CN112793569A - Vehicle anti-collision early warning system based on millimeter wave radar - Google Patents
Vehicle anti-collision early warning system based on millimeter wave radar Download PDFInfo
- Publication number
- CN112793569A CN112793569A CN202110209922.3A CN202110209922A CN112793569A CN 112793569 A CN112793569 A CN 112793569A CN 202110209922 A CN202110209922 A CN 202110209922A CN 112793569 A CN112793569 A CN 112793569A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- distance
- data
- collision
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the field of automobile safety, and discloses a vehicle anti-collision early warning system based on a millimeter wave radar, which has the technical scheme that the system comprises the millimeter wave radar, a data acquisition end, a data processing end, a reminding module and a speed regulation module, wherein the speed regulation module is used for regulating the speed of a vehicle, the data acquisition end comprises the data acquisition module which is provided with the millimeter wave radar, the distance between the vehicle and a front vehicle and a rear vehicle is acquired in real time according to the millimeter wave radar, the front vehicle distance data and the rear vehicle distance data are generated through the data acquisition end, the driving speed of the front vehicle and the rear vehicle is calculated, the collision time of the front vehicle and the collision time of the rear vehicle are further obtained, a safety time range is preset in the data processing end, the speed regulation module is used for regulating the speed of the vehicle, so that a first absolute difference value is positioned in the safety time range to ensure, preventing collision.
Description
Technical Field
The invention relates to the field of automobile safety, in particular to a vehicle anti-collision early warning system based on a millimeter wave radar.
Background
The automatic automobile collision avoidance system is part of an intelligent car. An automobile anti-collision system is an intelligent device for preventing an automobile from colliding, and can automatically find vehicles, pedestrians or other barrier objects which may collide with the automobile, send out an alarm or simultaneously take measures such as braking or evasion to avoid collision;
in the prior art, when a general automobile collides with a front automobile in the driving process, an automatic automobile collision avoidance system can perform emergency braking, and in the emergency braking process, the automobile may collide with the front automobile due to insufficient braking distance or the rear automobile collides with the self automobile due to emergency braking.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a vehicle anti-collision early warning system based on a millimeter wave radar, which is used for controlling the distance between vehicles.
In order to achieve the purpose, the invention provides the following technical scheme: the vehicle anti-collision early warning system based on the millimeter wave radar comprises the millimeter wave radar, a data acquisition end, a data processing end, a reminding module and a speed regulation module, wherein the speed regulation module is used for regulating the speed of a vehicle;
the data acquisition end comprises a data acquisition module, the data acquisition module acquires the distance between the vehicle and the front vehicle in real time through the millimeter wave radar and generates front vehicle distance data, acquires the distance between the vehicle and the rear vehicle in real time and generates rear vehicle distance data, and the data acquisition module sends the front vehicle distance data and the rear vehicle distance data to the data processing end;
a safety time range is preset in the data processing end, the data processing end generates front vehicle collision time according to the front vehicle distance data, and generates rear vehicle collision time according to the rear vehicle distance data;
the data processing end comprises a comparison module, the absolute value of the difference value between the front vehicle collision time and the rear vehicle collision time is a first absolute difference value, the comparison module compares the first absolute difference value with the safety time range and sends a first contrast value to the speed regulating module, and the speed regulating module regulates the speed of the vehicle according to the first contrast value so that the first absolute difference value is located in the safety time range;
the data processing end is internally preset with collision warning time, the comparison module compares the front vehicle collision time and the rear vehicle collision time with the collision warning time respectively, and when the front vehicle collision time or the rear vehicle collision time is smaller than the collision warning time, the reminding module sends a reminding signal to a driver.
As a further improvement of the present invention, the data acquisition module acquires a distance between the vehicle and the left vehicle in real time through the millimeter wave radar and generates left vehicle distance data, acquires a distance between the vehicle and the right vehicle in real time and generates right vehicle distance data, and sends the left vehicle distance data and the right vehicle distance data to the data processing end, the data processing end is preset with vehicle-free distance data, the comparison module compares the vehicle-free distance data with the left vehicle distance data and the right vehicle distance data, when the left vehicle distance data is greater than the vehicle-free distance data, it is indicated that the left vehicle is free, and when the right vehicle distance data is greater than the vehicle-free distance data, it is indicated that the right vehicle is free.
