CN112652176B - Early warning method and system based on adjacent vehicle motion state and vehicle - Google Patents
Early warning method and system based on adjacent vehicle motion state and vehicle Download PDFInfo
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- CN112652176B CN112652176B CN202011449325.XA CN202011449325A CN112652176B CN 112652176 B CN112652176 B CN 112652176B CN 202011449325 A CN202011449325 A CN 202011449325A CN 112652176 B CN112652176 B CN 112652176B
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- G08—SIGNALLING
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention discloses an early warning method based on the motion state of adjacent vehicles, which comprises the following steps: determining a running speed and a deceleration of a target vehicle adjacent to a current vehicle; 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 a first preset value, sending first early warning information; 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 a 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 method can judge whether the crossing vehicle or the personnel blocked by the target vehicle exists in the front side or not through the motion state of the adjacent target vehicle, so that the driver of the current vehicle is warned in advance.
Description
Technical Field
The application relates to the technical field of automatic control of vehicles, in particular to an early warning method and system based on the motion state of adjacent vehicles and a vehicle.
Background
In order to avoid Collision of a vehicle with a preceding object or a pedestrian and to improve safety of the vehicle and the pedestrian, many vehicles are equipped with an automatic Emergency Braking system (AEB) and a Front Collision Warning system (FCW), and the AEB and the FCW locate distance information of the preceding object or the pedestrian by a millimeter wave radar. However, under some special conditions, for example, under the condition that the current vehicle (the host vehicle C) is as shown in fig. 1, the sight line of the driver and the millimeter wave radar/camera are blocked by the target vehicle (B) to generate blind areas, so that the information of the cross vehicle or the pedestrian (a) from one side (the left front side) of the target vehicle cannot be timely found, and the starting conditions of AEB and FCW are not met; when a left-side cross vehicle or a pedestrian appears in front of the vehicle, a driver of the main vehicle C, an AEB system and an FCW system do not have enough reaction time to brake, traffic accidents are easily caused, and personal safety problems and economic and property losses are generated.
Disclosure of Invention
The invention provides an early warning method and system based on the motion state of an adjacent vehicle and the vehicle, and aims to solve or partially solve the technical problems that the current vehicle cannot find a transverse vehicle or a pedestrian in time and cannot brake in time under the condition that the vision of the adjacent vehicle is blocked.
In order to solve the technical problem, the invention provides an early warning method based on the motion state of adjacent vehicles, which comprises the following steps:
determining a running speed and a deceleration of a target vehicle adjacent to a 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 a first preset value, sending first early warning information;
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 a second preset value, judging whether the running speed of the target vehicle is less than a preset speed value;
and if the running speed of the target vehicle is less than the preset speed value, sending second early warning information.
Optionally, determining the running speed and the deceleration of the target vehicle adjacent to the current vehicle specifically includes:
acquiring the running speed of the current vehicle in real time;
acquiring the relative displacement of a target vehicle relative to a 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.
Optionally, determining the running speed and the deceleration of the target vehicle adjacent to the current vehicle specifically includes:
controlling the current vehicle and the target vehicle to establish vehicle-to-vehicle communication V2V connection;
the running speed and deceleration of the target vehicle are acquired according to the V2V connection.
Optionally, before determining the running speed and deceleration of the target vehicle adjacent to the current vehicle, the early warning method further includes:
judging whether the current vehicle meets preset early warning conditions, wherein the preset early warning conditions comprise:
the current vehicle is not in an effective braking state;
the current vehicle is not in a steering 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.
Optionally, after the first warning information or the second warning information is sent out, the warning method further includes:
and controlling a hydraulic brake of the current vehicle to perform pre-braking pressure build-up.
Optionally, 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.
Based on the same inventive concept of the foregoing technical solution, the present invention also provides an early warning system based on the motion state of an adjacent vehicle, including:
a controller for determining a running speed and a deceleration of a target vehicle adjacent to a 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 a first preset value, a first early warning signal is sent to the 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 a 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, a second early warning signal is sent to the early warning assembly;
the early warning component is used for sending first early warning information according to the first early warning signal; or sending out second early warning information according to the second early warning signal.
Optionally, the system further comprises a millimeter wave radar which establishes communication connection 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 in 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.
