the side lane and the self vehicle A' after lane change f The value is a preset value, and 8m is taken in the embodiment;
the actual distance d between the rear vehicle C of the side lane and the self vehicle A' after lane change 2 The calculation formula of (a) is as follows:
d 2 ＝d c +l-S r
Figure GDA0003777268460000171
the above-mentioned actual distance d 2 In the calculation formula (2):
d c the longitudinal distance between the self-vehicle A and the rear vehicle C of the side lane is set;
l is the longitudinal running displacement of the bicycle A in lane change time;
S r the driving displacement of the rear vehicle C of the lateral lane in lane changing time;
t 0 is d b ＝d z1 The time of day;
v A (t 0 ) Is t 0 The speed of the bicycle A at the moment;
v C (t 0 ) Is t 0 The speed of the rear vehicle C on the side lane at the moment;
a C the vehicle acceleration of the rear vehicle C of the side lane is obtained;
t b is the lane change time of the bicycle A, wherein:
Figure GDA0003777268460000181
the self-vehicle lane-changing time t b In the calculation formula (2):
Figure GDA0003777268460000182
is the tire lateral adhesion coefficient;
g is the acceleration of gravity;
h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;
w is the road width;
z is a transverse distance between a driving center line of the self-vehicle A and a lane boundary between the lateral lanes;
finally, the actual distance d between the self-vehicle A and the rear vehicle C of the side lane is obtained 2 The calculation formula of (c) is as follows:
Figure GDA0003777268460000183
the actual distance D between the front vehicle D of the side lane and the changed self vehicle A 3 The calculation formula of (c) is as follows:
d 3 ＝d d +S f -l
Figure GDA0003777268460000184
the actual distance D between the vehicle A and the front vehicle D of the side lane 3 In the calculation formula (2):
d d the longitudinal distance between the self vehicle A and the front vehicle D of the side lane is shown;
l is the longitudinal running displacement of the bicycle A in lane change time;
S f the driving displacement of a front vehicle D of a lateral lane in lane changing time is obtained;
t 0 is d b ＝d z1 The time of day;
v A (t 0 ) Is t 0 The speed of the vehicle is determined at the moment;
v D (t 0 ) Is t 0 The speed of a front vehicle D of the side lane at the moment;
a D of a front vehicle D in a side laneVehicle acceleration;
t b for the time of changing lanes from the car, wherein:
Figure GDA0003777268460000191
the self-vehicle lane-changing time t b In the calculation formula (c):
Figure GDA0003777268460000192
is the tire lateral adhesion coefficient;
g is the acceleration of gravity;
h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;
w is the road width;
z is a transverse distance between a driving center line of the self-vehicle A and a lane boundary between the lateral lanes;
finally, the actual distance D between the self-vehicle A and the rear vehicle D of the side lane is obtained 2 The calculation formula of (a) is as follows:
Figure GDA0003777268460000193
s333: judging the road unobstructed rate gamma of the same lane of the lane where the vehicle A is positioned 1 The road clearance rate gamma of the side lane of the A side lane of the self-vehicle 2 In the magnitude relation of (c), if gamma 2 ＞γ 1 Otherwise, generating and executing an early warning and a light braking instruction, controlling the buzzer and the indicator lamp to send out the early warning, and controlling the brake to give 0.15m/S 2 Braking deceleration of (d);
in step S333:
the road clear rate gamma of the same lane 1 Road clear rate gamma of side lane 2 The calculation formula of (c) is as follows:
Figure GDA0003777268460000194
Figure GDA0003777268460000201
the road unobstructed rate gamma of the same lane 1 Road clear rate gamma of side lane 2 In the calculation formula (2):
n 11 the number of the passenger cars on the lane of the self-vehicle A is shown;
n 12 the number of the passenger cars on the lane of the self-car A is shown;
n 13 the number of the ordinary trucks on the lane where the self vehicle A is located;
n 14 the number of large trucks on the lane where the self vehicle A is located;
n 21 the number of the passenger cars on the side lane of the self-vehicle A is shown;
n 22 the number of the passenger cars on the side lane of the self-car A is shown;
n 23 the number of the ordinary trucks on the side lane of the self-vehicle A is set;
n 24 the number of large trucks on the lane at the side of the bicycle A is shown;
s334: the calculation formula for calculating the lane change track side displacement y (t) from the lane change lane to the side lane of the vehicle A is as follows:
Figure GDA0003777268460000202
in the calculation formula of the lateral displacement y (t) of the track change track:
t≤t b ；
h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;
t 0 is d b ＝d z1 The time of day;
v A (t 0 ) Is t 0 The speed of the vehicle is determined at the moment;
t b for the time of changing lanes from the car, wherein:
Figure GDA0003777268460000203
the self-vehicle lane-changing time t b In the calculation formula (c):
Figure GDA0003777268460000204
is the tire lateral adhesion coefficient;
g is gravity acceleration;