As a further improvement of the present invention, the left vehicle distance data includes first head distance data and first tail distance data, the first head distance data represents a separation distance between a head of the own vehicle and a head of the left vehicle, the first tail distance data represents a separation distance between a tail of the own vehicle and a tail of the left vehicle, a difference between the first head distance data and the first tail distance data is a first difference, a left vehicle steering angle is calculated from a change rate between the first differences, the right vehicle distance data includes second head distance data and second tail distance data, the second head distance data represents a separation distance between the head of the own vehicle and a head of the right vehicle, the second tail distance data represents a separation distance between the tail of the own vehicle and a right tail, a difference between the second head distance data and the second tail distance data is a second difference, and calculating the steering angle of the right vehicle according to the change rate of the second difference.
As a further improvement of the present invention, when the first vehicle head distance data is greater than the first vehicle tail distance data, the first difference is positive, and when the second vehicle head distance data is greater than the second vehicle tail distance data, the second difference is positive, an anti-collision distance is preset in the data acquisition module, when the first difference is positive, the first vehicle tail distance data is greater than the anti-collision distance, and the front vehicle collision time and the rear vehicle collision time are both less than the collision warning time, the vehicle enters the left lane, and when the second difference is positive, the second vehicle tail distance data is greater than the anti-collision distance, and the front vehicle collision time and the rear vehicle collision time are both less than the collision warning time, the vehicle enters the right lane.
As a further improvement of the present invention, the collision avoidance distance includes a self-vehicle width and a separation distance, the separation distance ranges from one fifth to one third of the self-vehicle width, the data acquisition module acquires left vehicle traveling data in real time by the millimeter wave radar, the left vehicle traveling data represents a vertical distance between a tail of a left vehicle and a tail of the self-vehicle or a vertical distance between a head of the left vehicle and a head of the self-vehicle in a self-vehicle forming direction, the comparison module calculates a left vehicle traveling speed from the left vehicle traveling data and a self-vehicle speed and generates a left vehicle speed difference, the data acquisition module acquires right vehicle traveling data in real time by the millimeter wave radar, the right vehicle traveling data represents a distance between a tail of the right vehicle and a tail of the self-vehicle or a distance between a head of the right vehicle and a head of the self-vehicle in a self-vehicle traveling direction, the comparison module calculates the right vehicle running speed according to the right vehicle running data and the vehicle speed of the comparison module and generates a right vehicle speed difference, the data processing end is configured with a speed difference value table, the speed difference value table is configured with interval distance data, and the data processing end calls a corresponding interval distance from the speed difference value table according to the left vehicle speed difference or the right vehicle speed difference.
As a further improvement of the present invention, the present invention further includes a steering module, wherein an approaching safety range is preset in the data processing end, the approaching safety range represents a safety distance range between the host vehicle and the left and right vehicles, the data processing end generates left vehicle collision time according to the left vehicle distance data, and generates right vehicle collision time according to the right vehicle distance data, an absolute value of a difference between the left vehicle collision time and the right vehicle collision time is a second absolute difference, the comparison module compares the second absolute difference with the approaching safety range, and sends a second contrast value to the steering module, and the steering module steers the host vehicle according to the second contrast value, so that the second absolute difference is within the approaching safety range.
As a further improvement of the present invention, a vehicle-head collision distance is preset in the data processing end, when the first difference is negative and the first vehicle-head distance data is smaller than the vehicle-head collision distance, the steering module controls the vehicle to rotate towards the right side, and when the second difference is negative and the second vehicle-head distance data is smaller than the vehicle-head collision distance, the steering module controls the vehicle to rotate towards the left side.
As a further improvement of the present invention, a rear collision distance and a steering angle are preset in the data processing end, when the first difference is positive and the first rear distance is smaller than the rear collision distance, the steering module rotates to the left side according to the steering angle, and when the second difference is positive and the second rear distance is smaller than the rear collision distance, the steering module rotates to the right side according to the steering angle.
As a further improvement of the invention, a speedometer and a safe vehicle speed are preset in the data processing end, a speed angle value is configured on the speedometer, the data processing end takes a corresponding speed angle value according to the speed of the vehicle, the speed angle value is in inverse proportion to the speed of the vehicle, the speed angle value comprises a safe angle value, and when the speed of the vehicle is greater than or equal to the safe vehicle speed, the steering angle value is the safe angle value.