Optionally, the vehicle-to-vehicle communication system further comprises a vehicle-to-vehicle communication V2V module, wherein the V2V module is in communication connection with the controller;
the V2V module is used for controlling the current vehicle and the target vehicle to establish vehicle-to-vehicle communication V2V connection; and the running speed and deceleration of the target vehicle are acquired according to the V2V connection.
Based on the same inventive concept of the foregoing technical solutions, the present invention further provides a vehicle, which includes any one of the above-mentioned early warning systems.
Through one or more technical schemes of the invention, the invention has the following beneficial effects or advantages:
the invention provides a method for early warning a vehicle according to the motion state of an adjacent vehicle, which comprises the steps of determining the running speed and the deceleration of a target vehicle adjacent to the current vehicle, if the deceleration of the target vehicle is greater than or equal to a first preset value, determining that the target vehicle is emergently braked no matter how much the current running speed of the target vehicle is, and sending first early warning information when the possibility that one side of the target vehicle crosses the vehicle or a pedestrian is high; 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, the target vehicle still decelerates obviously during slow running, a braking intention exists, and therefore the possibility that a vehicle or a pedestrian crosses on one side of the target vehicle at the moment can be presumed, and second early warning information should be sent out; through the scheme, the emergency braking state and the normal braking state of the adjacent target vehicles are judged, so that whether transverse vehicles or personnel blocked by the target vehicles exist in the front side or not is determined, the driver of the current vehicle is early warned in advance, and the traffic accident can be effectively avoided or the personnel damage or the economic loss caused by the traffic accident can be reduced.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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 only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 shows a schematic view of a left-side forward presence of a traversing vehicle blocked by a subject vehicle;
FIG. 2 illustrates a flow diagram of a warning method based on a state of motion of an adjacent vehicle, according to one embodiment of the present invention;
FIG. 3 illustrates a schematic diagram of determining relative displacement of a target vehicle and a host vehicle using 2 millimeter wave radar sensors, in accordance with one embodiment of the present invention;
FIG. 4 illustrates a warning method logic control diagram in accordance with one embodiment of the present invention;
FIG. 5 illustrates a schematic diagram of an early warning system based on the motion state of an adjacent vehicle according to one embodiment of the present invention;
description of reference numerals:
1. a controller; 2. an early warning component; 31. a first millimeter wave radar; 32. a second millimeter wave radar; 4. a vehicle body stability controller; 5. a hydraulic brake; 6. a brake pedal switch; 7. and a turn signal lamp.
Detailed Description
In order to make the present application more clearly understood by those skilled in the art to which the present application pertains, the following detailed description of the present application is made with reference to the accompanying drawings by way of specific embodiments. Throughout the specification, unless otherwise specifically noted, terms used herein should be understood as having meanings as commonly used in the art. Accordingly, unless defined otherwise, 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. If there is a conflict, the present specification will control. Unless otherwise specifically stated, various apparatuses and the like used in the present invention are either commercially available or can be prepared by existing methods.
In order to solve the problem that the neighboring vehicles block the field of view of the vehicle and cannot find the vehicles and pedestrians crossing from one side of the neighboring vehicle in time, in an alternative embodiment, as shown in fig. 2, an early warning method based on the motion state of the neighboring vehicle is provided, and the overall idea is as follows:
s1: determining a running speed and a deceleration of a target vehicle adjacent to a current vehicle;
s2: judging whether the deceleration of the target vehicle is greater than or equal to a first preset value;
s3: if the deceleration of the target vehicle is greater than or equal to a first preset value, sending first early warning information;
s4: 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;
s5: if the deceleration of the target vehicle is greater than or equal to a second preset value, judging whether the running speed of the target vehicle is less than a preset speed value;
s6: and if the running speed of the target vehicle is less than the preset speed value, sending second early warning information.
