CN112652176B - Early warning method and system based on adjacent vehicle motion state and vehicle - Google Patents

Abstract

The invention discloses an early warning method based on the motion state of adjacent vehicles, comprising: determining the running speed and deceleration of a target vehicle adjacent to the current vehicle; judging whether the deceleration of the target vehicle is greater than or equal to a first preset value; If the deceleration of the target vehicle is greater than or equal to the first preset value, a first warning message is sent; if the deceleration of the target vehicle is less than the first preset value, it is determined whether the deceleration of the target vehicle is greater than or equal to the second preset value; If the deceleration of the target vehicle is greater than or equal to the second preset value, it is determined whether the running speed of the target vehicle is less than the preset speed value; if the running speed of the target vehicle is less than the preset speed value, a second warning message is issued; the above method can be achieved by The motion state of the adjacent target vehicle determines whether there is a crossing vehicle or person blocked by the target vehicle in front of the side, so as to give an early warning to the driver of the current vehicle.

Description

Early warning method, system and vehicle based on motion state of adjacent vehicles

technical field

The present application relates to the technical field of vehicle automatic control, and in particular, to an early warning method, system and vehicle based on the motion state of adjacent vehicles.

Background technique

In order to prevent the vehicle from colliding with objects or pedestrians ahead and improve the safety of vehicles and pedestrians, many vehicles are equipped with automatic emergency braking system (Autonomous Emergency Braking, AEB) and front side collision warning system (Front Collision Warning, FCW), AEB And FCW locates the distance information of the object or pedestrian ahead through the millimeter wave radar. However, under some special working conditions, such as the current vehicle (main vehicle C) in the working conditions shown in Figure 1, the driver's line of sight and millimeter-wave radar/camera are blocked by the target vehicle (B), resulting in a blind spot, which cannot be timely. It is found that the information of the crossing vehicle or pedestrian (A) coming from the side of the target vehicle (left front side) does not meet the activation conditions of AEB and FCW; when the left crossing vehicle or pedestrian appears in front of the vehicle, the host vehicle C drives If there is not enough reaction time for the brakes, the AEB system and the FCW system will easily lead to traffic accidents, personal safety problems and economic and property losses.

SUMMARY OF THE INVENTION

The present invention provides an early warning method, system and vehicle based on the motion state of adjacent vehicles, so as to solve or partially solve the technical problem that the current vehicle cannot detect crossing vehicles or pedestrians in time and brake in time when the vision of adjacent vehicles is blocked. .

In order to solve the above technical problems, the present invention provides an early warning method based on the motion state of adjacent vehicles, including:

Determine the driving speed and deceleration of the target vehicle adjacent to the current vehicle;

Determine whether the deceleration of the target vehicle is greater than or equal to a first preset value;

If the deceleration of the target vehicle is greater than or equal to the first preset value, a first warning message is issued;

If the deceleration of the target vehicle is less than the first preset value, determine whether the deceleration of the target vehicle is greater than or equal to the second preset value;

If the deceleration of the target vehicle is greater than or equal to the second preset value, determine whether the traveling speed of the target vehicle is less than the preset speed value;

If the running speed of the target vehicle is less than the preset speed value, a second warning message is issued.

Optionally, determine the running speed and deceleration of the target vehicle adjacent to the current vehicle, specifically including:

Get the current speed of the vehicle in real time;

Obtain the relative displacement of the target vehicle relative to the current vehicle within a preset time interval in real time;

According to the relative displacement, determine the longitudinal relative distance change of the target vehicle relative to the current vehicle;

Determine the relative speed of the target vehicle relative to the current vehicle according to the longitudinal relative distance change and the preset time interval;

Determine the deceleration of the target vehicle according to the relative speed of the target vehicle relative to the current vehicle in the adjacent preset time interval;

The travel speed of the target vehicle is determined according to the relative speed of the target vehicle relative to the current vehicle and the travel speed of the current vehicle.

Optionally, determine the running speed and deceleration of the target vehicle adjacent to the current vehicle, specifically including:

Control the current vehicle to establish a vehicle-to-vehicle communication V2V connection with the target vehicle;

According to the V2V connection, the driving speed and deceleration of the target vehicle are obtained.