As a further improvement of the present invention, a safe deceleration value is preset in the speed regulation module, and when the first difference value and the second difference value are both negative and the first vehicle head distance data and the second vehicle head distance data are both smaller than the vehicle head collision distance, the speed regulation module decelerates the vehicle according to the safe deceleration value.
The invention has the beneficial effects that: the invention is provided with a millimeter wave radar, the distance between a vehicle and a front vehicle and the distance between the vehicle and a rear vehicle are acquired in real time according to the millimeter wave radar, the front vehicle distance data and the rear vehicle distance data are generated through a data acquisition end, the running speed of the front vehicle and the rear vehicle is calculated, the collision time of the front vehicle and the collision time of the rear vehicle are further obtained, a safety time range is preset in a data processing end, the speed of the vehicle is regulated through a speed regulation module, the first absolute difference value is located in the safety time range, the distance between the vehicle and the front vehicle and the rear vehicle is ensured, and collision is prevented.
Drawings
Fig. 1 is a block diagram of the present invention.
Reference numerals: 1. a millimeter wave radar; 2. a data acquisition end; 3. a data processing terminal; 4. a reminding module; 5. a speed regulation module; 6. and a steering module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Referring to fig. 1, the vehicle anti-collision early warning system based on the millimeter wave radar of the present embodiment includes a millimeter wave radar 1, a data acquisition end 2, a data processing end 3, a reminding module 4, and a speed regulation module 5, where the speed regulation module 5 is configured to regulate the speed of a vehicle itself;
the data acquisition end 2 comprises a data acquisition module, the data acquisition module acquires the distance between a vehicle and a front vehicle in real time through the millimeter wave radar 1 to generate front vehicle distance data, compares the front vehicle distance data in a previous time period with the front vehicle distance data in a later time period according to a plurality of groups of front vehicle distance data to calculate the change condition of the distance between the vehicle and the vehicle, obtains the approaching or departing of the front vehicle relative to the vehicle, further obtains the running speed of the front vehicle according to the running speed of the vehicle, acquires the distance between the vehicle and the rear vehicle in real time to generate rear vehicle distance data, compares the rear vehicle distance data in the previous time period with the rear vehicle distance data in the later time period according to a plurality of groups of rear vehicle distance data to calculate the change condition of the distance between the vehicle and the vehicle, and obtains the approaching or departing of the rear vehicle relative to the vehicle, the driving speed of the rear vehicle is obtained according to the driving speed of the vehicle, and the front vehicle distance data and the rear vehicle distance data are sent to the data processing end 3;
a safety time range is preset in the data processing end 3, the safety time range refers to a time range required by a vehicle to brake, the data processing end 3 generates front vehicle collision time according to front vehicle distance data and generates rear vehicle collision time according to rear vehicle distance data, the data processing end 3 obtains a speed difference according to the running speeds of the front vehicle and the rear vehicle and the speed of the vehicle, and obtains the front vehicle collision time and the rear vehicle collision time according to the speed difference and the distance between the front vehicle and the rear vehicle or between the rear vehicle and the vehicle;
the data processing end 3 comprises a comparison module, the absolute value of the difference between the collision time of the front vehicle and the collision time of the rear vehicle is a first absolute difference, the comparison module compares the first absolute difference with a safe time range and sends a first contrast value to the speed regulating module 5, if the collision time of the front vehicle is 5 seconds and the collision time of the rear vehicle is 3 seconds, the first absolute difference is 2 seconds, if the safe time range is 0-0.5 seconds and the first contrast value is the difference between 2 and 0 or 0.5, the value of the first absolute difference needs to be adjusted to be within the range of 0-0.5 seconds, the speed regulating module 5 regulates the speed of the self vehicle according to the first contrast value, so that the first absolute difference is within the safe time range, a safe distance is ensured to be kept between the self vehicle and the front and rear vehicles, the self vehicle has enough distance to brake, and when the self vehicle brakes, rear-end collision of the rear vehicle; the vehicle collision safety system further comprises a steering module 6, the steering module 6 is used for steering the vehicle, an approaching safety range is preset in the data processing end 3, the approaching safety range represents a safety distance range between the vehicle and the left and right vehicles, the data processing end 3 generates left vehicle collision time according to left vehicle distance data and generates right vehicle collision time according to right vehicle distance data, the absolute value of the difference between the left vehicle collision time and the right vehicle collision time is a second absolute difference value, the comparison module compares the second absolute difference value with the approaching safety range and sends the second contrast value to the steering module 6, if the left vehicle collision time is 5 seconds and the right vehicle collision time is 3 seconds, the second absolute difference value is 2 seconds, if the safety time range is 0.5-1 second and the second contrast value is a difference value between 2 and 0.5 or 1, the value of the second absolute difference value needs to be adjusted to be within the range of 0.5-1 second, the steering module 6 steers the self vehicle according to the second contrast value, and adjusts the position of the self vehicle between the left and right vehicles through steering so that the second absolute difference value is positioned in the approaching safety range to prevent the self vehicle from colliding with the left and right vehicles.
