CN111746540A - MTTC-based vehicle lane changing system and control method - Google Patents

MTTC-based vehicle lane changing system and control method Download PDF

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Publication number
CN111746540A
CN111746540A CN201911353017.4A CN201911353017A CN111746540A CN 111746540 A CN111746540 A CN 111746540A CN 201911353017 A CN201911353017 A CN 201911353017A CN 111746540 A CN111746540 A CN 111746540A
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vehicle
acceleration
speed
lane
module
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Inventor
黄勇
葛慧敏
方大庆
谭付良
陶明路
司道光
舒杨
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Anhui Transportation Holding Group Co Ltd
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Anhui Transportation Holding Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W40/02—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 ambient conditions
    • 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
    • B60W40/105—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
    • 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
    • B60W40/107—Longitudinal acceleration
    • 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
    • B60W40/109—Lateral acceleration
    • 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
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a vehicle lane changing system based on MTTC (maximum Transmission time) and the system comprises a vehicle distance monitoring unit, an acceleration monitoring unit, a vehicle speed monitoring unit, a data processing unit and a vehicle speed control unit. The vehicle distance monitoring unit comprises a front radar range finder and a rear radar range finder; the acceleration monitoring unit comprises a transverse acceleration sensor, a longitudinal acceleration sensor, a front acceleration measuring instrument and a rear acceleration measuring instrument; the vehicle speed monitoring unit comprises a longitudinal vehicle speed sensor, a front speed measuring instrument and a rear speed measuring instrument; the data processing unit comprises an MTTC (maximum transmission temperature) calculation module, a lane change time calculation module, a first judgment module, a second judgment module, a third judgment module and an information processing module; the main control unit comprises a voice prompt device and a control execution device. The safety switching time required by the vehicle to switch the lane is accurately calculated through the critical collision time of the vehicle with the vehicle in front of the vehicle and the vehicle behind the lane switching lane, so that the driving safety is improved when the vehicle is controlled to switch the lane, and the occurrence of collision accidents in the vehicle lane switching process is effectively prevented.

Description

MTTC-based vehicle lane changing system and control method
Technical Field
The invention relates to the technical field of automobile safety control, in particular to a vehicle lane changing system based on MTTC and a control method.
Background
With the rapid development of economy in China, the quantity of automobile ownership in China is rapidly increased, and the traffic volume of roads is rapidly increased. Along with the increase of the automobile utilization rate, the incidence rate of traffic accidents is higher and higher. In traffic accidents, traffic accidents caused by lane change behaviors account for 28% of total accidents, and great negative effects are caused on road safety management. Statistics show that the traffic accidents caused by the lane change of vehicles are mainly caused by the misjudgment of lane change time by drivers. Therefore, the method has very important significance in providing safe lane change decision for drivers when vehicles change lanes, and has very important effects on reducing traffic accidents and guaranteeing the property and life safety of people.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention discloses a vehicle lane changing system based on MTTC and a control method thereof, which force a vehicle to complete lane changing under the condition of no collision and avoid lane changing under the condition of possible collision.
The technical scheme is as follows: a vehicle lane changing deceleration system based on MTTC comprises a vehicle distance monitoring unit, an acceleration monitoring unit, a vehicle speed monitoring unit, a data processing unit and a vehicle speed control unit. The vehicle distance monitoring unit, the acceleration monitoring unit and the vehicle speed monitoring unit transmit the measured data to the data processing unit, the data processing unit sends an instruction to the vehicle speed control unit, and the vehicle speed control unit controls the steering of the vehicle and reminds a driver of the vehicle; the method is characterized in that: the vehicle distance monitoring unit comprises a front distance meter and a rear distance meter; the acceleration monitoring unit comprises a transverse acceleration sensor, a longitudinal acceleration sensor, a front acceleration measuring instrument and a rear acceleration measuring instrument; the vehicle speed monitoring unit comprises a longitudinal vehicle speed sensor, a front speed measuring instrument and a rear speed measuring instrument; the data processing unit comprises an MTTC (maximum transmission temperature) calculation module, a lane change time calculation module, a first judgment module, a second judgment module, a third judgment module and an information processing module; the main control unit comprises a voice prompt device and a control execution device.