Optionally, before determining the running speed and deceleration of the target vehicle adjacent to the current vehicle, the early warning method further includes:

Determine whether the current vehicle meets the preset warning conditions. The preset warning conditions include:

The current vehicle is not in an effective braking state;

The current vehicle is not in a steering state;

If the current vehicle satisfies the preset warning condition, start to determine the running speed and deceleration of the target vehicle adjacent to the current vehicle.

Optionally, after sending the first warning information or the second warning information, the warning method further includes:

Control the hydraulic brakes of the current vehicle for pre-brake pressure build-up.

Optionally, the value range of the first preset value is more than 3m/s ² ; the value range of the second preset value is 1.0-2.0m/s ² ; the value range of the preset speed value is 25-40km /h.

Based on the same inventive concept as the foregoing technical solutions, the present invention also provides an early warning system based on the motion state of adjacent vehicles, including:

The controller is used to determine the running speed and deceleration of the target vehicle adjacent to the current vehicle; and is used to determine whether the deceleration of the target vehicle is greater than or equal to the first preset value; if the deceleration of the target vehicle is greater than or equal to the first A preset value, sending a first warning signal to the early warning component; if the deceleration of the target vehicle is less than the first preset value, determine whether the deceleration of the target vehicle is greater than or equal to the second preset value; if the deceleration of the target vehicle is greater than or equal to the second preset value or equal to the second preset value, determine whether the running speed of the target vehicle is less than the preset speed value; if the running speed of the target vehicle is less than the preset speed value, send a second early warning signal to the early warning component;

The early warning component is used to send out the first early warning information according to the first early warning signal; or, according to the second early warning signal, send out the second early warning information.

Optionally, it also includes a millimeter-wave radar that establishes a communication connection with the controller;

Millimeter-wave radar is used to detect in real time and send to the controller the relative displacement of the target vehicle relative to the current vehicle within a preset time interval;

The controller obtains the running speed of the current vehicle in real time; and determines the longitudinal relative distance change of the target vehicle relative to the current vehicle according to the relative displacement; speed; determine the deceleration of the target vehicle according to the relative speed of the target vehicle relative to the current vehicle in the adjacent preset time interval; determine the driving speed of the target vehicle according to the relative speed of the target vehicle relative to the current vehicle and the current vehicle speed .

Optionally, it also includes a vehicle-to-vehicle communication V2V module, and the V2V module communicates with the controller;

The V2V module is used to control the current vehicle and the target vehicle to establish a vehicle-to-vehicle communication V2V connection; and obtain the target vehicle's running speed and deceleration according to the V2V connection.

Based on the same inventive concept as the foregoing technical solutions, the present invention also provides a vehicle, which includes any one of the early warning systems in the foregoing technical solutions.

Through one or more technical solutions of the present invention, the present invention has the following beneficial effects or advantages:

The present invention provides a method for giving an early warning to the vehicle according to the motion state of the adjacent vehicle. Set the value, no matter what the current speed of the target vehicle is, it can be determined that the target vehicle is braking urgently at this time. At this time, there is a high possibility of crossing vehicles or pedestrians on the side of the target vehicle, and the first warning message should be issued; When the deceleration of the vehicle is greater than the second preset value and less than the first preset value, and the driving speed of the target vehicle is less than the preset speed value, it means that the target vehicle is still decelerating significantly when driving at a slow speed, and there is a braking intention According to this, it can be inferred that there is a possibility of crossing vehicles or pedestrians on the side of the target vehicle at this time, and a second warning message should be issued; This determines whether there is a traversing vehicle or person blocked by the target vehicle in front of the side, so as to give an early warning to the driver of the current vehicle, which can effectively avoid the occurrence of traffic accidents or reduce the personal injury or economic loss caused by traffic accidents.

The above description is only an overview of the technical solutions of the present invention, in order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand , the following specific embodiments of the present invention are given.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating preferred embodiments only and are not to be considered limiting of the invention. Also, the same components are denoted by the same reference numerals throughout the drawings. In the attached image:

FIG. 1 shows a schematic diagram of a traversing vehicle blocked by a target vehicle in front of the left side;

Fig. 2 shows a flowchart of an early warning method based on the motion state of adjacent vehicles according to an embodiment of the present invention;

FIG. 3 shows a schematic diagram of using two millimeter wave radar sensors to determine the relative displacement between the target vehicle and the own vehicle according to an embodiment of the present invention;

FIG. 4 shows a logic control diagram of an early warning method according to an embodiment of the present invention;

FIG. 5 shows a schematic diagram of an early warning system based on the motion state of adjacent vehicles according to an embodiment of the present invention;

Description of reference numbers:

1. Controller; 2. Early warning components; 31. First millimeter-wave radar; 32. Second millimeter-wave radar; 4. Body stability controller; 5. Hydraulic brake; 6. Brake pedal switch; 7. Turn signal.