w is the road width;
z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;
s335: judging the centroid slip angle phi and the centroid slip angle phi of the upper limit of human comfort during the process of changing the lane of the vehicle A from the lane to the lateral lane lim If phi < phi, the magnitude relationship of lim Otherwise, generating and executing an early warning and a light braking instruction, controlling the buzzer and the indicator lamp to send out the early warning, and controlling the brake to give 0.15m/S 2 Braking deceleration of (d);
in step S335:
the mass center side slip angle phi of the upper limit of human body comfort lim Is a preset value, phi in the embodiment lim Taking 8 degrees;
the calculation formula of the centroid slip angle phi in the process that the vehicle A changes lanes from the lane to the side lanes is as follows:
Figure GDA0003777268460000211
in the above formula for calculating the centroid slip angle phi:
Figure GDA0003777268460000212
for lateral acceleration, according to said track-changing trackDerivation of track lateral displacement y (t) is obtained;
h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;
s336: steering angle theta and upper limit value theta of steering angle for operation stability in the process of changing lane from the lane where the vehicle A is located to the side lane lim If θ < θ lim Otherwise, generating and executing an early warning, namely a slight braking instruction, controlling a buzzer and an indicator lamp to send out the early warning, and controlling a brake to give 0.15m/S 2 Braking deceleration of (d);
in step S336:
the upper limit value theta of the steering angle for the steering stability lim Is a predetermined value, θ in the present embodiment lim Taking 35 degrees;
the calculation formula of the steering angle theta in the process of changing the lane of the vehicle A from the lane to the side lane is as follows:
Figure GDA0003777268460000221
in the above calculation formula of the steering angle θ:
v Ay in order to change the lateral speed of the vehicle,
Figure GDA0003777268460000222
obtaining the lateral displacement y (t) of the track-changing track by derivation;
v Ax longitudinal speed, v, for changing lanes from vehicle to vehicle Ax ＝v A (t 0 )；
Namely:
Figure GDA0003777268460000223
s337: judging the lateral acceleration of the vehicle A in the process of changing the lane from the lane to the lateral lane
Figure GDA0003777268460000224
Lateral acceleration to the upper limit of human comfort
Figure GDA0003777268460000225
The magnitude relationship between them, if
Figure GDA0003777268460000226
Generating and executing steering operation, controlling the steering gear to work to enable the self-vehicle A to change lanes laterally along the lane changing track of the self-vehicle, otherwise generating and executing early warning and slight braking instructions, controlling the buzzer and the indicator lamp to send out early warning, and controlling the brake to give 0.15m/s 2 Braking deceleration of (d);
in step S337:
lateral acceleration of the upper limit of human comfort
Figure GDA0003777268460000227
A preset value, in this embodiment
Figure GDA0003777268460000228
Take 0.5m/s 2 ；
The lateral acceleration of the vehicle A in the process of changing lanes from the lane to the lateral lane
Figure GDA0003777268460000229
Obtaining the lateral displacement y (t) of the track-changing track by derivation;
the lane changing track of the bicycle is as follows:
Figure GDA00037772684600002210
in the above equation of lane change of the vehicle:
t≤t b ；
y (t) is the lateral displacement of the track change of the bicycle A;
and S (t) is the longitudinal displacement of the bicycle A.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims (1)

1. A control method of an anti-collision system for vehicle braking and steering coordination control comprises a data acquisition module, a comprehensive processing module and an execution module;
the data acquisition module is characterized in that: the system comprises a laser radar, a millimeter wave radar, a camera, a ZigBee and a self vehicle information reading unit, wherein the laser radar, the millimeter wave radar, the camera, the ZigBee and the self vehicle information reading unit are used for respectively transmitting the collected vehicle running data and road information data to a comprehensive processing module;
in the comprehensive processing module, a data processing unit analyzes and processes received vehicle driving data and road information data to obtain decision data and sends the decision data to a decision unit, and the decision unit judges to generate a decision instruction and sends the decision instruction to an execution module;
in the execution module, a brake, a steering gear, a buzzer and an indicator light respectively receive a decision instruction sent by a decision unit and execute steering, braking or early warning operation;
the vehicle travel data includes:
the method comprises the following steps that the laser radar acquires the speed and the acceleration of a front vehicle on the same lane, a rear vehicle on a side lane and a front vehicle on a side lane, the distance between the self vehicle and the front vehicle on the same lane, the longitudinal distance between the self vehicle and the rear vehicle on the side lane, the longitudinal distance between the self vehicle and the front vehicle on the side lane and the distance between the rear vehicle on the side lane and the front vehicle on the side lane;
the millimeter wave radar acquires the speed and the acceleration of a front vehicle in the same lane, a rear vehicle in a side lane and a front vehicle in the side lane;
the ZigBee acquires the speed and the acceleration of a front vehicle on the same lane, a rear vehicle on a side lane and a front vehicle on the side lane, the number of different vehicle types on a lane where the self vehicle is located and the number of different vehicle types on a side lane of the self vehicle in a data communication mode;
the speed and the acceleration of the vehicle are acquired by the vehicle information reading unit;
the road information data includes:
the method comprises the following steps that the width of a road, the transverse distance between a driving center line where a vehicle is located and a driving center line where a vehicle in a side lane is located, the transverse distance between the driving center line where the vehicle is located and a lane boundary between the side lanes and the virtual and real conditions of the lane boundary between the lane where the vehicle is located and the side lanes are acquired by a camera;
the method is characterized in that:
the control method specifically comprises the following steps:
s1: collecting vehicle driving data and road information data;
in the step S1:
the vehicle driving data comprises driving data of a vehicle A, a front vehicle B in the same lane, a rear vehicle C in a side lane and a front vehicle D in the side lane; wherein:
collecting the speed v of the front vehicle B on the same lane by a laser radar B1 Acceleration a of the same-lane front vehicle B B1 Speed v of the rear vehicle C on the side lane C1 Acceleration a of the rear vehicle C on the side lane C1 Speed v of the vehicle D ahead of the side lane D1 Acceleration a of the preceding vehicle D on the side lane D1 The distance d between the vehicle A and the front vehicle B on the same lane b Longitudinal distance d between the host vehicle A and the rear vehicle C of the side lane c Longitudinal distance D between the vehicle A and the front vehicle D of the side lane d The distance D between the rear vehicle C on the side lane and the front vehicle D on the side lane cd ；
Collecting the speed v of the front vehicle B on the same lane by a millimeter wave radar B2 Acceleration a of the same-lane front vehicle B B2 Speed v of the rear vehicle C on the side lane C2 Acceleration a of the rear vehicle C on the side lane C2 Speed v of the vehicle D ahead of the side lane D2 Acceleration a of the preceding vehicle D on the side lane D2 ；
The ZigBee is used for acquiring the speed v of the front vehicle B on the same lane B3 Acceleration a of the same-lane front vehicle B B3 Speed v of the rear vehicle C on the side lane C3 Acceleration a of the rear vehicle C on the side lane C3 Speed v of the preceding vehicle D on the side lane D3 Acceleration a of the preceding vehicle D on the side lane D3 And the number n of passenger cars on the lane of the host vehicle A 11 Number n of passenger cars 12 N number of general trucks 13 N number of large trucks 14 The number n of passenger cars on the side lane of the vehicle A 21 Number n of passenger cars 22 N number of general trucks 23 N number of large trucks 24 ；
The speed v of the bicycle A is collected by the bicycle information reading unit A Acceleration a of the bicycle A A Total angular stiffness k of suspension of bicycle a φ Sprung mass m of bicycle A s A distance h' from the sprung mass centre of mass of the vehicle a to the roll axis;
the road information data comprises road width w acquired through a camera, a transverse distance h between a driving center line of the vehicle A and a driving center line of a side lane vehicle, a transverse distance z between the driving center line of the vehicle A and a lane boundary between the side lanes, and an imaginary condition of the lane boundary between the lane of the vehicle A and the side lanes;
s2: the data is primarily analyzed and processed to obtain the driving data of the surrounding vehicles;
in the step S2:
the surrounding vehicle running data obtained by the preliminary analysis processing of the vehicle running data obtained in the step S1 includes: speed v of front vehicle B on the same lane B And acceleration a B And the speed v of the rear vehicle C on the side lane C And acceleration a C And the speed v of the vehicle D ahead of the side lane D And acceleration a D The calculation formula is specifically as follows:
Figure FDA0003843080710000031
Figure FDA0003843080710000032
Figure FDA0003843080710000033
Figure FDA0003843080710000034
Figure FDA0003843080710000035
Figure FDA0003843080710000036
s3: the data is further analyzed and processed to obtain decision data, and decision instructions of steering, braking or early warning are generated and executed through judgment;
in this step S3:
further analyzing and processing the data obtained in the step S1 and the step S2 to obtain decision data, and generating and executing a decision instruction by judgment to control and execute a corresponding operation according to the following specific process:
s31: detecting that a vehicle is in front of the same lane of the self-vehicle and calculating the longitudinal early warning distance d z1 ；
In the step S31:
the longitudinal early warning distance d z1 The calculation formula of (a) is as follows:
Figure FDA0003843080710000041
the longitudinal early warning distance d z1 In the calculation formula (c):
a max the maximum braking deceleration of the bicycle A;
t 1 the braking reaction time of the bicycle A is shown;
t 2 braking delay time of the self vehicle A;
t 3 increasing the braking time for the bicycle A;
d 0 the parking distance of the bicycle A is the parking distance of the bicycle A;
s32: judging the distance d between the vehicle A and the front vehicle B on the same lane b A longitudinal early warning distance d z1 If d is a magnitude relation of b ≥d z1 Generating and executing a normal driving instruction; if d is b ＜d z1 Then, the process proceeds to step S33;
s33: judging whether the lateral lane changing is safe or not, if so, executing steering operation to realize the lateral lane changing, and if not, executing early warning and braking operation;
in the step S33:
the specific steps of judging whether the lateral lane change is safely carried out are as follows:
s331: judging whether a lane boundary between a lane where the vehicle A is located and a side lane is a broken line or not, if so, entering the following step S332, and if not, generating and executing an early warning and a slight braking instruction, wherein the broken line is a solid line;
s332: judging the safe distance d between the rear vehicle C of the side lane and the changed vehicle A r The actual distance d between the rear vehicle C of the side lane and the vehicle A' after lane change 2 The magnitude relation between the two and the safety distance D between the front vehicle D of the side lane and the changed self vehicle A' is judged f The actual distance D between the front vehicle D of the side lane and the self-vehicle A' after lane change 3 If d is a magnitude relation between r ＜d 2 And d is f ＜d 3 Step S333 is entered, otherwise, an early warning and a slight braking instruction are generated and executed;
the safe distance d between the rear vehicle C with the side lane and the self vehicle A' after lane change r Is a preset value;
the safe distance D between the front vehicle D of the side lane and the self vehicle A' after lane change f Is a preset value;
the actual distance d between the rear vehicle C of the side lane and the self vehicle A' after lane change 2 The calculation formula of (a) is as follows:
d 2 ＝d c +l-S r
Figure FDA0003843080710000051
the above-mentioned actual distance d 2 In the calculation formula (2):
d c the longitudinal distance between the self-vehicle A and the rear vehicle C of the side lane is shown;
l is the longitudinal running displacement of the bicycle A in lane change time;
S r the driving displacement of the rear vehicle C of the lateral lane in lane changing time;
t 0 is d b ＝d z1 The time of day;
v A (t 0 ) Is t 0 The speed of the bicycle A at the moment;
v C (t 0 ) Is t 0 The speed of the rear vehicle C of the side lane at the moment;
a C the vehicle acceleration of the rear vehicle C of the side lane is obtained;
t b is the lane change time of the bicycle A, wherein:
Figure FDA0003843080710000052
the self-vehicle lane change time t b In the calculation formula (2):
Figure FDA0003843080710000053
is the tire lateral adhesion coefficient;
g is the acceleration of gravity;
h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;
w is the road width;
z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;
finally, the actual distance d between the self-vehicle A' after lane change and the rear vehicle C of the side lane is obtained 2 The calculation formula of (a) is as follows:
Figure FDA0003843080710000061
the actual distance D between the front vehicle D of the side lane and the changed self vehicle A 3 The calculation formula of (a) is as follows:
d 3 ＝d d +S f -l
Figure FDA0003843080710000062
the above-mentioned actual distance d 3 In the calculation formula (2):
d d the longitudinal distance between the self vehicle A and the front vehicle D of the side lane is shown;
l is the longitudinal running displacement of the bicycle A in lane change time;
S f the driving displacement of a front vehicle D of a lateral lane in lane changing time is obtained;
t 0 is d b ＝d z1 The time of day;
v A (t 0 ) Is t 0 The speed of the vehicle is determined at the moment;
v D (t 0 ) Is t 0 The speed of a front vehicle D of the side lane at the moment;
a D the vehicle acceleration of the front vehicle D of the side lane is obtained;
t b for the time of changing lanes from the car, wherein:
Figure FDA0003843080710000063
the self-vehicle lane-changing time t b Is calculated byIn the formula:
Figure FDA0003843080710000071
is the tire lateral adhesion coefficient;
g is the acceleration of gravity;
h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;
w is the road width;
z is a transverse distance between a driving center line of the self-vehicle A and a lane boundary between the lateral lanes;