The scheme provides a method for indirectly judging whether a potential collision target object exists in the front side or not according to the motion information of adjacent vehicles, which comprises the following steps: the technical scheme of traversing vehicles or pedestrians. The control idea is as follows: although the vehicle cannot find the pedestrian or the vehicle which traverses from one side of the adjacent vehicle under the condition that the field of vision of the adjacent vehicle is blocked, for most cases, the adjacent vehicle can find the traversing vehicle or the pedestrian earlier than the vehicle, so as to generate the vehicle braking action; the AEB system of the vehicle can judge whether drivers of adjacent vehicles find cross vehicles or pedestrians according to the deceleration condition and the running speed of the adjacent vehicles, so as to perform braking prejudgment. When the fact that the adjacent vehicle decelerates and the deceleration is larger than a first preset value is detected, the fact that the adjacent vehicle brakes emergently at the moment is indicated, the possibility that the adjacent vehicle or the pedestrian crosses is high, early warning information is sent out, and a driver of the vehicle is reminded to take corresponding measures; if the deceleration is smaller than the first preset value but larger than or equal to the second preset value, whether the target vehicle has braking intention due to crossing vehicles or pedestrians needs to be judged by combining the running speeds of the adjacent vehicles, and if the running speeds of the adjacent vehicles are smaller than the preset speeds, the adjacent vehicles brake even if slowly running, and at the moment, early warning information should be sent out to remind drivers of the vehicles to take corresponding measures.
The scheme can adjust the control strategy of the controller of the AEB system, and the motion information of newly added adjacent vehicles is used as one of the judgment conditions for judging whether the transverse vehicles or pedestrians exist in the main vehicle vision blind area. This allows the functions described above to be implemented directly using the AEB system existing on the vehicle. If there is no AEB system on the current vehicle, the control logic can be implemented using the vehicle control unit VCU.
The scheme can be used for judging whether the left side or the right side has the crossed vehicles or pedestrians of which the vision fields are blocked by the adjacent vehicles; according to the domestic vehicle running rules and road conditions, the method is particularly suitable for judging left-side transverse vehicles or personnel. The following takes the working conditions shown in fig. 1, monitoring the motion state of the left adjacent vehicle, and performing early warning as an example, and the above scheme is explained in detail:
first, the running speed and deceleration of the target vehicle adjacent to the current vehicle (host vehicle) are determined by S1; the target vehicle is located on the left side of the current vehicle, and whether the target vehicle is an adjacent vehicle is determined according to whether the target vehicle is located on an adjacent left lane of the current lane or whether the distance between the current vehicle and the target vehicle is smaller than a threshold (e.g., within two meters). The deceleration in this step means that the target vehicle is in a deceleration state in which the rate of change in the speed (acceleration) is negative. The running speed and deceleration of the target vehicle can be determined in two ways:
one optional scheme is to acquire the position information of the target vehicle by a millimeter wave radar of the AEB system, and the specific scheme is as follows:
s111: acquiring the running speed of the current vehicle in real time;
s112: acquiring the relative displacement of a target vehicle relative to a current vehicle within a preset time interval in real time;
specifically, the relative displacement can be detected by a newly added radar or by using a millimeter wave radar carried by the AEB system, and the relative displacement data is sent to the controller; when the target vehicle is in the monitoring range of the radar, the radar detects the running relative displacement Delta S of the target vehicle relative to the host vehicle within the preset time interval Delta T.
Since the relative displacement Δ S of the target vehicle within the preset time interval Δ T directly affects the accuracy of the traveling speed and deceleration of the target vehicle, in order to improve the determination accuracy of the traveling displacement Δ S, the relative displacement Δ S may be detected using two radars provided at different positions of the vehicle1，ΔS2Then comparing Δ S1，ΔS2When the difference is less than the threshold value, the detected relative displacement data is valid, and the difference is determined to beFor subsequent further processing.
Fig. 3 shows a scheme using 2 millimeter wave radar sensors, specifically arranged in positions such as fig. 3, one at the left side in front of the vehicle and the other at the center in front of the vehicle. With this 2 millimeter wave radar, it is possible to monitor the motion information of the target vehicle B on the adjacent lane on the left side, and whether or not a target object appears right ahead of the current vehicle (host vehicle C). Through the fusion calculation of 2 millimeter wave radars, as shown in FIG. 3, the detection angles of the two radars are theta1And theta2When a target vehicle B appears in the detection angle ranges of the two radars, the radar monitors the running displacement value Delta S of the vehicle B relative to the vehicle C within a fixed time Delta T, and then the difference of the two radar detection displacement values is compared; after confirming that the data difference is small and the data is accurate, the host vehicle C can output information such as a longitudinal relative distance variable Δ L and a lateral relative distance variable Δ a of the target vehicle B, a relative vehicle speed Δ V with respect to the host vehicle C, and a braking deceleration a of the target vehicle, as follows:
s113: determining the longitudinal relative distance variation delta L of the target vehicle relative to the current vehicle according to the relative displacement;
specifically, Δ S is decomposed to obtain a longitudinal relative distance variable Δ L.