Detailed ways

In order to make the application more clearly understood by those skilled in the technical field to which the application belongs, the technical solutions of the application are described in detail below with reference to the accompanying drawings and through specific embodiments. Throughout the specification, unless specifically stated otherwise, terms used herein are to be understood as commonly used in the art. Therefore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In case of conflict, the present specification takes precedence. Unless otherwise specified, various equipments and the like used in the present invention can be purchased from the market or can be prepared by existing methods.

In order to solve the problem that adjacent vehicles block the field of view of the vehicle and cannot find vehicles and pedestrians crossing from the adjacent vehicle side in time, in an optional embodiment, as shown in Figure 2, a phase-based method is provided. The overall idea of the early warning method for the motion state of adjacent vehicles is as follows:

S1: Determine the running speed and deceleration of the target vehicle adjacent to the current vehicle;

S2: judging whether the deceleration of the target vehicle is greater than or equal to the first preset value;

S3: If the deceleration of the target vehicle is greater than or equal to the first preset value, send a first warning message;

S4: if the deceleration of the target vehicle is less than the first preset value, determine whether the deceleration of the target vehicle is greater than or equal to the second preset value;

S5: if the deceleration of the target vehicle is greater than or equal to the second preset value, determine whether the traveling speed of the target vehicle is less than the preset speed value;

S6: If the running speed of the target vehicle is lower than the preset speed value, a second warning message is issued.

The above solution provides a technical solution for indirectly judging whether there is a possible collision target on the front side: a traversing vehicle or a pedestrian, according to the motion information of adjacent vehicles. The control idea is as follows: although the vehicle cannot detect pedestrians or vehicles crossing from the side of the adjacent vehicle when the vision of the adjacent vehicle is obstructed, in most cases, the adjacent vehicle can detect it earlier than the vehicle. Traverse vehicles or pedestrians, resulting in vehicle braking action; and the AEB system of the vehicle can determine whether the drivers of adjacent vehicles have found crossing vehicles or pedestrians based on the deceleration and driving speed of adjacent vehicles, so as to perform braking pre-emption. sentence. When it is detected that the adjacent vehicle is decelerating and the deceleration is greater than the first preset value, it means that the adjacent vehicle is braking urgently at this time, and there is a high possibility of crossing vehicles or pedestrians. The driver of the vehicle takes corresponding measures; if the deceleration is less than the first preset value but greater than or equal to the second preset value, it is necessary to combine the driving speed of the adjacent vehicles to determine whether the target vehicle has braking intention due to crossing vehicles or pedestrians. If the driving speed of the adjacent vehicle is lower than the preset speed, it means that the adjacent vehicle is braking even if it is slow. At this time, an early warning message should also be issued to remind the driver of the vehicle to take corresponding measures.

In the above solution, the control strategy of the controller of the AEB system can be adjusted, and the motion information of adjacent vehicles can be added as one of the judgment conditions for whether there is a crossing vehicle or pedestrian in the blind spot of the main vehicle's field of view. In this way, the above functions can be implemented directly using the existing AEB system on the vehicle. If there is no AEB system on the current vehicle, the vehicle controller VCU can be used to implement the above control logic.

The above solution can be used to judge whether there is a crossing vehicle or pedestrian on the left or right side whose view is blocked by adjacent vehicles; according to the domestic vehicle driving rules and road conditions, it is especially suitable for judging the left crossing vehicle or person. Next, take the working conditions shown in Figure 1 as an example to monitor the motion state of adjacent vehicles on the left for early warning, and describe the above scheme in detail:

First, determine the running speed and deceleration of the target vehicle adjacent to the current vehicle (own vehicle) through S1; the target vehicle is located on the left side of the current vehicle, and whether it is an adjacent vehicle can be determined according to whether it is located in the adjacent lane of the current vehicle. The left lane, or whether the distance between the current vehicle and the target vehicle is less than a threshold (eg, within two meters) is determined. The deceleration in this step means that the speed change rate (acceleration) of the target vehicle is a negative value, and the target vehicle is in a deceleration state. The travel speed and deceleration of the target vehicle can be determined in two ways:

An optional solution is to obtain the location information of the target vehicle through the millimeter-wave radar of the AEB system. The specific solution is as follows:

S111: Acquire the running speed of the current vehicle in real time;

S112: Obtain the relative displacement of the target vehicle relative to the current vehicle within the preset time interval in real time;

Specifically, the relative displacement can be detected by adding a radar or using the millimeter-wave radar that comes with the AEB system and sending the relative displacement data to the controller; when the target vehicle appears in the monitoring range of the radar, the radar detects the preset time interval ΔT , the travel relative displacement ΔS of the target vehicle relative to the host vehicle.

Since the relative displacement ΔS of the target vehicle within the preset time interval ΔT directly affects the accuracy of the speed and deceleration of the target vehicle, in order to improve the accuracy of the determination of the travel displacement ΔS, two radars set at different positions of the vehicle can be used to detect the relative displacement ΔS ₁ , ΔS ₂ , and then compare the difference between ΔS ₁ and ΔS ₂ , when the difference is less than the threshold, it indicates that the detected relative displacement data is valid and can be applied to subsequent further processing.

Figure 3 shows a solution using two millimeter-wave radar sensors. The specific arrangement is shown in Figure 3. One is on the left side in front of the vehicle, and the other is in the center in front of the vehicle. Using these two millimeter-wave radars, it is possible to monitor the motion information of the target vehicle B in the adjacent lane on the left, and whether there is a target in front of the current vehicle (host vehicle C). Through the fusion calculation of two millimeter-wave radars, as shown in Figure 3, the detection angles of the two radars are θ ₁ and θ ₂ . When the target vehicle B appears within the detection angle range of the two radars, the radar monitors the vehicle within a fixed time ΔT. B relative to the driving displacement value ΔS of the vehicle C, and then compare the difference between the two radar detection displacement values; after confirming that the data difference is small and the data is accurate, the vehicle C can output the longitudinal relative distance variable ΔL of the target vehicle B, the horizontal relative distance variable ΔL, and the horizontal relative distance variable ΔL. The distance variable ΔA, relative to the relative vehicle speed ΔV of the own vehicle C, the braking deceleration a of the target vehicle and other information are as follows:

S113: According to the relative displacement, determine the longitudinal relative distance change ΔL of the target vehicle relative to the current vehicle;

Specifically, by decomposing ΔS, the longitudinal relative distance variable ΔL can be obtained.

S114: Determine the relative speed of the target vehicle relative to the current vehicle according to the longitudinal relative distance change and the preset time interval;

Specifically, according to ΔL/ΔT, the relative vehicle speed ΔV of the target vehicle B relative to the own vehicle C can be obtained;

S115: Determine the deceleration of the target vehicle according to the relative speed of the target vehicle relative to the current vehicle in the adjacent preset time interval;

Specifically, according to ΔV in two adjacent ΔTs, the deceleration a of the target vehicle can be calculated;

S116: Determine the travel speed of the target vehicle according to the relative speed of the target vehicle relative to the current vehicle and the travel speed of the current vehicle.

Another optional solution for determining the driving speed and deceleration of the target vehicle is to obtain it directly through the V2V communication (vehicle-to-vehicle communication) technology. The specific solution is as follows:

S121: Control the current vehicle and the target vehicle to establish a vehicle-to-vehicle communication V2V connection;

S122: Acquire the running speed and deceleration of the target vehicle according to the V2V connection.

V2V communication technology can monitor the speed, location and other "hidden" data of other vehicles driving on the street that cannot be opened to other drivers. V2V communication technology is a communication technology that is not limited to fixed base stations, and provides direct end-to-end wireless communication for moving vehicles. That is, through V2V communication technology, vehicle terminals exchange wireless information directly with each other without forwarding through the base station.