finally, the actual distance D between the vehicle A' after lane change and the vehicle D behind the lateral lane is obtained 3 The calculation formula of (c) is as follows:
Figure FDA0003843080710000072
s333: judging the road unobstructed rate gamma of the same lane of the lane where the vehicle A is positioned 1 The road clearance rate gamma of the side lane of the A side lane of the self-vehicle 2 If γ is a magnitude relation of 2 ＞γ 1 If not, generating and executing an early warning and a light braking instruction;
in step S333:
the road clear rate gamma of the same lane 1 Road clear rate gamma of side lane 2 The calculation formula of (c) is as follows:
Figure FDA0003843080710000073
Figure FDA0003843080710000074
the road unobstructed rate gamma of the same lane 1 Road clear rate gamma of side lane 2 In the calculation formula (c):
n 11 the number of the passenger cars on the lane of the self-vehicle A is shown;
n 12 the number of the passenger cars on the lane of the self-car A is shown;
n 13 the number of the ordinary trucks on the lane where the self vehicle A is located;
n 14 the number of large trucks on the lane where the self vehicle A is located;
n 21 the number of the passenger cars on the side lane of the self-vehicle A is shown;
n 22 the number of the passenger cars on the lane at the side of the self-car A is shown;
n 23 the number of the ordinary trucks on the side lane of the self-vehicle A is set;
n 24 the number of large trucks on the lane at the side of the bicycle A is shown;
s334: the calculation formula for calculating the lane-changing track side displacement y (t) from the lane where the vehicle A changes to the side lane is as follows:
Figure FDA0003843080710000081
in the above formula for calculating the track-changing side displacement y (t):
t≤t b ；
h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;
t 0 is d b ＝d z1 Time of day (c);
v A (t 0 ) Is t 0 The speed of the vehicle is determined at the moment;
t b for the time of changing lanes from the car, wherein:
Figure FDA0003843080710000082
the self-vehicle lane change time t b In the calculation formula (2):
Figure FDA0003843080710000083
is the tire lateral adhesion coefficient;
g is the acceleration of gravity;
w is the road width;
z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;
s335: judging the centroid slip angle phi and the centroid slip angle phi of the upper limit of human comfort during the process of changing the lane of the vehicle A from the lane to the lateral lane lim If phi < phi, the magnitude relationship of lim If not, generating and executing an early warning and a light braking instruction;
the mass center side slip angle phi of the upper limit of human body comfort lim Is a preset value;
the calculation formula of the centroid slip angle phi in the process that the vehicle A changes lanes from the lane to the side lanes is as follows:
Figure FDA0003843080710000091
in the above formula for calculating the centroid slip angle phi:
Figure FDA0003843080710000092
is the lateral acceleration;
h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;
s336: steering angle theta and upper limit value theta of steering angle for operation stability in the process of changing lane from the lane where the vehicle A is located to the side lane lim If theta < theta lim If not, generating and executing an early warning, namely a slight braking instruction;
the upper limit value theta of the steering angle for the steering stability lim Is a preset value;
the calculation formula of the steering angle theta in the process of changing the lane of the vehicle A from the lane to the side lane is as follows:
Figure FDA0003843080710000093
in the above calculation formula of the steering angle θ:
v Ay in order to change the lateral speed of the vehicle,
Figure FDA0003843080710000094
v Ax longitudinal speed, v, for changing lanes from vehicle to vehicle Ax ＝v A (t 0 )；
Namely:
Figure FDA0003843080710000095
s337: judging the lateral acceleration of the vehicle A in the process of changing the lane from the lane to the lateral lane
Figure FDA0003843080710000101
Lateral acceleration to the upper limit of human comfort
Figure FDA0003843080710000102
The magnitude relationship between them, if
Figure FDA0003843080710000103
Generating and executing steering operation, controlling a steering gear to work, enabling the self vehicle A to follow the self vehicle lane changing track to change lanes laterally, and otherwise generating and executing an early warning and slight braking instruction;
lateral acceleration of the upper limit of human comfort
Figure FDA0003843080710000104
Is a preset value;
the vehicle A changes lanes from the lane where the vehicle is locatedLateral acceleration in the course of heading to a lateral lane
Figure FDA0003843080710000105
Obtaining the lateral displacement y (t) of the track-changing track by derivation;
the lane changing track of the bicycle is as follows:
Figure FDA0003843080710000106
in the above equation of lane change of the vehicle:
t≤t b ；
y (t) is the lateral displacement of the track change of the bicycle A;
and S (t) is the longitudinal displacement of the bicycle A.
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