S114: 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;
specifically, the relative vehicle speed Δ V of the target vehicle B with respect to the host vehicle C is obtained from Δ L/Δ T;
s115: 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;
specifically, the deceleration a of the target vehicle can be calculated according to the Δ V in two adjacent Δ T;
s116: 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.
Another alternative for determining the running speed and deceleration of the target vehicle is directly obtained by V2V communication (vehicle-to-vehicle communication) technology, and the specific scheme is as follows:
s121: controlling the current vehicle and the target vehicle to establish vehicle-to-vehicle communication V2V connection;
s122: the running speed and deceleration of the target vehicle are acquired according to the V2V connection.
The V2V communication technology can monitor "hidden" data that the speed, location, etc. of other vehicles traveling on the street are not open to other drivers. The 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 the V2V communication technology, the vehicle terminals directly exchange wireless information with each other without being forwarded through the base station.
After the running speed and deceleration of the target vehicle are obtained, it is possible to make a determination as to whether there is a crossing vehicle or a pedestrian:
first, according to S2: determining whether the deceleration a of the target vehicle is greater than or equal to a first preset value a1；
S3: if the deceleration of the target vehicle is greater than or equal to a first preset value, sending first early warning information;
first preset value a1Is a given value for judging whether the target vehicle has an emergency brake. The selectable value range of the first preset value is 3m/s2The above; it is generally accepted in the industry that when a1Is 0.4g (═ 4 m/s)2) At this time, the vehicle has subjective emergency braking intent (refer to existing AEB system design). At a first preset value a1＝0.4g is taken as an example, when the deceleration of the target vehicle is greater than or equal to 0.4g, it is determined that there is a sudden deceleration behavior of the target vehicle B, that is, there is a high probability that a crossroad vehicle or a pedestrian appears in the front left side of the host vehicle C, and a warning should be given. The specific alarm mode can be buzzing alarm and flashing of an instrument brake alarm lamp, so that a driver is reminded of triggering the function, paying attention to the surrounding environment of the vehicle and driving cautiously.
If the target vehicle has no intention of emergency braking (deceleration is 0.4g or less), it cannot be fully verified that the left front side has not traversed the vehicle or the pedestrian, and the comprehensive judgment is performed in accordance with the traveling speed of the target vehicle.
S4: 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;
s5: if the deceleration of the target vehicle is greater than or equal to a second preset value, judging whether the running speed of the target vehicle is less than a preset speed value;
s6: and if the running speed of the target vehicle is less than the preset speed value, sending second early warning information.
Second preset value a in the scheme2Used for judging whether the target vehicle has a braking trend or not, and the value of the target vehicle is smaller than a first preset value a1. Practice shows that if a driver looses the accelerator, the deceleration value of the vehicle is about 0.1g under the influence of anti-drag braking and wind resistance of the vehicle engine, and the actual conditions of most vehicle types are met. Thus the second preset value a2The selectable value range is 1.0-2.0 m/s2(ii) a Preferably 1m/s2. The preset speed value is used for judging whether the target vehicle runs at a low speed, and the selectable value range is 25-40 km/h; preferably 30 kph.
With a1＝1m/s2The preset speed value is 30kph for example, which is divided into the following cases:
if the deceleration a of the target vehicle B<1m/s2At the moment, no matter how the vehicle speed is, the driver can be completely determined to have no subjective braking intention, and the vehicle C does not need to give an alarm;
if the deceleration a of the target vehicle B<4m/s2And is more than or equal to 1m/s2When the driving speed is more than 30kph, the driver can be inferred that the subjective braking intention does not exist, the target vehicle B can be considered to normally drive, and the vehicle C does not need to give an alarm;
if the deceleration a of the target vehicle B<4m/s2And is more than or equal to 1m/s2When the running speed is less than 30kph, the vehicle runs slowly, but still has a deceleration trend, so that the driver can be inferred that the subjective braking intention exists at the moment, and the target vehicle B is considered to be braking, and the vehicle C needs to send out second early warning information; optionally, the first warning information and the second warning information may be the same or different; if not, the first warningThe intensity of the information may be higher than the second warning information.