After obtaining the driving speed and deceleration of the target vehicle, it is possible to judge whether there is a crossing vehicle or pedestrian:

First, according to S2: determine whether the deceleration a of the target vehicle is greater than or equal to the first preset value a ₁ ;

S3: If the deceleration of the target vehicle is greater than or equal to the first preset value, send a first warning message;

The first preset value a ₁ is a given value for judging whether the target vehicle has emergency braking. The selectable value range of the first preset value is more than 3m/s ² ; it is generally believed in the industry that when a ₁ is 0.4g (=4m/s ² ), the vehicle has a subjective emergency braking intention at this time (refer to existing AEB system designs). Taking the first preset value a _{1 =} 0.4g as an example, when the deceleration of the target vehicle is greater than or equal to 0.4g, it is determined that the target vehicle B has a rapid deceleration behavior, that is, there is a crossing vehicle or pedestrian on the left front side of the host vehicle C. The probability is very high, and the police should be called. The specific alarm method can be a buzzer alarm and the flashing of the instrument brake warning light to remind the driver that this function is triggered, pay attention to the surrounding environment of the vehicle, and drive cautiously.

If the target vehicle has no intention of emergency braking (the deceleration is below 0.4g), it cannot fully prove that there is no crossing vehicle or pedestrian on the left front side, and a comprehensive judgment should be made in combination with the driving speed of the target vehicle.

S4: if the deceleration of the target vehicle is less than the first preset value, determine whether the deceleration of the target vehicle is greater than or equal to the second preset value;

S5: if the deceleration of the target vehicle is greater than or equal to the second preset value, determine whether the traveling speed of the target vehicle is less than the preset speed value;

S6: If the running speed of the target vehicle is lower than the preset speed value, a second warning message is issued.

The second preset value a ₂ in the above solution is used to determine whether the target vehicle has a braking tendency, and its value is smaller than the first preset value a ₁ . Practice has shown that if the driver releases the accelerator, the deceleration value of the self-vehicle is about 0.1g, which is in line with the actual situation of most models, due to the influence of the back-support braking and wind resistance of the vehicle engine. Therefore, the optional value range of the second preset value a ₂ is 1.0-2.0 m/s ² ; the preferred value is 1 m/s ² . The preset speed value is used to determine whether the target vehicle is traveling at a low speed, and the optional value range is 25-40km/h; preferably 30kph.

Taking a ₁ =1m/s ² and the preset speed value of 30kph as an example, it can be divided into the following situations:

If the deceleration a of the target vehicle B is < 1m/s ² , no matter what the vehicle speed is, it can be completely determined that the driver has no subjective braking intention, and the vehicle C does not need to issue an alarm;

If the deceleration a of the target vehicle B is <4m/s ² and ≥1m/s ² , and the driving speed is above 30kph, it can be inferred that the driver does not have subjective braking intention, and it can be considered that the target vehicle B is driving normally, and the host vehicle C No need to call the police;

If the deceleration a of the target vehicle B is < 4m/s ² and ≥ 1m/s ² , and the driving speed is less than 30kph, it means that the vehicle travels slowly, but there is still a deceleration trend, and it can be inferred that the driver has a subjective braking intention at this time. , it is considered that the target vehicle B is braking, and the vehicle C needs to send out the second warning information; optionally, the first warning information and the second warning information can be the same or different; if they are different, the intensity of the first warning information can be higher than the second warning information.

In general, the solution of this embodiment is to indirectly determine whether there is a person or vehicle crossing the front left side according to the running speed and braking deceleration of the target vehicle B. In some cases, as shown in FIG. 3 , if the target vehicle B also I didn't pay attention to the approaching traversing vehicle or person A. At the last moment, A and B passed by. At this time, A entered the range of the radar detection angle (θ ₂ ) of the vehicle C, and the AEB and FCW functions of the vehicle C could be triggered in time. , the collision risk of vehicle C to front A can also be reduced.

Optionally, after judging that the target vehicle has a braking intention and that there may be crossing vehicles or people on the left front side, the vehicle can make braking preparations in advance and wait for the driver to operate, which can shorten the vehicle's braking reaction time and braking. moving distance. Therefore, after sending the first warning information or the second warning information, the warning method further includes:

Control the hydraulic brakes of the current vehicle for pre-brake pressure build-up.

Specifically, the actuator: the body stability controller (ESC) can output a pre-built pressure signal to ensure that the brake oil pressure in the four wheel hydraulic brakes reaches the target value (the value that can be measured by ESC calibration), so that the idle travel of the wheel brakes disappears , but the vehicle deceleration does not exceed 0.05g (this is the estimated minimum value of the driver's perception of vehicle deceleration). At this time, the vehicle is ready to brake. When the driver steps on the brake pedal, the brake can quickly brake, shorten the braking distance, and reduce the probability of collision with the target suddenly appearing in front.

Optionally, the early warning method provided in this embodiment should be implemented on the premise that the driver's subjective judgment and normal operation are not affected. Methods also include:

S01: Determine whether the current vehicle satisfies the preset warning conditions. The preset warning conditions include:

The current vehicle is not in an effective braking state;

The current vehicle is not in a steering state;

S02: If the current vehicle meets the preset warning condition, start to determine the running speed and deceleration of the target vehicle adjacent to the current vehicle.

That is to say, if the method is to take effect, the preset warning conditions need to be met, and the judgment is made on the premise that the driver of the vehicle does not brake or steer. To judge whether the vehicle is effectively braking or turning, you can collect the brake pedal and turn signal signals of the vehicle C to check whether the vehicle C has effective braking (BLS=1) and steering operation (left or right turn signal signal= 1 or steering wheel torque ≥ 3N m), if there is an operation, the default is that the driver is performing braking or steering operations at this time, and has concentrated judgment on the environment at the intersection. Following the driver's intention first principle, the system quits work and the driver takes over the vehicle operation.

Therefore, the control flow for early warning based on the above scheme is shown in Figure 4.

In general, this embodiment provides a method for pre-warning the vehicle according to the motion state of adjacent vehicles. By determining the running speed and deceleration of the target vehicle adjacent to the current vehicle, if the deceleration of the target vehicle is It is greater than or equal to the first preset value, no matter what the current speed of the target vehicle is, it can be determined that the target vehicle is braking urgently at this time. At this time, there is a high possibility of crossing vehicles or pedestrians on the side of the target vehicle. an early warning message; if the deceleration of the target vehicle is greater than the second preset value and less than the first preset value, and the running speed of the target vehicle is less than the preset speed value, it means that the target vehicle is still obviously in the slow speed. Deceleration, there is a braking intention, it can be inferred that there is a possibility of crossing vehicles or pedestrians on the side of the target vehicle at this time, and a second warning message should be sent; It can determine whether there is a crossing vehicle or person blocked by the target vehicle in front of the side, so as to give an early warning to the driver of the current vehicle, which can effectively avoid the occurrence of traffic accidents or reduce the injuries or injuries caused by traffic accidents. Economic losses.

Based on the same inventive concept as the foregoing embodiments, in yet another optional embodiment, as shown in FIG. 5 , an early warning system based on the motion state of adjacent vehicles is provided, including:

The controller 1 is used to determine the running speed and deceleration of the target vehicle adjacent to the current vehicle; and is used to determine whether the deceleration of the target vehicle is greater than or equal to a first preset value; if the deceleration of the target vehicle is greater than or equal to For the first preset value, a first warning signal is sent to the early warning component 2; if the deceleration of the target vehicle is less than the first preset value, it is determined whether the deceleration of the target vehicle is greater than or equal to the second preset value; If the speed is greater than or equal to the second preset value, it is judged whether the running speed of the target vehicle is less than the preset speed value; if the running speed of the target vehicle is less than the preset speed value, a second warning signal is sent to the early warning component 2;

The early warning component 2 is configured to send first warning information according to the first warning signal; or, according to the second warning signal, send second warning information.

Specifically, the controller 1 can use the vehicle controller (VCU) equipped on the vehicle; since many vehicles are already equipped with AEB and FCW systems, the controller of the AEB system can also be used; The data can share sensor data that comes with the AEB and FCW systems. The early warning component 2 can use the combination instrument unit that comes with the AEB and FCW systems. After receiving the alarm command issued by the controller 1, the combination instrument unit will give a buzzer alarm and the instrument brake warning light will flash to remind the driver that this function is triggered. Pay attention to your surroundings and drive with caution. If the current vehicle does not have AEB and FCW systems, add the corresponding instrument cluster.

Optionally, the early warning system further includes a millimeter-wave radar that establishes a communication connection with the controller 1;

The millimeter wave radar is used for real-time detection and sending to the controller 1 the relative displacement of the target vehicle relative to the current vehicle within a preset time interval;

The controller 1 obtains the running speed of the current vehicle in real time; and according to the relative displacement, determines the longitudinal relative distance change of the target vehicle relative to the current vehicle; Relative speed; determine the deceleration of the target vehicle according to the relative speed of the target vehicle relative to the current vehicle in the adjacent preset time interval; determine the driving of the target vehicle according to the relative speed of the target vehicle relative to the current vehicle and the current vehicle speed speed.

Millimeter-wave radar is a self-contained device of the AEB system. If there is no AEB system, it can be added by itself. Optionally, in order to improve the accuracy of the relative displacement, a first millimeter-wave radar 31 can be arranged on the side of the vehicle, and a second millimeter-wave radar 32 can be arranged in the front center of the vehicle, when the target vehicle appears within the detection angle range of the millimeter-wave radar. Then, by comparing the difference of the displacement values detected by the two radars, it is determined whether the relative displacement data is reliable.

Another optional way is that the early warning system further includes a vehicle-to-vehicle communication V2V module, and the V2V module is connected to the controller 1 for communication;

The V2V module is used to control the current vehicle and the target vehicle to establish a vehicle-to-vehicle communication V2V connection; and obtain the target vehicle's running speed and deceleration according to the V2V connection.

Optionally, the early warning system further includes a vehicle body stability controller 4, and the vehicle body stability controller 4 is connected in communication with the controller 1 and the hydraulic brake 5 of the current vehicle;

The vehicle body stability controller 4 is used for sending the current running speed of the vehicle to the controller 1 , and for controlling the hydraulic brake 5 of the current vehicle to start the pre-build pressure according to the pre-build pressure signal sent by the controller 1 .

The body stability controller 4 (ESC) is an actuator that issues commands from the controller 1. On the one hand, it outputs the vehicle speed signal to the controller 1 in real time. On the other hand, it receives the execution commands from the controller 1 and outputs to the hydraulic brakes 5 of the four wheels. The pre-built pressure signal ensures that the brake oil pressure in the wheel hydraulic brake 5 reaches the target value (the value that can be measured by ESC calibration), so that the idle stroke of the wheel brake disappears.

Optionally, the controller 1 determines whether the current vehicle is turning and braking by collecting the signal of the turn signal 7 and the signal of the brake pedal switch 6BLS.

Based on the same inventive concept as the foregoing embodiments, in yet another optional embodiment, a vehicle is provided, and the vehicle includes the early warning system in the foregoing embodiments.

Through one or more embodiments of the present invention, the present invention has the following beneficial effects or advantages:

The present invention provides a method for giving an early warning to the vehicle according to the motion state of the adjacent vehicle. Set the value, no matter what the current speed of the target vehicle is, it can be determined that the target vehicle is braking urgently at this time. At this time, there is a high possibility of crossing vehicles or pedestrians on the side of the target vehicle, and the first warning message should be issued; When the deceleration of the vehicle is greater than the second preset value and less than the first preset value, and the driving speed of the target vehicle is less than the preset speed value, it means that the target vehicle is still decelerating significantly when driving at a slow speed, and there is a braking intention According to this, it can be inferred that there is a possibility of crossing vehicles or pedestrians on the side of the target vehicle at this time, and a second warning message should be issued; This determines whether there is a traversing vehicle or person blocked by the target vehicle in front of the side, so as to give an early warning to the driver of the current vehicle, which can effectively avoid the occurrence of traffic accidents or reduce the personal injury or economic loss caused by traffic accidents.

While the preferred embodiments of the present application have been described, additional changes and modifications to these embodiments may occur to those of ordinary skill in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be construed to include the preferred embodiment and all changes and modifications that fall within the scope of this application.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims (9)

1. An early warning method based on the motion state of an adjacent vehicle is characterized by comprising the following steps:

determining a running speed and a deceleration of a target vehicle adjacent to a current vehicle; the target vehicle is an adjacent vehicle located laterally forward of the current vehicle;

judging whether the deceleration of the target vehicle is greater than or equal to a first preset value; the value range of the first preset value is 3m/s²The above;

if the deceleration of the target vehicle is greater than or equal to the first preset value, first early warning information is sent out;

if the deceleration of the target vehicle is smaller than the first preset value, judging whether the deceleration of the target vehicle is larger than or equal to a second preset value; the value range of the second preset value is 1.0-2.0 m/s²；

If the deceleration of the target vehicle is greater than or equal to the second preset value, judging whether the running speed of the target vehicle is less than a preset speed value;

if the running speed of the target vehicle is less than the preset speed value, sending second early warning information; the value range of the preset speed value is 25-40 km/h.

2. The warning method as claimed in claim 1, wherein the determining of the traveling speed and deceleration of the target vehicle adjacent to the current vehicle includes:

acquiring the running speed of the current vehicle in real time;

acquiring the relative displacement of the target vehicle relative to the current vehicle within a preset time interval in real time;

determining the longitudinal relative distance variation of the target vehicle relative to the current vehicle according to the relative displacement;

determining the relative speed of the target vehicle relative to the current vehicle according to the longitudinal relative distance variation and the preset time interval;

determining the deceleration of the target vehicle according to the relative speed of the target vehicle relative to the current vehicle in the adjacent preset time interval;

and determining the running speed of the target vehicle according to the relative speed of the target vehicle relative to the current vehicle and the running speed of the current vehicle.

3. The warning method as claimed in claim 1, wherein the determining of the traveling speed and deceleration of the target vehicle adjacent to the current vehicle includes:

controlling the current vehicle and the target vehicle to establish vehicle-to-vehicle communication V2V connection;

and acquiring the running speed and the deceleration of the target vehicle according to the V2V connection.

4. The warning method as claimed in claim 1, wherein before the determining of the traveling speed and deceleration of the target vehicle adjacent to the current vehicle, the warning method further comprises:

judging whether the current vehicle meets preset early warning conditions or not, wherein the preset early warning conditions comprise:

the current vehicle is not in an effective braking state;

the current vehicle is not in a turning state;

and if the current vehicle meets the preset early warning condition, starting to determine the running speed and the deceleration of the target vehicle adjacent to the current vehicle.

5. The warning method as claimed in claim 1, wherein after the first warning information or the second warning information is issued, the warning method further comprises:

and controlling a hydraulic brake of the current vehicle to perform pre-braking pressure build-up.

6. An early warning system based on the motion state of an adjacent vehicle, the early warning system comprising:

a controller for determining a running speed and a deceleration of a target vehicle adjacent to a current vehicle; the target vehicle is an adjacent vehicle located laterally forward of the current vehicle; and for determining whether the deceleration of the target vehicle is greater than or equal to a first preset value; if the deceleration of the target vehicle is greater than or equal to the first preset value, a first early warning signal is sent to an early warning assembly; if the deceleration of the target vehicle is smaller than the first preset value, judging whether the deceleration of the target vehicle is larger than or equal to a second preset value; if the deceleration of the target vehicle is greater than or equal to the second preset value, judging whether the running speed of the target vehicle is less than a preset speed value; if the running speed of the target vehicle is less than the preset speed value, sending a second early warning signal to an early warning assembly; wherein the value range of the first preset value is 3m/s²The method comprises the following steps: the value range of the second preset value is 1.0-2.0 m/s²(ii) a The value range of the preset speed value is 25-40 km/h;

the early warning component is used for sending first early warning information according to the first early warning signal; or sending second early warning information according to the second early warning signal.

7. The warning system of claim 6, further comprising a millimeter wave radar in communication with the controller;

the millimeter wave radar is used for detecting in real time and sending the relative displacement of the target vehicle relative to the current vehicle within a preset time interval to the controller;

the controller acquires the running speed of the current vehicle in real time; determining the longitudinal relative distance variation of the target vehicle relative to the current vehicle according to the relative displacement; determining the relative speed of the target vehicle relative to the current vehicle according to the longitudinal relative distance variation and the preset time interval; determining the deceleration of the target vehicle according to the relative speed of the target vehicle relative to the current vehicle in the adjacent preset time interval; and determining the running speed of the target vehicle according to the relative speed of the target vehicle relative to the current vehicle and the running speed of the current vehicle.

8. The warning system of claim 6, further comprising a vehicle-to-vehicle communication V2V module, the V2V module communicatively coupled to the controller;

the V2V module is used for controlling the current vehicle and the target vehicle to establish a vehicle-to-vehicle communication V2V connection; and acquires the running speed and deceleration of the target vehicle according to the V2V connection.

9. A vehicle, characterized in that the vehicle comprises a warning system according to any one of claims 6 to 8.

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