CN111994071B - Active backward collision avoidance method, system and storage medium - Google Patents
Active backward collision avoidance method, system and storage medium Download PDFInfo
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- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
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Abstract
The invention relates to a backward-collision active avoidance method, a backward-collision active avoidance system and a computer storage medium for implementing the method. The backward-collision active avoidance method comprises the following steps: an information acquisition step of acquiring traveling information of the host vehicle, the front vehicle, and the rear vehicle, and acquiring traveling information of vehicles in adjacent lanes of the host vehicle; a first time-to-collision calculation step of calculating a first time-to-collision TTC1 of the rear vehicle with respect to the host vehicle, based on the traveling information of the rear vehicle and the host vehicle; a control command generation step of generating a control command such that an acceleration command is generated if the vehicle-to-front distance between the host vehicle and the preceding vehicle is greater than a preset distance, when the first time to collision TTC1 is equal to or less than a preset first threshold value; if the distance between the vehicle and the front vehicle is less than or equal to the preset distance, judging whether lane changing to an adjacent lane is possible, and generating a lane changing command under the condition that the lane changing to the adjacent lane is possible; and a control step of controlling the host vehicle based on the generated control command.
Description
Technical Field
The invention relates to the technical field of automotive electronics, in particular to a backward-collision active avoidance method and system and a computer storage medium for implementing the method.
Background
With the increase of the automobile holding quantity, more and more automobiles are arranged on the road, and the probability of two-automobile or even multi-automobile continuous collision on the expressway is increased. This not only causes road blockage, but also causes great economic losses, and most importantly, poses great threats to personal safety.
Currently, Automatic Emergency Braking Systems (AEBs) are commonly used to avoid or mitigate injuries caused by rear-end collisions. That is, when there is a risk of occurrence of a rear-end collision, a braking operation is generally taken by a vehicle located at the rear to avoid the collision.
However, this mode of operation does not take into account the use of strategies for preventing a vehicle collision by accelerating or steering a vehicle located in front. This results in a situation where in some emergency situations a collision may occur even if a braking command is issued. Therefore, there is a need for a method of accurately identifying whether there is a risk of a rear-end collision and taking into account acceleration and steering operations of the vehicle to make an optimal avoidance strategy.
Disclosure of Invention
The invention aims to provide a backward-direction rear-end collision active avoidance method, a system and a computer storage medium for implementing the method, which consider the conditions of the front lane and the adjacent lane of the vehicle to determine an optimal avoidance strategy, thereby reducing the collision risk and improving the driving safety.
According to one aspect of the invention, a backward-collision active avoidance method is provided, which comprises the following steps: an information acquisition step of acquiring travel information of a host vehicle, a front vehicle and a rear vehicle, and acquiring travel information of vehicles of at least one adjacent lane of the host vehicle, the front vehicle and the rear vehicle being in the same lane as the host vehicle; a first time to collision calculation step of calculating a first time to collision TTC1 of the rear vehicle with respect to the host vehicle, based on the travel information of the rear vehicle and the travel information of the host vehicle acquired in the information acquisition step; a control command generation step of generating a control command such that an acceleration command is generated if a vehicle distance between the host vehicle and the preceding vehicle is greater than a preset distance, when the first time to collision TTC1 is equal to or less than a preset first threshold value; if the distance between the vehicle and the front vehicle is smaller than or equal to the preset distance, judging whether the lane change can be carried out to one adjacent lane of at least one adjacent lane, and generating a lane change command under the condition that the lane change can be carried out to the adjacent lane; and a control step of controlling the host vehicle based on the control command generated in the control command generation step.
Preferably, the backward-collision active avoidance method further includes the following steps: a prediction step of predicting a third time to collision TTC3 of the host vehicle with the preceding vehicle after the host vehicle is accelerated so that the first time to collision TTC1 becomes greater than the first threshold value when the vehicle distance between the host vehicle and the preceding vehicle is equal to or less than a preset distance, wherein the control command generation step determines whether or not lane change is possible to one of at least one adjacent lane when the vehicle distance between the host vehicle and the preceding vehicle is equal to or less than the preset distance and the third time to collision TTC3 predicted by the prediction unit is equal to or less than the first threshold value, generates a lane change command when the lane change is possible to one adjacent lane, and when the vehicle distance between the host vehicle and the preceding vehicle is equal to or less than the preset distance and the predicted third time to collision TTC3 is greater than the first threshold value, an acceleration command is generated.