In general, the present embodiment is configured to indirectly determine whether there is a crosser or a vehicle on the front left side based on the traveling speed and the braking deceleration of the target vehicle B, and in some cases, as shown in fig. 3, if the target vehicle B does not notice the oncoming crosser or the person a, the target vehicle B passes by rubbing the shoulders a and B at the last time, and then a enters the radar detection angle (θ) of the host vehicle C (see the above description of the present embodiment)2) In the range, the AEB and FCW functions of the vehicle C can be triggered in time, and the collision risk of the vehicle C to the front A can be reduced.
Optionally, after it is determined that the target vehicle has a braking intention and a traversing vehicle or person may exist on the left front side, the vehicle may be prepared for braking in advance and waits for the operation of the driver, so that the braking response time and the braking distance of the vehicle can be shortened. Therefore, after the first warning information or the second warning information is sent out, the warning method further comprises the following steps:
and controlling a hydraulic brake of the current vehicle to perform pre-braking pressure build-up.
Specifically, the speed of the actuator can be controlled by: the vehicle body stability controller (ESC) outputs a pre-build-up pressure signal to ensure that the brake oil pressure in the 4 wheel hydraulic brakes reaches a target value (ESC calibration measurable value) so that the idle stroke of the wheel brakes disappears, but the vehicle deceleration does not exceed 0.05g (which is the minimum value of the vehicle deceleration sensed by the estimated driver). At the moment, the vehicle is ready to brake, when a driver steps on a brake pedal, the brake can brake rapidly, the braking distance is shortened, and the probability of collision with a target object suddenly appearing in front is reduced.
Optionally, the early warning method provided in this embodiment should be implemented on the premise that the subjective judgment and the normal operation of the driver are not affected, and therefore before determining the running speed and the deceleration of the target vehicle adjacent to the current vehicle, the early warning method further includes:
s01: judging whether the current vehicle meets preset early warning conditions, wherein the preset early warning conditions comprise:
the current vehicle is not in an effective braking state;
the current vehicle is not in a steering state;
s02: 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.
That is to say, if the method needs to meet the preset early warning condition for taking effect, the judgment is carried out on the premise that the driver does not brake or turn. Whether the vehicle is effectively braked or steered is judged, whether the vehicle is effectively braked or steered can be self-checked by collecting a brake pedal and a steering lamp signal of the vehicle C, whether the vehicle C has effective brake (BLS is 1) and steering operation (left or right steering lamp signal is 1 or steering wheel torque is more than or equal to 3 N.m) or not is self-checked, if the vehicle C has the effective Brake (BLS) and the steering operation, the driver is acquiescently braked or steered at the moment, the environment of the intersection is carefully judged, in order to avoid frequent alarm of the system and negative emotion of the driver, the system is quitted from working according to the principle that the intention of the driver is the first, and the driver takes over the vehicle operation.
Therefore, the control flow for early warning by combining the above schemes is shown in fig. 4.
In summary, the present embodiment provides a method for performing an early warning on a host vehicle according to a motion state of an adjacent vehicle, by determining a traveling speed and a deceleration of a target vehicle adjacent to a current vehicle, if the deceleration of the target vehicle is greater than or equal to a first preset value, no matter how much the current traveling speed of the target vehicle is, it can be determined that the target vehicle is braked emergently at the moment, and at the moment, there is a high possibility that a cross-vehicle or a pedestrian exists on one side of the target vehicle, and a first early warning message should be sent; 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, the target vehicle is still decelerated obviously when running at a low speed, and braking intention exists, so that the possibility that the vehicle or the pedestrian crosses on one side of the target vehicle at the moment can be presumed, and second early warning information is sent; through the scheme, the emergency braking state and the normal braking state of the adjacent target vehicles are judged, so that whether transverse vehicles or personnel blocked by the target vehicles exist in the front side or not is determined, the driver of the current vehicle is early warned in advance, and the traffic accident can be effectively avoided or the personnel damage or the economic loss caused by the traffic accident can be reduced.