The lateral acceleration sensor measures the lateral acceleration of the vehicle and transmits the lateral acceleration to the lane change calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits the lane change time to the second judgment module and the third judgment module; the longitudinal speed sensor, the front speedometer and the rear speedometer measure the longitudinal speed of the vehicle, the front vehicle speed of the target lane and the rear vehicle speed of the target lane and transmit the values to the first judgment module; the judgment value of the first judgment module is transmitted to an MTTC calculation module; the distance between the vehicle and the front vehicle of the target lane is measured by the front distance measuring instrument and is transmitted to the MTTC calculation module; the longitudinal acceleration of the vehicle, the front vehicle acceleration of the vehicle and a target lane and the rear vehicle acceleration of the vehicle and the target lane are measured by the longitudinal acceleration sensor, the front acceleration measuring instrument and the rear acceleration measuring instrument, and are transmitted to the MTTC calculation module; the MTTC calculating module calculates the critical collision time of the vehicle and the front vehicle and transmits the critical collision time to the second judging module, and the judgment value of the second judging module is transmitted to the third judging module; the rear distance meter measures the distance between the vehicle and the rear vehicle of the target lane and transmits the distance to the collision time calculation module, the MTTC calculation module calculates the critical collision time between the vehicle and the rear vehicle and transmits the critical collision time to the third judgment module, and the judgment value of the third judgment module is transmitted to the information processing module; the information processing module is respectively connected with the voice reminding device and the vehicle speed control execution device, and the control execution device controls the vehicle to turn through the turning device.
A vehicle lane change control method based on MTTC comprises the following steps:
step one, a transverse acceleration sensor measures the transverse acceleration a of the vehicleshThe longitudinal acceleration sensor measures the longitudinal acceleration a of the vehicleszThe longitudinal speed sensor measures the longitudinal speed v of the vehicleszThe front acceleration measuring instrument and the front speed measuring instrument measure the front vehicle acceleration a of the vehicle and the target lanelAnd the speed v of the vehicle aheadlThe rear acceleration measuring instrument and the rear speed measuring instrument measure the rear vehicle acceleration a of the vehicle and the target lanefAnd rear vehicle speed vfAnd the lateral acceleration ashSending the speed information to a lane change time calculation module to calculate the longitudinal speed vszSpeed v of the preceding vehiclelAnd rear vehicle speed vfSending the longitudinal acceleration a to a first judgment moduleszAcceleration a of the preceding vehiclelAnd rear vehicle acceleration afSending the data to an MTTC calculation module;
step two, the front distance measuring instrument measures the distance D between the vehicle and the front vehicle of the target vehicleslThe rear distance measuring instrument measures the distance D between the vehicle and the rear vehicle of the target lanesfAnd the vehicle distance DslAnd DsfSending the data to an MTTC calculation module;
step three, longitudinal speed v of the first judging moduleszSpeed v of the preceding vehiclelAnd rear vehicle speed vfMaking a comparison if vf≤vsz≤vlIf yes, executing a step nine, wherein the vehicle can change the lane, otherwise, executing a step six, and performing a deceleration stage;
step four, the lane change time calculation module calculates the time T required by the vehicle to complete lane changecAnd will TcSending the data to a second judgment module and a third judgment module;
step five, calculating the critical collision time T between the vehicle and the front vehicle of the target lane by an MTTC calculation modulelAnd the critical collision time T of the vehicle and the vehicle behind the target lanefAnd will TlSending the T to a second judgment modulefSending the data to a third judgment module;
step six, secondThe judgment module is used for changing the track time TcAnd the critical collision time T between the vehicle and the front vehicle of the target lanelMaking a comparison if Tc＜TlIf yes, executing step eight, and the vehicle is decelerated, otherwise, executing step eight, and judging TcAnd TfThe size of (d);
step seven, the third judging module is used for judging the track changing time TcAnd the critical collision time T of the vehicle and the vehicle behind the target lanefMaking a comparison, e.g. Tc＜TfIf yes, executing a step twelve, wherein the vehicle can change lanes, otherwise, executing a step eleven, wherein the vehicle cannot change lanes;
step eight, the voice prompt device prompts the driver that the lane changing time is too long, the vehicle is forced to go straight, and the control execution module controls the vehicle steering wheel control device to adjust the steering wheel angle;
step nine, prompting a driver by a prompting device that the vehicle can change lanes;
further, T iscThe lane change time is calculated as follows:
Figure BDA0002335134940000021
in the formula: l is lane width in m; a iscIs the lateral acceleration of the vehicle in m/s2。
Further, T islThe critical collision time of the vehicle and the vehicle ahead of the target lane is calculated as follows:
Figure BDA0002335134940000031
in the formula: v. ofszThe unit is the longitudinal speed of the vehicle, and the unit is m/s; v. oflThe unit is the speed of the vehicle in front of the target lane; dlThe unit m, a is the distance between the vehicle and the front of the target laneszIs the longitudinal acceleration of the vehicle in m/s2，alIs the acceleration of the front vehicle of the target lane in the unit of m/s2。
Further, T islAt the time of critical collision between the vehicle and the rear vehicle of the target laneThe calculation is as follows:
Figure BDA0002335134940000032
in the formula: v. ofszThe unit is the longitudinal speed of the vehicle, and the unit is m/s; v. offThe rear vehicle speed of the target lane is in the unit of m/s; dfThe unit m, a is the distance between the vehicle and the rear of the target laneszIs the longitudinal acceleration of the vehicle in m/s2，afIs the acceleration of the front vehicle of the target lane in the unit of m/s2。
Has the advantages that: according to the invention, by calculating the collision time between the vehicle and the front and rear vehicles of the target lane, traffic accidents caused by lane change are avoided, and the safety of the road is effectively improved.
Drawings
FIG. 1 is a control schematic of the present invention;
FIG. 2 is a control flow chart of the present invention.
Detailed Description
Embodiments will be described in detail below with reference to the accompanying drawings.
As shown in FIG. 1, the MTTC-based vehicle lane change deceleration system comprises a vehicle distance monitoring unit, an acceleration monitoring unit, a vehicle speed monitoring unit, a data processing unit and a main control unit. The vehicle distance monitoring unit, the acceleration monitoring unit and the vehicle speed monitoring unit transmit the measured data to the data processing unit, the data processing unit sends an instruction to the vehicle speed control unit, and the vehicle speed control unit controls the steering of the vehicle and reminds a driver of the vehicle; the method is characterized in that: the vehicle distance monitoring unit comprises a front distance meter and a rear distance meter; the acceleration monitoring unit comprises a transverse acceleration sensor, a longitudinal acceleration sensor, a front acceleration measuring instrument and a rear acceleration measuring instrument; the vehicle speed monitoring unit comprises a longitudinal vehicle speed sensor, a front speed measuring instrument and a rear speed measuring instrument; the data processing unit comprises an MTTC (maximum transmission temperature) calculation module, a lane change time calculation module, a first judgment module, a second judgment module, a third judgment module and an information processing module; the main control unit comprises a voice prompt device and a control execution device.
The lateral acceleration sensor measures the lateral acceleration of the vehicle and transmits the lateral acceleration to the lane change calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits the lane change time to the second judgment module and the third judgment module; the longitudinal speed sensor, the front speedometer and the rear speedometer measure the longitudinal speed of the vehicle, the front vehicle speed of the target lane and the rear vehicle speed of the target lane and transmit the values to the first judgment module; the judgment value of the first judgment module is transmitted to an MTTC calculation module; the distance between the vehicle and the front vehicle of the target lane is measured by the front distance measuring instrument and is transmitted to the MTTC calculation module; the longitudinal acceleration of the vehicle, the front vehicle acceleration of the vehicle and a target lane and the rear vehicle acceleration of the vehicle and the target lane are measured by the longitudinal acceleration sensor, the front acceleration measuring instrument and the rear acceleration measuring instrument, and are transmitted to the MTTC calculation module; the MTTC calculating module calculates the critical collision time of the vehicle and the front vehicle and transmits the critical collision time to the second judging module, and the judgment value of the second judging module is transmitted to the third judging module; the rear distance meter measures the distance between the vehicle and the rear vehicle of the target lane and transmits the distance to the MTTC calculation module, the MTTC calculation module calculates the critical collision time between the vehicle and the rear vehicle and transmits the critical collision time to the third judgment module, and the judgment value of the third judgment module is transmitted to the information processing module; the information processing module is respectively connected with the voice reminding device and the vehicle speed control execution device, and the control execution device controls the vehicle to turn through the turning device.
As shown in fig. 2, a vehicle lane change control method based on MTTC includes the following steps:
step one, a transverse acceleration sensor measures the transverse acceleration a of the vehicleshThe longitudinal acceleration sensor measures the longitudinal acceleration a of the vehicleszThe longitudinal speed sensor measures the longitudinal speed v of the vehicleszThe front acceleration measuring instrument and the front speed measuring instrument measure the front vehicle acceleration a of the vehicle and the target lanelAnd the speed v of the vehicle aheadlThe rear acceleration measuring instrument and the rear speed measuring instrument measure the rear vehicle acceleration a of the vehicle and the target lanefAnd rear vehicle speed vfAnd the lateral acceleration ashSending the speed information to a lane change time calculation module to calculate the longitudinal speed vszSpeed v of the preceding vehiclelAnd rear vehicle speed vfSending the longitudinal acceleration a to a first judgment moduleszAcceleration of front vehiclealAnd rear vehicle acceleration afSending the data to an MTTC calculation module;
step two, the front distance measuring instrument measures the distance D between the vehicle and the front vehicle of the target vehicleslThe rear distance measuring instrument measures the distance D between the vehicle and the rear vehicle of the target lanesfAnd the vehicle distance DslAnd DsfSending the data to an MTTC calculation module;
step three, longitudinal speed v of the first judging moduleszSpeed v of the preceding vehiclelAnd rear vehicle speed vfMaking a comparison if vf≤vsz≤vlIf yes, executing a step nine, wherein the vehicle can change the lane, otherwise, executing a step six, and performing a deceleration stage;
step four, the lane change time calculation module calculates the time T required by the vehicle to complete lane changecAnd will TcSending the data to a second judgment module and a third judgment module;
step five, calculating the critical collision time T between the vehicle and the front vehicle of the target lane by an MTTC calculation modulelAnd the critical collision time T of the vehicle and the vehicle behind the target lanefAnd will TlSending the T to a second judgment modulefSending the data to a third judgment module;
step six, the second judgment module judges the lane changing time TcAnd the critical collision time T between the vehicle and the front vehicle of the target lanelMaking a comparison if Tc＜TlIf yes, executing step eight, and the vehicle is decelerated, otherwise, executing step eight, and judging TcAnd TfThe size of (d);
step seven, the third judging module is used for judging the track changing time TcAnd the critical collision time T of the vehicle and the vehicle behind the target lanefMaking a comparison, e.g. Tc＜TfIf yes, executing a step twelve, wherein the vehicle can change lanes, otherwise, executing a step eleven, wherein the vehicle cannot change lanes;
step eight, the voice prompt device prompts the driver that the lane changing time is too long, the vehicle is forced to go straight, and the control execution module controls the vehicle steering wheel control device to adjust the steering wheel angle;
step nine, prompting a driver by a prompting device that the vehicle can change lanes;
further, T iscThe lane change time is calculated as follows:
Figure BDA0002335134940000051
in the formula: l is lane width in m; a iscIs the lateral acceleration of the vehicle in m/s2。
Further, T islThe critical collision time of the vehicle and the vehicle ahead of the target lane is calculated as follows:
Figure BDA0002335134940000052
in the formula: v. ofszThe unit is the longitudinal speed of the vehicle, and the unit is m/s; v. oflThe unit is the speed of the vehicle in front of the target lane; dlThe unit m, a is the distance between the vehicle and the front of the target laneszIs the longitudinal acceleration of the vehicle in m/s2，alIs the acceleration of the front vehicle of the target lane in the unit of m/s2。
Further, T islThe critical collision time of the vehicle and the vehicle behind the target lane is calculated as follows:
Figure BDA0002335134940000053
in the formula: v. ofszThe unit is the longitudinal speed of the vehicle, and the unit is m/s; v. offThe rear vehicle speed of the target lane is in the unit of m/s; dfThe unit m, a is the distance between the vehicle and the rear of the target laneszIs the longitudinal acceleration of the vehicle in m/s2，afIs the acceleration of the front vehicle of the target lane in the unit of m/s2。

Claims (5)

1. A vehicle lane changing deceleration system based on MTTC comprises a vehicle distance monitoring unit, an acceleration monitoring unit, a vehicle speed monitoring unit, a data processing unit and a main control unit. The vehicle distance monitoring unit, the acceleration monitoring unit and the vehicle speed monitoring unit transmit the measured data to the data processing unit, the data processing unit sends an instruction to the vehicle speed control unit, and the main control unit controls the steering of the vehicle and reminds a driver of the vehicle; the method is characterized in that: the vehicle distance monitoring unit comprises a front distance meter and a rear distance meter; the acceleration monitoring unit comprises a transverse acceleration sensor, a longitudinal acceleration sensor, a front acceleration measuring instrument and a rear acceleration measuring instrument; the vehicle speed monitoring unit comprises a longitudinal vehicle speed sensor, a front speed measuring instrument and a rear speed measuring instrument; the data processing unit comprises an MTTC (maximum transmission temperature) calculation module, a lane change time calculation module, a first judgment module, a second judgment module, a third judgment module and an information processing module; the main control unit comprises a voice prompt device and a control execution device.
The lateral acceleration sensor measures the lateral acceleration of the vehicle and transmits the lateral acceleration to the lane change calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits the lane change time to the second judgment module and the third judgment module; the longitudinal speed sensor, the front speedometer and the rear speedometer measure the longitudinal speed of the vehicle, the front vehicle speed of the target lane and the rear vehicle speed of the target lane and transmit the values to the first judgment module; the judgment value of the first judgment module is transmitted to an MTTC calculation module; the distance between the vehicle and the front vehicle of the target lane is measured by the front distance measuring instrument and is transmitted to the MTTC calculation module; the longitudinal acceleration of the vehicle, the front vehicle acceleration of the vehicle and a target lane and the rear vehicle acceleration of the vehicle and the target lane are measured by the longitudinal acceleration sensor, the front acceleration measuring instrument and the rear acceleration measuring instrument, and are transmitted to the MTTC calculation module; the MTTC calculating module calculates the critical collision time of the vehicle and the front vehicle and transmits the critical collision time to the second judging module, and the judgment value of the second judging module is transmitted to the third judging module; the rear distance meter measures the distance between the vehicle and the rear vehicle of the target lane and transmits the distance to the MTTC calculation module, the MTTC calculation module calculates the critical collision time between the vehicle and the rear vehicle and transmits the critical collision time to the third judgment module, and the judgment value of the third judgment module is transmitted to the information processing module; the information processing module is respectively connected with the voice reminding device and the vehicle speed control execution device, and the control execution device controls the vehicle to turn through the turning device.
2. The MTTC-based vehicle lane change control method according to claim 1, comprising the following steps:
step one, a transverse acceleration sensor measures the transverse acceleration a of the vehicleshThe longitudinal acceleration sensor measures the longitudinal acceleration a of the vehicleszThe longitudinal speed sensor measures the longitudinal speed v of the vehicleszThe front acceleration measuring instrument and the front speed measuring instrument measure the front vehicle acceleration a of the vehicle and the target lanelAnd the speed v of the vehicle aheadlThe rear acceleration measuring instrument and the rear speed measuring instrument measure the rear vehicle acceleration a of the vehicle and the target lanefAnd rear vehicle speed vfAnd the lateral acceleration ashSending the speed information to a lane change time calculation module to calculate the longitudinal speed vszSpeed v of the preceding vehiclelAnd rear vehicle speed vfSending the longitudinal acceleration a to a first judgment moduleszAcceleration a of the preceding vehiclelAnd rear vehicle acceleration afSending the data to an MTTC calculation module;
step two, the front distance measuring instrument measures the distance D between the vehicle and the front vehicle of the target vehicleslThe rear distance measuring instrument measures the distance D between the vehicle and the rear vehicle of the target lanesfAnd the vehicle distance DslAnd DsfSending the data to an MTTC calculation module;
step three, longitudinal speed v of the first judging moduleszSpeed v of the preceding vehiclelAnd rear vehicle speed vfMaking a comparison if vf≤vsz≤vlIf yes, executing a step nine, wherein the vehicle can change lanes, otherwise, executing a step six, and controlling the vehicle to move straight;
step four, the lane change time calculation module calculates the time T required by the vehicle to complete lane changecAnd will TcSending the data to a second judgment module and a third judgment module;
step five, calculating the critical collision time T between the vehicle and the front vehicle of the target lane by an MTTC calculation modulelAnd the critical collision time T of the vehicle and the vehicle behind the target lanefAnd will TlSending the T to a second judgment modulefSending the data to a third judgment module;
step six, the second judgment module judges the lane changing time TcAnd the boundary between the vehicle and the front vehicle of the target laneTime of collision TlMaking a comparison if Tc＜TlIf yes, executing step eight, and the vehicle is decelerated, otherwise, executing step eight, and judging TcAnd TfThe size of (d);
step seven, the third judging module is used for judging the track changing time TcAnd the critical collision time T of the vehicle and the vehicle behind the target lanefMaking a comparison, e.g. Tc＜TfIf yes, executing a step twelve, wherein the vehicle can change lanes, otherwise, executing a step eleven, wherein the vehicle cannot change lanes;
step eight, the voice prompt device prompts the driver that the lane changing time is too long, the vehicle is forced to go straight, and the control execution module controls the vehicle steering wheel control device to adjust the steering wheel angle;
and step nine, prompting a driver to prompt that the vehicle can change the lane by the prompting device.
3. The MTTC-based vehicle lane change control method according to claim 2, wherein: the T iscThe lane change time is calculated as follows:
Figure FDA0002335134930000021
in the formula: l is lane width in m; a iscIs the lateral acceleration of the vehicle in m/s2。
4. The MTTC-based vehicle lane change control method according to claim 2, wherein: the T islThe critical collision time of the vehicle and the vehicle ahead of the target lane is calculated as follows:
Figure FDA0002335134930000022
in the formula: v. ofszThe unit is the longitudinal speed of the vehicle, and the unit is m/s; v. oflThe unit is the speed of the vehicle in front of the target lane; dlThe unit m, a is the distance between the vehicle and the front of the target laneszIs the longitudinal acceleration of the vehicle in m/s2，alIs the acceleration of the front vehicle of the target lane in the unit of m/s2。
5. The MTTC-based vehicle lane change control method according to claim 2, wherein: the T islThe critical collision time of the vehicle and the vehicle behind the target lane is calculated as follows:
Figure FDA0002335134930000023
in the formula: v. ofszThe unit is the longitudinal speed of the vehicle, and the unit is m/s; v. offThe rear vehicle speed of the target lane is in the unit of m/s; dfThe unit m, a is the distance between the vehicle and the rear of the target laneszIs the longitudinal acceleration of the vehicle in m/s2，afIs the acceleration of the front vehicle of the target lane in the unit of m/s2。
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