Preferably, the backward-collision active avoidance method further includes the following steps: a second collision time calculation step ofCalculating a second time to collision TTC2 of the host vehicle with respect to the vehicle of at least one adjacent lane based on the traveling information of the host vehicle and the traveling information of the vehicle of at least one adjacent laneiWherein i is more than or equal to 1 and less than or equal to 4 and is an integer, in the step of generating the control command, if the second time to collision TTC2 of an adjacent lane isiIf the lane change is larger than the preset second threshold value, the lane change is judged to be the adjacent lane.
Preferably, in the first time to collision calculation step, the first time to collision TTC1 is calculated from the vehicle speeds and relative distances of the host vehicle and the following vehicle.
Preferably, in the second time to collision calculation step, the second time to collision TTC2 is calculated based on the vehicle speed and the relative distance between the host vehicle and the vehicle in at least one adjacent lanei。
Preferably, the information acquisition unit acquires the driving information of the vehicle of the preceding vehicle, the following vehicle and at least one adjacent lane through a sensor device.
Preferably, the information acquisition unit obtains the driving information of the vehicle of the front vehicle, the rear vehicle and at least one adjacent lane through a vehicle-to-X communication system.
According to another aspect of the present invention, there is provided a backward-collision active avoidance system, including: an information acquisition unit that acquires travel information of a host vehicle, a front vehicle, and a rear vehicle, and acquires travel information of at least one adjacent lane vehicle of the host vehicle, the front vehicle and the rear vehicle being in the same lane as the host vehicle; a first collision time calculation unit that calculates a first collision time TTC1 of the rear vehicle with respect to the host vehicle, based on the travel information of the rear vehicle and the travel information of the host vehicle acquired by the information acquisition unit; a control command generation unit that generates a control command such that an acceleration command is generated if a vehicle distance between the host vehicle and the preceding vehicle is greater than a preset distance, when the first time to collision TTC1 is equal to or less than a preset first threshold value; if the distance between the vehicle and the front vehicle is smaller than or equal to the preset distance, judging whether the lane change can be carried out to one adjacent lane of at least one adjacent lane, and generating a lane change command under the condition that the lane change can be carried out to the adjacent lane; and a control unit that controls the host vehicle based on the control command generated by the control command generation unit.
Preferably, the backward-direction rear-end collision active avoidance system further comprises: a prediction unit that predicts a third time to collision TTC3 of the host vehicle with respect to the preceding vehicle after the host vehicle is accelerated so that the first time to collision TTC1 becomes greater than the first threshold value when the vehicle distance between the host vehicle and the preceding vehicle is equal to or less than a preset distance, wherein the control command generation unit determines whether or not lane change to one of at least one adjacent lane is possible when the vehicle distance between the host vehicle and the preceding vehicle is equal to or less than the preset distance and the third time to collision TTC3 predicted by the prediction unit is equal to or less than the first threshold value, generates a lane change command when lane change to one adjacent lane is possible, and generates a lane change command when the vehicle distance between the host vehicle and the preceding vehicle is equal to or less than a preset distance and the third time to collision TTC3 predicted is greater than the first threshold value, an acceleration command is generated.
Preferably, the backward-direction rear-end collision active avoidance system further comprises: a second time-to-collision calculation unit that calculates a second time-to-collision TTC2 of the host-vehicle with respect to a vehicle of at least one adjacent lane based on the travel information of the host-vehicle and the travel information of the vehicle of the at least one adjacent laneiWherein i is greater than or equal to 1 and less than or equal to 4 and is an integer, in the control command generation unit, if the second time to collision TTC2 of one adjacent laneiIf both are larger than a predetermined second threshold value, it is determined that the lane is changeable to the one adjacent lane.
According to another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a program for causing a computer to execute a backward-collision active avoidance method according to an aspect of the present invention.
Drawings
Fig. 1 is a flowchart of a backward-collision active avoidance method according to an embodiment of the present invention.
Fig. 2 is a driving scenario for explaining a backward-collision active avoidance method according to an embodiment of the present invention.
Fig. 3 is another driving scenario for explaining a backward-collision active avoidance method according to an embodiment of the present invention.