The collision warning time is preset in the data processing end 3, the comparison module compares the front vehicle collision time and the rear vehicle collision time with the collision warning time respectively, if the front vehicle collision time is 3 seconds, the rear vehicle collision time is 6 seconds, if the collision warning time is 4 seconds, the front vehicle collision time is 3 seconds less than the collision warning time 4 seconds, the reminding module 4 sends out a reminding signal, when the front vehicle collision time or the rear vehicle collision time is less than the collision warning time, the reminding module 4 sends out a reminding signal to the driver, when the reminding module 4 sends out a reminding signal, the driver can select to change lanes to run, or remind the front vehicle and the rear vehicle, and collision is avoided.
The data acquisition module acquires the distance between the vehicle and the left vehicle in real time through the millimeter wave radar 1 and generates left vehicle distance data, acquires the distance between the vehicle and the right vehicle in real time and generates right vehicle distance data, and the left vehicle distance data and the right vehicle distance data are sent to the data processing end 3, the data processing end 3 is preset with the vehicle distance data, the comparison module compares the vehicle-free distance data with the left vehicle distance data and the right vehicle distance data respectively, when the left vehicle distance data is larger than the vehicle-free distance data, the left vehicle distance data indicates that the left side of the vehicle is free of the vehicle, when the right vehicle distance data is too small, the vehicle can be steered towards the left side, when the right vehicle distance data is larger than the vehicle-free distance data, the vehicle is represented that the own vehicle is not provided with the right vehicle, when the right vehicle distance data is too small, the vehicle can be steered towards the right side to avoid collision with the vehicles on the left side and the right side. If the left vehicle distance data is 10 meters and the vehicle-free distance data is determined to be 8 meters, the left lane is free of the vehicle, and if the left vehicle distance data is 2 meters and the right vehicle distance data is 10 meters, the vehicle turns and shifts to the right.
The left vehicle distance data includes first vehicle head distance data representing a distance between a vehicle head of the self vehicle and the left vehicle head and first vehicle tail distance data representing a distance in a direction perpendicular to a traveling direction of the self vehicle, the first vehicle tail distance data representing a distance between the vehicle tail of the self vehicle and the left vehicle tail, a difference between the first vehicle head distance data and the first vehicle tail distance data being a first difference, a left vehicle steering angle being calculated from a rate of change between the first differences, the left vehicle traveling away from the side of the self vehicle when the first difference is negative, the left vehicle traveling close to the side of the self vehicle, the right vehicle distance data including second vehicle head distance data and second vehicle tail distance data, the second vehicle head distance data representing a distance between the vehicle head of the self vehicle and the right vehicle head, the second vehicle rear distance data represents the spacing distance between the vehicle rear and the right vehicle rear, the difference value between the second vehicle front distance data and the second vehicle rear distance data is a second difference value, the right vehicle steering angle is calculated through the change rate of the second difference value, the right vehicle is far away from one side of the vehicle to run when the second difference value is positive, and the right vehicle is close to one side of the vehicle to run when the second difference value is negative.
When the first head distance data is larger than the first tail distance data, the first difference is positive, the left vehicle is far away from one side of the self vehicle to run, when the second head distance data is larger than the second tail distance data, the second difference is positive, at the moment, the right vehicle is far away from one side of the self vehicle to run, the anti-collision distance is preset in the data acquisition module, when the first difference is positive, the first tail distance data is larger than the anti-collision distance, and the front vehicle collision time and the rear vehicle collision time are both smaller than the collision warning time, the self vehicle runs into the left lane, so that the distance between the self vehicle and the right vehicle is increased, the collision condition is prevented, when the second difference is positive, the second tail distance data is larger than the anti-collision distance, and the front vehicle collision time and the rear vehicle collision time are both smaller than the collision warning time, the self vehicle runs into the right lane, so that the distance between the self vehicle and the left vehicle is, preventing a collision with the left vehicle.