Based on the same inventive concept of the foregoing embodiment, in yet another alternative embodiment, as shown in fig. 5, there is provided an early warning system based on a motion state of an adjacent vehicle, including:
a controller 1 for determining a running speed and a deceleration of a target vehicle adjacent to a 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 a first preset value, a first early warning signal is sent to the early warning assembly 2; 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 a 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, a second early warning signal is sent to the early warning component 2;
the early warning component 2 is used for sending first early warning information according to the first early warning signal; or sending out second early warning information according to the second early warning signal.
Specifically, the controller 1 may use a Vehicle Control Unit (VCU) equipped on the vehicle; since many vehicles are now equipped with AEB and FCW systems, the controller of the AEB system may also be used; the data needed by the controller 1 at the time of the determination may share the sensor data of the AEB and FCW systems themselves. The early warning component 2 can use a combination meter unit of an AEB and FCW system, and after receiving a warning instruction sent by the controller 1, the combination meter unit carries out buzzing warning and instrument braking warning lamp flashing to remind a driver of triggering the function, paying attention to the surrounding environment of the vehicle and carrying out cautious driving. And if the current vehicle does not have the AEB and FCW systems, adding a corresponding combination instrument.
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 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 1;
the controller 1 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.
The millimeter wave radar is self-contained equipment of the AEB system, and can be added without the AEB system. Alternatively, in order to improve the accuracy of the relative displacement, the first millimeter wave radar 31 may be provided on the side of the vehicle, the second millimeter wave radar 32 may be provided in the front center of the vehicle, and after the target vehicle appears in the detection angle range of the millimeter wave radar, it is determined whether the relative displacement data is reliable by comparing the difference between the detection displacement values of the two radars.
Another optional mode is that the early warning system further comprises a vehicle-to-vehicle communication V2V module, and the V2V module is in communication connection with the controller 1;
the V2V module is used for controlling the current vehicle and the target vehicle to establish vehicle-to-vehicle communication V2V connection; and the running speed and deceleration of the target vehicle are acquired according to the V2V connection.
Optionally, the early warning system further comprises a vehicle body stability controller 4, and the vehicle body stability controller 4 is in communication connection with the controller 1 and a hydraulic brake 5 of the current vehicle;
the body stability controller 4 is used for sending the running speed of the current vehicle to the controller 1 and controlling the hydraulic brake 5 of the current vehicle to start pre-pressurization according to the pre-pressurization signal sent by the controller 1.
The vehicle body stability controller 4(ESC) is used as an actuator for sending instructions to the controller 1, on one hand, a vehicle speed signal is output to the controller 1 in real time, on the other hand, an execution instruction sent by the controller 1 is received, and a pre-build-up pressure signal is output to the hydraulic brakes 5 of 4 wheels, so that the brake oil pressure in the hydraulic brakes 5 of the wheels is ensured to reach a target value (an ESC calibration measurable value), and the idle stroke of the wheel brakes is eliminated.
Optionally, the controller 1 judges whether the current vehicle is steered or braked by acquiring a signal of the turn light 7 and a signal of the brake pedal switch 6 BLS.
Based on the same inventive concept of the foregoing embodiment, in yet another alternative embodiment, a vehicle is provided, which includes the early warning system of the foregoing embodiment.
Through one or more embodiments of the present invention, the present invention has the following advantageous effects or advantages:
the invention provides a method for early warning a vehicle according to the motion state of an adjacent vehicle, which comprises the steps of determining the running speed and the deceleration of a target vehicle adjacent to the current vehicle, if the deceleration of the target vehicle is greater than or equal to a first preset value, determining that the target vehicle is emergently braked no matter how much the current running speed of the target vehicle is, and sending first early warning information when the possibility that one side of the target vehicle crosses the vehicle or a pedestrian is high; 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, the target vehicle still decelerates obviously during slow running, a braking intention exists, and therefore the possibility that a vehicle or a pedestrian crosses on one side of the target vehicle at the moment can be presumed, and second early warning information should be sent out; through the scheme, the emergency braking state and the normal braking state of the adjacent target vehicles are judged, so that whether transverse vehicles or personnel blocked by the target vehicles exist in the front side or not is determined, the driver of the current vehicle is early warned in advance, and the traffic accident can be effectively avoided or the personnel damage or the economic loss caused by the traffic accident can be reduced.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such 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 intended to include such modifications and variations as well.
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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