Fig. 4 is a schematic block diagram showing the configuration of a backward-collision active avoidance system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
Fig. 1 is a flowchart of a backward-collision active avoidance method according to an embodiment of the present invention. Fig. 2 is a driving scenario for explaining a backward-collision active avoidance method according to an embodiment of the present invention. A backward-collision active avoidance method according to an embodiment of the present invention is described with reference to fig. 1 and 2.
As shown in fig. 2, in the present embodiment, the host vehicle 1 has a front vehicle 3 and a rear vehicle 2, and has two adjacent lanes on which the vehicles 4 and 5 travel, respectively.
As shown in fig. 1, in step S101, the traveling information of the host vehicle 1, the front vehicle 3, and the rear vehicle 2 is acquired, and the traveling information of the vehicle in at least one adjacent lane of the host vehicle, in this embodiment, the traveling information of the vehicles 4 and 5 in two adjacent lanes, is acquired. The travel information of the vehicle 1 is acquired by a plurality of sensors mounted on the vehicle, a Global Positioning System (GPS), and the like. The travel information of the own vehicle includes vehicle basic information (including a vehicle position, a vehicle speed, a heading angle, and the like) of the own vehicle 1, vehicle braking information (including a vehicle braking start time, vehicle acceleration change information, and the like), vehicle steering information (including a vehicle steering start time, vehicle steering angle change information, and the like), vehicle trajectory information, and the like. The traveling information on the preceding vehicle 3, the following vehicle 2, and the vehicles 4 and 5 in the two adjacent lanes may be acquired from infrastructure such as a camera or radar mounted on the roadside based on road-to-vehicle communication or may be acquired based on sensors mounted on the vehicles. The traveling information of the preceding vehicle 3, the following vehicle 2, and the vehicles 4 and 5 in the two adjacent lanes includes vehicle basic information, vehicle braking information, vehicle steering information, vehicle trajectory information, and the like.
In step S102, the first time to collision TTC1 of the rear vehicle 2 with respect to the host vehicle 1 is calculated based on the traveling information of the rear vehicle 2 and the traveling information of the host vehicle 1 acquired in step S101. In the present embodiment, the first time to collision TTC1 between the host vehicle 1 and the following vehicle 2 is calculated from their speeds and their relative distances. In order to make the calculation of the time to first impact TTC1 more accurate in some embodiments, the calculation may be made by introducing acceleration of the corresponding vehicle and some other speed compensation based on the speed and relative distance of the corresponding vehicle.
In step S103, it is determined whether or not the first time to collision TTC1 of the following vehicle 2 with respect to the own vehicle 1 calculated in step S102 is equal to or less than a preset first threshold Th 1. If the first time to collision TTC1 is equal to or less than the first threshold value Th1 (yes in step S103), the process proceeds to step S104, and if the first time to collision TTC1 is greater than the first threshold value Th1 (no in step S103), the process returns to step S101. In the driving scenario shown in fig. 2, the first time to collision TTC1 is equal to or less than the first threshold Th1, and therefore the process proceeds to step S104.
In step S104, the distance S between the host vehicle 1 and the preceding vehicle 3 is determined based on the travel information of the host vehicle 1 and the preceding vehicle 3 acquired in step S10113Whether or not less than or equal to a preset distance ST. If the distance S between the vehicle 1 and the front vehicle 313Greater than a predetermined distance ST(NO in step S104), the process proceeds to step S106, where the distance S between the host vehicle 1 and the preceding vehicle 3 is determined13Less than or equal to a predetermined distanceFrom ST(yes in step S104), the process proceeds to step S105. In the driving scenario shown in fig. 2, the distance S between the host vehicle 1 and the preceding vehicle 313Less than or equal to a preset distance STAnd thus proceeds to step S105.
In step S106, an acceleration command is generated, the host vehicle 1 is controlled to accelerate based on the acceleration command, and the process returns to step S101.
In step S105, a third time to collision TTC3 of the host vehicle 1 with respect to the preceding vehicle 3 after the host vehicle 1 is accelerated such that the first time to collision TTC1 is greater than the first threshold Th1 is predicted. In the prediction process, it is assumed that the speeds of the rear vehicle 2 and the front vehicle 3 do not change. V represented by the following formula (1)tIs the minimum speed V of the host vehicle which can be separated from the collision of the host vehicle and the following vehiclet。
Vt＝V2–S12’/Th1 (1)
Wherein, V2Is the speed of the rear vehicle 2, S12' the vehicle 1 accelerates to VtThe distance between the rear host vehicle 1 and the rear vehicle 2 is expressed by the following expression (2).