The anti-collision distance comprises the width and the spacing distance of the self vehicle, the spacing distance ranges from one fifth to one third of the width of the self vehicle, if the width of the self vehicle is 1.8 meters, the spacing distance can be set to any value between 0.36 and 0.6 meters, the spacing distance is set to prevent the collision caused by the fact that the distance between the self vehicle and the vehicles on the left side and the right side is too close due to the judgment error of a driver, the judgment error of the driver is guaranteed, the data acquisition module acquires the left vehicle running data in real time through the millimeter wave radar 1, the left vehicle running data represents the vertical distance between the tail of the left vehicle and the tail of the self vehicle or the vertical distance between the head of the left vehicle and the head of the self vehicle in the forming direction of the self vehicle, the comparison module calculates the left vehicle running speed according to the left vehicle running data and the speed of the self vehicle and generates the left vehicle speed difference, the data acquisition module is used for acquiring right vehicle running data in real time through the millimeter wave radar 1, the right vehicle running data represents the distance between the tail of the right vehicle and the tail of the self vehicle or the distance between the head of the right vehicle and the head of the self vehicle in the running direction of the self vehicle, the comparison module is used for calculating the running speed of the right vehicle according to the right vehicle running data and the speed of the self vehicle and generating a right vehicle speed difference, the data processing end 3 is configured with a speed difference table, the speed difference table is configured with interval distance data, and the data processing end 3 is used for calling the corresponding interval distance from the speed difference table according to the left vehicle speed difference or the right vehicle speed difference.
The data processing end 3 is preset with a vehicle head collision distance, when the first difference value is negative and the first vehicle head distance data is smaller than the vehicle head collision distance, the steering module 6 controls the vehicle to rotate towards the right side, and when the second difference value is negative and the second vehicle head distance data is smaller than the vehicle head collision distance, the steering module 6 controls the vehicle to rotate towards the left side.
The data processing end 3 has preset rear of a vehicle collision distance and turns to the angle, and when first difference is positive to first rear of a vehicle distance is less than rear of a vehicle collision distance, turns to module 6 and rotates according to turning to the angle orientation left side, and when the second difference is positive, and second rear of a vehicle distance is less than rear of a vehicle collision distance, turns to module 6 and rotates according to turning to the angle orientation right side.
The data processing end 3 has preset speedometer and safe speed, dispose speed angle value on the speedometer, the data processing end 3 root is in self vehicle speed transfers corresponding speed angle value, speed angle value is in inverse proportion with self vehicle speed, speed angle value includes safe angle value, when self vehicle speed more than or equal to safe speed, the angle of turning value is safe angle value, the setting of safe angle value prevents because of self vehicle speed is too fast, when the vehicle turned, the vehicle that leads to tumbles. The safe speed is set to be 60km/h, the safe angle value is 25 degrees, and if the current speed exceeds 60km/h, the maximum steering angle of the vehicle is 25 degrees.
The safe deceleration value is preset in the speed regulation module 5, and when the first difference value and the second difference value are negative, and the first locomotive distance data and the second locomotive distance data are both smaller than the locomotive collision distance, the speed regulation module 5 decelerates the self vehicle according to the safe deceleration value, and after deceleration, the self vehicle moves backwards relative to the vehicles on the left and right sides, so that the self vehicle is prevented from being collided by the vehicles on the left and right sides.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. Vehicle anticollision early warning system based on millimeter wave radar, including millimeter wave radar (1), data acquisition end (2), data processing end (3), warning module (4) and speed governing module (5), its characterized in that: the speed regulation module (5) is used for regulating the speed of the vehicle;
the data acquisition end (2) comprises a data acquisition module, the data acquisition module acquires the distance between the vehicle and the front vehicle in real time through the millimeter wave radar (1) to generate front vehicle distance data, acquires the distance between the vehicle and the rear vehicle in real time to generate rear vehicle distance data, and sends the front vehicle distance data and the rear vehicle distance data to the data processing end (3);
a safety time range is preset in the data processing end (3), the data processing end (3) generates front vehicle collision time according to the front vehicle distance data, and generates rear vehicle collision time according to the rear vehicle distance data;
the data processing end (3) comprises a comparison module, the absolute value of the difference between the front vehicle collision time and the rear vehicle collision time is a first absolute difference value, the comparison module compares the first absolute difference value with the safety time range and sends a first contrast value to the speed regulating module (5), and the speed regulating module (5) regulates the speed of the vehicle according to the first contrast value so that the first absolute difference value is located in the safety time range;
collision warning time is preset in the data processing end (3), the comparison module compares the front vehicle collision time and the rear vehicle collision time with the collision warning time respectively, and when the front vehicle collision time or the rear vehicle collision time is smaller than the collision warning time, the reminding module (4) sends a reminding signal to a driver.
2. The millimeter wave radar-based vehicle collision avoidance warning system of claim 1, wherein: the data acquisition module acquires the distance between a vehicle and a left vehicle in real time through the millimeter wave radar (1) and generates left vehicle distance data, acquires the distance between the vehicle and a right vehicle in real time and generates right vehicle distance data, and sends the left vehicle distance data and the right vehicle distance data to the data processing end (3), vehicle-free distance data are preset in the data processing end (3), the comparison module compares the vehicle-free distance data with the left vehicle distance data and the right vehicle distance data respectively, when the left vehicle distance data is larger than the vehicle-free distance data, the left vehicle is represented as vehicle-free on the left side of the vehicle, and when the right vehicle distance data is larger than the vehicle-free distance data, the right vehicle is represented as vehicle-free on the right side of the vehicle.
3. The millimeter wave radar-based vehicle collision avoidance warning system of claim 2, wherein: the left vehicle distance data comprises first vehicle head distance data and first vehicle tail distance data, the first vehicle head distance data represents the spacing distance between the vehicle head and the left vehicle head, the first vehicle tail distance data represents the spacing distance between the vehicle tail and the left vehicle tail, the difference value between the first vehicle head distance data and the first vehicle tail distance data is a first difference value, the left vehicle steering angle is calculated through the change rate between the first difference values, the right vehicle distance data comprises second vehicle head distance data and second vehicle tail distance data, the second vehicle head distance data represents the spacing distance between the vehicle head and the right vehicle head, the second vehicle tail distance data represents the spacing distance between the vehicle tail and the right vehicle tail, and the difference value between the second vehicle head distance data and the second vehicle tail distance data is a second difference value, and calculating the steering angle of the right vehicle according to the change rate of the second difference.
4. The millimeter wave radar-based vehicle collision avoidance warning system of claim 3, wherein: when the first head distance data is larger than the first tail distance data, the first difference is positive, when the second head distance data is larger than the second tail distance data, the second difference is positive, an anti-collision distance is preset in the data acquisition module, when the first difference is positive, the first tail distance data is larger than the anti-collision distance, and when the front vehicle collision time and the rear vehicle collision time are both smaller than the collision warning time, the vehicle drives into a left lane, the second difference is positive, the second tail distance data is larger than the anti-collision distance, and when the front vehicle collision time and the rear vehicle collision time are both smaller than the collision warning time, the vehicle drives into a right lane.
5. The millimeter wave radar-based vehicle collision avoidance warning system of claim 4, wherein: the collision avoidance distance comprises a self-vehicle width and a spacing distance, the spacing distance ranges from one fifth to one third of the self-vehicle width, the data acquisition module acquires left-vehicle running data in real time through the millimeter wave radar (1), the left-vehicle running data represents a vertical distance between a tail of a left-side vehicle and a tail of the self-vehicle or a vertical distance between a head of the left-side vehicle and a head of the self-vehicle in a self-vehicle forming direction, the comparison module calculates a left-vehicle running speed according to the left-vehicle running data and the speed of the self-vehicle and generates a left-vehicle speed difference, the data acquisition module acquires right-vehicle running data in real time through the millimeter wave radar (1), the right-vehicle running data represents a distance between a tail of the right-side vehicle and the tail of the self-vehicle or a distance between the head of the right-side vehicle and the head of the self-vehicle in the self-vehicle running direction, the comparison module calculates the right vehicle running speed according to the right vehicle running data and the vehicle speed of the comparison module, generates a right vehicle speed difference, the data processing end (3) is configured with a speed difference value table, the speed difference value table is configured with interval distance data, and the data processing end (3) calls a corresponding interval distance from the speed difference value table according to the left vehicle speed difference or the right vehicle speed difference.