S12’＝S12+(V1*t+1/2*at2–V2*t) (2)
Wherein t is V1Accelerate to VtThe time of (d) is represented by the following expression (3), and a is the acceleration of the vehicle 1 and is calculated by taking the maximum value of the allowable threshold range in the standard.
t＝(Vt–V1)/a (3)
V can be calculated by substituting expressions (2) and (3) for expression (1)t。
Then, the acceleration of the host vehicle 1 to V is calculated by the following expression (4)tDistance S between rear vehicle 1 and front vehicle 313’。
S13’＝S13-(V1*t+1/2*at2–V3*t) (4)
The predicted third time to collision TTC3 can be calculated according to the following equation (5).
TTC3＝S13’/(Vt-V3) (5)
In step S107, it is determined whether or not the third time to collision TTC3 calculated in step S105 is equal to or less than the first threshold Th 1. If the third time to collision TTC3 is equal to or less than the first threshold Th1 (yes in step S107), the process proceeds to step S108. If the third time to collision TTC3 is greater than the first threshold Th1 (no in step S107), the process proceeds to step S109. In the driving scenario shown in fig. 2, the third time to collision TTC3 is equal to or less than the first threshold Th1, and therefore the process proceeds to step S108.
In step S109, an acceleration command is generated, the host vehicle 1 is controlled to accelerate based on the acceleration command, and the process returns to step S101.
In step S108, a second time to collision TTC2 of the host vehicle with respect to the vehicle in at least one adjacent lane is calculated based on the traveling information of the host vehicle and the traveling information of the vehicle in at least one adjacent lanei. In the present embodiment, the second time to collision TTC21(time of collision of host vehicle 1 with respect to vehicle 4), second time of collision TTC22(collision time of the host vehicle 1 with respect to the vehicle 5).
In the driving scenario shown in fig. 2, there are two adjacent lanes, and there is only one vehicle in front of and behind the host vehicle in each adjacent lane, so the second time to collision TTC2 between the host vehicle 1 and the vehicle 4 in one adjacent lane is calculated respectively1And a second time to collision TTC2 of the host vehicle 1 with a vehicle 5 of another adjacent lane2And (4) finishing. It should be noted that there may be two vehicles in front of and behind the host vehicle on the adjacent lanes, that is, the lateral rear and the lateral front of the host vehicle, in this case, there are two second time to collision TTC2 for each adjacent lane, and if there are two adjacent lanes, there are 4 second time to collision TTC2, so that the second time to collision TTC2 is set as the second time to collision TTC2iWherein i is more than or equal to 1 and less than or equal to 4 and is an integer.
In step S110, the second time to collision TTC2 of any one of the adjacent lanes is determinediWhether or not both are larger than a predetermined second threshold value Th 2. In the driving scenario shown in fig. 2, i.e. the determination of the second time to collision TTC21Whether or not toGreater than a second threshold Th2 or a second time to collision TTC22Is greater than the second threshold Th 2. If the second time to collision TTC21If the time is greater than the second threshold Th2, it indicates that the host vehicle 1 can change the lane to the adjacent lane where the vehicle 4 is located, and if the second time to collision TTC22If the threshold value is greater than the second threshold value Th2, it indicates that the host vehicle 1 may change lanes to the adjacent lane where the vehicle 5 is located. In the case where there are two vehicles in front of and behind the host vehicle in each adjacent lane, it is necessary to determine whether or not there is a second time to collision TTC2 in any one laneiAre both greater than a predetermined second threshold Th 2.
Second time to collision TTC2 for an adjacent laneiAre both greater than a predefined second threshold value Th2, the process proceeds to step S111, if there is at least one second time to collision TTC2 for each adjacent laneiIf the threshold value is equal to or lower than the predetermined second threshold value Th2, the process proceeds to step S112.
In step S111, a lane change command is generated, the host vehicle is controlled to change lanes based on the lane change command, and the process returns to step S101.
In step S112, the vehicle speed at which the impact force is minimum is calculated based on the traveling information (vehicle speed, vehicle mass) of the vehicle 1, the preceding vehicle 3, and the following vehicle 4, the vehicle 1 is controlled based on the calculated vehicle speed, and the process returns to step S101.
In addition, the backward-collision active avoidance method cyclically executes the steps S101 to S112 at a preset period t. In order to improve driving safety, it is necessary to determine whether there is a risk of a rear-end collision or not from the real-time states of the host vehicle, the preceding vehicle, the following vehicle, and the vehicle in the adjacent lane, and to determine an optimal avoidance maneuver, and therefore, it is necessary to execute the above steps at a short cycle t, and the preset cycle t is preferably several milliseconds, and more preferably several tenths of milliseconds.
Fig. 3 is another driving scenario for explaining a backward-collision active avoidance method according to an embodiment of the present invention. In the driving scenario shown in fig. 3, the third time to collision TTC3 calculated in step S105 is greater than the first threshold Th1, so step S107 proceeds to step S109.
Fig. 4 is a schematic block diagram showing the configuration of a backward-collision active avoidance system according to an embodiment of the present invention. As shown in fig. 4, the backward-direction rear-end collision active avoidance system 100 includes an information acquisition unit 110, a first collision time calculation unit 120, a second collision time calculation unit 130, a prediction unit 140, a control command generation unit 150, and a control unit 160.
The information collection unit 110 collects travel information of the host vehicle 1, the front vehicle 3, and the rear vehicle 2, and collects travel information of vehicles of at least one adjacent lane of the host vehicle, in this embodiment, travel information of vehicles 4 and 5 of two adjacent lanes, and the front vehicle 3 and the rear vehicle 2 are in the same lane as the host vehicle 1.
The first time to collision calculation unit 120 calculates a first time to collision TTC1 of the rear vehicle 2 with respect to the host vehicle 1 based on the traveling information of the rear vehicle 2 and the traveling information of the host vehicle 1 acquired by the information acquisition unit 110.
The second time-to-collision calculation unit 130 calculates a second time-to-collision TTC2 of the host vehicle with respect to the vehicles 4, 5 in the two adjacent lanes based on the travel information of the host vehicle 1 and the travel information of the vehicles 4, 5 in the two adjacent lanes1、TTC22。
The distance between the vehicle 1 and the front vehicle 3 is less than or equal to the preset distance STIn the case of (3), the prediction unit 140 predicts the third time to collision TTC3 of the host vehicle 1 with respect to the preceding vehicle 3 after accelerating the host vehicle so that the first time to collision TTC1 becomes greater than the first threshold Th 1.
In the case where the first time to collision TTC1 is equal to or less than the preset first threshold Th1, the control command generating unit 150 generates the control command in the following manner:
if the distance between the vehicle 1 and the front vehicle 3 is larger than the preset distance STGenerating an acceleration command;
if the distance between the vehicle 1 and the front vehicle 3 is less than or equal to the preset distance STThe third time to collision TTC3 predicted by the prediction unit 140 is equal to or less than the first threshold Th1, and the second time to collision TTC2 of any one of the adjacent lanes is determinediWhether or not both of them are larger than a predetermined second threshold value Th1, and if so, generating a command to change lane to the adjacent lane; and
if the distance between the vehicle 1 and the front vehicle 3 is less than or equal to the preset distance STAnd the predicted third time to collision TTC3 is greater than the first threshold Th1, an acceleration command is generated.
The control unit 160 controls the host vehicle 1 based on the control command generated by the control command generation unit 150.
In the present embodiment, the traveling information of the preceding vehicle, the following vehicle, and the adjacent lane vehicle is received from the infrastructure, for example, a camera, a radar, or the like mounted on the roadside, by road-to-vehicle communication, but the present invention is not limited thereto, and the traveling information may be received from another vehicle by vehicle-to-vehicle communication or the like.
The first threshold value Th1, the second threshold value Th2, and the predetermined distance STThe setting may be freely made in accordance with a request for a vehicle safety level, a test, or the like, and is not limited to a certain value.
In addition, in the present embodiment, the lane in which the host vehicle travels has two adjacent lanes, but the present invention is not limited thereto, and may have only one adjacent lane.
According to another aspect of the present invention, there is also provided a computer-readable storage medium having stored thereon a program for causing a computer to execute the backward-collision active avoidance method described in the previous embodiment.
Although the present invention has been described with reference to the present specific embodiments, it will be appreciated by those skilled in the art that the scope of the invention herein involved is not limited to the specific combination of the above features, but also encompasses other embodiments formed by any combination of the above features or their equivalents without departing from the inventive concept. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.
Claims (9)
1. A backward-collision active avoidance method is characterized by comprising the following steps:
an information acquisition step of acquiring traveling information of a host vehicle, a front vehicle and a rear vehicle, and acquiring traveling information of vehicles of at least one adjacent lane of the host vehicle, the front vehicle and the rear vehicle being in the same lane as the host vehicle;
a first time to collision calculation step of calculating a first time to collision TTC1 of the rear vehicle with respect to the host vehicle, based on the travel information of the rear vehicle and the travel information of the host vehicle acquired in the information acquisition step;
a prediction step of predicting a third time to collision TTC3 of the host vehicle with respect to the preceding vehicle after accelerating the host vehicle such that the first time to collision TTC1 is greater than a first threshold value when the first time to collision TTC1 is equal to or less than the first threshold value set in advance and the vehicle distance between the host vehicle and the preceding vehicle is equal to or less than a distance set in advance, wherein a minimum speed V of the host vehicle that can escape from the risk of collision between the host vehicle and the following vehicle is calculated based on equations (1), (2) and (3)t，V1Is the speed of the vehicle, V2Is the speed of the rear vehicle, S12Is the distance between the vehicle and the following vehicle, S12' is the vehicle accelerates to VtThe distance between the rear vehicle and the rear vehicle, t is V1Accelerate to VtA is the acceleration of the host vehicle, Th1 is a first threshold,
Vt = V2 – S12’/Th1 （1）
S12’= S12 +（V1*t + 1/2*at2–V2*t） （2）
t = （Vt – V1）/a （3）
v obtained by the above calculationtAnd calculating a predicted third time to collision TTC3 based on equations (4) and (5), where S13Is the distance between the vehicle and the preceding vehicle, V3Is the speed of the preceding vehicle, S13' the vehicle accelerates to VtThe distance between the rear vehicle and the front vehicle,
S13’= S13 -（V1*t + 1/2*at2–V3*t） （4）
TTC3 = S13’/（Vt- V3） （5）；
a control command generation step of generating a control command such that, when the first time to collision TTC1 is equal to or less than a first threshold value set in advance:
if the distance between the vehicle and the front vehicle is larger than the preset distance, generating an acceleration command;
if the distance between the host vehicle and the preceding vehicle is less than or equal to a preset distance, judging whether lane changing to one adjacent lane of at least one adjacent lane is possible or not under the condition that the third time to collision TTC3 predicted by the predicting step is less than or equal to the first threshold, generating a lane changing command under the condition that the lane changing is to one adjacent lane, and generating an accelerating command under the condition that the predicted third time to collision TTC3 is greater than the first threshold; and
a control step of controlling the host vehicle based on the control command generated in the control command generation step.
2. The backward-collision active avoidance method according to claim 1,
further comprising the steps of:
a second time-to-collision calculation step of calculating a second time-to-collision TTC2 of the host-vehicle with respect to a vehicle of at least one adjacent lane based on the travel information of the host-vehicle and the travel information of the vehicle of the at least one adjacent laneiWherein i is more than or equal to 1 and less than or equal to 4 and is an integer,
in the step of generating the control command, if the second time to collision TTC2 of an adjacent lane is determinediIf the lane change is larger than the preset second threshold value, the lane change is judged to be the adjacent lane.
3. The backward-collision active avoidance method according to claim 1 or 2,
in the first time to collision calculation step, the first time to collision TTC1 is calculated from the vehicle speeds and relative distances of the host vehicle and the following vehicle.
4. The backward-collision active avoidance method according to claim 2,
in the second time to collision calculation step, the second time to collision TTC2 is calculated from the vehicle speed and the relative distance between the host vehicle and the vehicle in at least one adjacent lanei。
5. The backward-collision active avoidance method according to claim 1 or 2,
in the information acquisition step, the driving information of the vehicle in the front vehicle, the rear vehicle and at least one adjacent lane is obtained through a sensor device.
6. The backward-collision active avoidance method according to claim 1 or 2,
in the information acquisition step, the driving information of the vehicle in the front vehicle, the rear vehicle and at least one adjacent lane is obtained through a vehicle-to-X communication system.
7. A backward-collision active avoidance system, comprising:
an information acquisition unit that acquires travel information of a host vehicle, a front vehicle, and a rear vehicle, and acquires travel information of at least one adjacent lane vehicle of the host vehicle, the front vehicle and the rear vehicle being in the same lane as the host vehicle;
a first collision time calculation unit that calculates a first collision time TTC1 of the rear vehicle with respect to the host vehicle, based on the travel information of the rear vehicle and the travel information of the host vehicle acquired by the information acquisition unit;
a prediction unit in the secondWhen a time to collision TTC1 is equal to or less than a first predetermined threshold value and a vehicle distance between the host vehicle and the preceding vehicle is equal to or less than a predetermined distance, the prediction unit predicts a third time to collision TTC3 of the host vehicle with respect to the preceding vehicle after accelerating the host vehicle such that the first time to collision TTC1 is greater than the first threshold value, wherein a minimum speed V of the host vehicle which can escape from a risk of collision between the host vehicle and the following vehicle is calculated based on equations (1), (2) and (3)t，V1Is the speed of the vehicle, V2Is the speed of the rear vehicle, S12Is the distance between the vehicle and the following vehicle, S12' the vehicle accelerates to VtThe distance between the rear vehicle and the rear vehicle, t is V1Accelerate to VtA is the acceleration of the host vehicle, Th1 is a first threshold,
Vt = V2 – S12’/Th1 （1）
S12’= S12 +（V1*t + 1/2*at2–V2*t） （2）
t = （Vt – V1）/a （3）
v obtained by the above calculationtAnd calculating a predicted third time to collision TTC3 based on equations (4) and (5), where S13Is the distance between the vehicle and the preceding vehicle, V3Is the speed of the preceding vehicle, S13' the vehicle accelerates to VtThe distance between the rear vehicle and the front vehicle,
S13’= S13 -（V1*t + 1/2*at2–V3*t） （4）
TTC3 = S13’/（Vt- V3） （5）；
a control command generating unit that generates a control command such that, when the first time to collision TTC1 is equal to or less than a first threshold value set in advance:
if the distance between the vehicle and the front vehicle is larger than the preset distance, generating an acceleration command;
if the distance between the host vehicle and the preceding vehicle is less than or equal to a preset distance, under the condition that the third time to collision TTC3 predicted by the prediction unit is less than or equal to the first threshold, whether lane changing to one adjacent lane in at least one adjacent lane is possible is judged, under the condition that the lane changing to one adjacent lane is possible, a lane changing command is generated, and under the condition that the predicted third time to collision TTC3 is greater than the first threshold, an acceleration command is generated; and
a control unit that controls the host vehicle based on the control command generated by the control command generation unit.
8. The backward-facing rear-end active avoidance system of claim 7,
further comprising:
a second time-to-collision calculation unit that calculates a second time-to-collision TTC2 of the host-vehicle with respect to a vehicle of at least one adjacent lane based on the travel information of the host-vehicle and the travel information of the vehicle of the at least one adjacent laneiWherein i is more than or equal to 1 and less than or equal to 4 and is an integer,
in the control command generating unit, the second time to collision TTC2 if one adjacent laneiIf both are larger than a predetermined second threshold value, it is determined that the lane is changeable to the one adjacent lane.
9. A computer-readable storage medium having stored thereon a program for causing a computer to execute the method according to any one of claims 1 to 6.
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| CN112606838B (en) * | 2020-12-15 | 2022-07-01 | 东风汽车集团有限公司 | Anti-collision control method and device for lane change of vehicle |
| CN112750325B (en) * | 2020-12-28 | 2022-05-13 | 广州小鹏自动驾驶科技有限公司 | Processing method and device and vehicle |
| CN112660119A (en) * | 2021-01-14 | 2021-04-16 | 浙江吉利控股集团有限公司 | Vehicle rear collision early warning method |
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| CN115376361A (en) * | 2021-05-17 | 2022-11-22 | 上海博泰悦臻网络技术服务有限公司 | Vehicle rear-end collision early warning method and device, storage medium and electronic equipment |
| CN113879293B (en) * | 2021-10-21 | 2024-03-26 | 奇瑞汽车股份有限公司 | Vehicle obstacle avoidance control method, device, equipment and storage medium |
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