6. The millimeter wave radar-based vehicle collision avoidance warning system of claim 4, wherein: the vehicle collision safety system is characterized by further comprising a steering module (6), a proximity safety range is preset in the data processing end (3), the proximity safety range represents a safety distance range between a vehicle and a left vehicle and a right vehicle, the data processing end (3) generates left vehicle collision time according to the left vehicle distance data and generates right vehicle collision time according to the right vehicle distance data, the absolute value of the difference between the left vehicle collision time and the right vehicle collision time is a second absolute difference value, the comparison module compares the second absolute difference value with the proximity safety range and sends a second contrast value to the steering module (6), and the steering module (6) steers the vehicle according to the second contrast value so that the second absolute difference value is located in the proximity safety range.
7. The millimeter wave radar-based vehicle collision avoidance warning system of claim 6, wherein: the data processing end (3) is preset with a vehicle head collision distance, when the first difference is negative and the first vehicle head distance data is smaller than the vehicle head collision distance, the steering module (6) controls the vehicle to rotate towards the right side, and when the second difference is negative and the second vehicle head distance data is smaller than the vehicle head collision distance, the steering module (6) controls the vehicle to rotate towards the left side.
8. The millimeter wave radar-based vehicle collision avoidance warning system of claim 6, wherein: the data processing end (3) is preset with a vehicle tail collision distance and a steering angle, when the first difference is positive and the first vehicle tail distance is smaller than the vehicle tail collision distance, the steering module (6) rotates towards the left side according to the steering angle, and when the second difference is positive and the second vehicle tail distance is smaller than the vehicle tail collision distance, the steering module (6) rotates towards the right side according to the steering angle.
9. The millimeter wave radar-based vehicle collision avoidance warning system of claim 8, wherein: the speed meter and the safe vehicle speed are preset in the data processing end (3), a speed angle value is configured on the speed meter, the data processing end (3) calls a corresponding speed angle value according to the speed of the vehicle, the speed angle value is in inverse proportion to the speed of the vehicle, the speed angle value comprises a safe angle value, and when the speed of the vehicle is larger than or equal to the safe vehicle speed, the steering angle value is the safe angle value.
10. The millimeter wave radar-based vehicle collision avoidance warning system of claim 7, wherein: and a safe deceleration value is preset in the speed regulation module (5), and when the first difference value and the second difference value are negative and the first vehicle head distance data and the second vehicle head distance data are both smaller than the vehicle head collision distance, the speed regulation module (5) decelerates the vehicle according to the safe deceleration value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110209922.3A CN112793569A (en) | 2021-02-24 | 2021-02-24 | Vehicle anti-collision early warning system based on millimeter wave radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110209922.3A CN112793569A (en) | 2021-02-24 | 2021-02-24 | Vehicle anti-collision early warning system based on millimeter wave radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112793569A true CN112793569A (en) | 2021-05-14 |
Family
ID=75815819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110209922.3A Pending CN112793569A (en) | 2021-02-24 | 2021-02-24 | Vehicle anti-collision early warning system based on millimeter wave radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112793569A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5502432A (en) * | 1991-12-16 | 1996-03-26 | Stanley Electric Co., Ltd. | Apparatus and method of warning rear-end collision |
| CN102463951A (en) * | 2011-09-07 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Automobile longitudinal collision mitigating system and control method |
| CN104842995A (en) * | 2014-02-14 | 2015-08-19 | 现代自动车株式会社 | Apparatus and method for preventing vehicle collision |
| CN106114505A (en) * | 2016-07-04 | 2016-11-16 | 浙江工商大学 | A kind of front truck anti-collision warning method of vehicle DAS (Driver Assistant System) |
| CN206265025U (en) * | 2016-12-23 | 2017-06-20 | 四川先导中通光电科技有限公司 | A kind of autobrake system based on millimeter wave |
| CN108556842A (en) * | 2018-03-05 | 2018-09-21 | 浙江吉利汽车研究院有限公司 | Actively accelerate control method, device and the controller of collision avoidance |
| CN109727469A (en) * | 2019-01-08 | 2019-05-07 | 南京航空航天大学 | Automatic driving vehicle COMPREHENSIVE RISK DEGREE appraisal procedure under a kind of multilane |
| CN109976303A (en) * | 2018-10-19 | 2019-07-05 | 财团法人车辆研究测试中心 | Have the automatic Pilot method and device thereof of decision diagnosis |
-
2021
- 2021-02-24 CN CN202110209922.3A patent/CN112793569A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5502432A (en) * | 1991-12-16 | 1996-03-26 | Stanley Electric Co., Ltd. | Apparatus and method of warning rear-end collision |
| CN102463951A (en) * | 2011-09-07 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Automobile longitudinal collision mitigating system and control method |
| CN104842995A (en) * | 2014-02-14 | 2015-08-19 | 现代自动车株式会社 | Apparatus and method for preventing vehicle collision |
| CN106114505A (en) * | 2016-07-04 | 2016-11-16 | 浙江工商大学 | A kind of front truck anti-collision warning method of vehicle DAS (Driver Assistant System) |
| CN206265025U (en) * | 2016-12-23 | 2017-06-20 | 四川先导中通光电科技有限公司 | A kind of autobrake system based on millimeter wave |
| CN108556842A (en) * | 2018-03-05 | 2018-09-21 | 浙江吉利汽车研究院有限公司 | Actively accelerate control method, device and the controller of collision avoidance |
| CN109976303A (en) * | 2018-10-19 | 2019-07-05 | 财团法人车辆研究测试中心 | Have the automatic Pilot method and device thereof of decision diagnosis |
| CN109727469A (en) * | 2019-01-08 | 2019-05-07 | 南京航空航天大学 | Automatic driving vehicle COMPREHENSIVE RISK DEGREE appraisal procedure under a kind of multilane |
Non-Patent Citations (1)
| Title |
|---|
| 周斌宇: "基于车车协同的车辆安全换道预警机制研究", 《中国优秀硕士学位论文全文库（电子期刊）》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6359553B1 (en) | Method and control arrangement for minimizing consequences of accidents | |
| US9896095B2 (en) | Collision avoidance support device | |
| US6708099B2 (en) | Stop and go adaptive cruise control system | |
| CN109720345B (en) | Cut-in vehicle monitoring method and system | |
| EP2902290B1 (en) | System for accommodating a pedestrian during autonomous vehicle operation | |
| US6560525B1 (en) | Integrated queue assist and adaptive cruise control | |
| CN105121246B (en) | Method and apparatus for auxiliary of overtaking other vehicles | |
| US6094616A (en) | Method for automatically controlling motor vehicle spacing | |
| CN105644564B (en) | A kind of automobile side angle active collision avoidance security determination methods | |
| CN111791891B (en) | Straight-going following safety distance early warning method based on driver style | |
| US11938924B2 (en) | Driving assistance control apparatus for vehicle, driving assistance control system for vehicle, and driving assistance control method for vehicle | |
| CN112406820B (en) | Multi-lane enhanced automatic emergency braking system control method | |
| CN102712302A (en) | Emergency brake assistant for automatically decelerating a vehicle to prevent a collision or reduce the consequences of a collision | |
| CN111661055A (en) | Lane changing control method and system for automatic driving vehicle | |
| CN114394095B (en) | ACC control method and device based on lane change intention recognition of side front vehicle | |
| WO2023029239A1 (en) | Emergency steering system based on millimeter-wave radars | |
| EP3539837A1 (en) | A vehicle radar system for detecting preceding vehicles | |
| CN206086597U (en) | Independently with car system | |
| CN108318884A (en) | The method for realizing low speed emergency braking based on ultrasonic sensor | |
| CN108407807B (en) | Steering collision avoidance system of commercial vehicle and control method thereof | |
| JP2019191882A (en) | Platoon travel controller | |
| CN111942398A (en) | Vehicle speed control method and system and vehicle | |
| EP1437254B1 (en) | An adaptive cruise control system for a motor vehicle | |
| CN112793569A (en) | Vehicle anti-collision early warning system based on millimeter wave radar | |
| Isermann et al. | Collision avoidance systems PRORETA: situation analysis and intervention control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |