CN113232650A - Vehicle collision avoidance control system and method for converging vehicles with front sides - Google Patents

Vehicle collision avoidance control system and method for converging vehicles with front sides Download PDF

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Publication number
CN113232650A
CN113232650A CN202110600046.7A CN202110600046A CN113232650A CN 113232650 A CN113232650 A CN 113232650A CN 202110600046 A CN202110600046 A CN 202110600046A CN 113232650 A CN113232650 A CN 113232650A
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vehicle
distance
speed
braking
acceleration
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沈传亮
李胜男
于婧
石博文
徐孝东
郑成锋
高镇海
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—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
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—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
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/805—Azimuth angle

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a vehicle collision avoidance control system and a control method facing the influx of vehicles in front, wherein the control method comprises the following steps: obtaining the distance D between the vehicle and the forward vehicle1‑0The speed v of the vehicle1Speed v of vehicles2And calculating the predicted distance D between the vehicle and the vehicle1Safety distance Df1Wherein: when D is present1＜Df1When the vehicle is in use, the warning lamp flickers, and the vehicle brakes; and when D1≥Df1And v is1＞ν2Time, early warning lamp flashingFlashing, the speed of the vehicle is from v1Reduced to v2y(ii) a The predicted distance between the vehicle and the vehicle to be converged is as follows:
Figure DDA0003092414940000011
the safe distance between the vehicle and the vehicle entering the vehicle is as follows:
Figure DDA0003092414940000012
in the formula, a1Shows the braking acceleration of the vehicle, a2yIndicating longitudinal acceleration of oncoming vehicle, L2Indicating the length of the leading oncoming vehicle, W2Representing the width of the oncoming vehicle ahead, theta representing the angle of inclination of the oncoming vehicle's steering, dsRepresenting a safe braking parameter; t is t0Indicates the time at which it is determined that there is a vehicle merge, tfinIndicating the predicted vehicle convergence end time.

Description

Vehicle collision avoidance control system and method for converging vehicles with front sides
Technical Field
The invention belongs to the technical field of automobile anti-collision control, and particularly relates to a vehicle collision avoidance control system and a control method for converging front vehicles.
Background
With the increase of automobile holding capacity and the increase of automobile safety accidents, automobile safety problems are more and more emphasized, and the research on automobile auxiliary driving and anti-collision control technologies is particularly important for reducing the automobile safety accidents.
The problem that traffic accidents are easily caused between vehicles joining in front and vehicles behind when finding gaps and inserting and changing lanes is solved; the current research mainly aims at a risk evaluation and early warning system for vehicle import, a control method facing the working conditions is not provided, and safety accidents are easy to occur when the early warning system is not noticed by a driver.
Disclosure of Invention
The invention provides a vehicle collision avoidance control system facing a vehicle with a front vehicle entering, and aims to reduce the risk of collision accidents when the vehicle with the front enters.
The invention provides a vehicle collision avoidance control method facing to the front vehicle entering, which aims to remind a driver or control the vehicle to automatically brake according to the predicted distance between the vehicle and the vehicle when the distance between the vehicle and the front vehicle entering is small, thereby preventing the vehicle from colliding with the front vehicle entering.
The invention provides a vehicle collision avoidance control method facing to the entry of a front vehicle, which has the second purpose that the front vehicle enters, when the distance between the vehicle and the vehicle in front of the vehicle is smaller, the driver is reminded or the vehicle is controlled to automatically brake according to the predicted distance between the vehicle and the vehicle in front of the vehicle, so as to reserve a space for the front vehicle and prevent the vehicle from colliding with the entry vehicle.
The technical scheme provided by the invention is as follows:
a vehicle collision avoidance control system for ingress of a vehicle into a vehicle in front of the vehicle, comprising:
the information acquisition module is used for acquiring the running state information of the vehicle, the running state information of the vehicle in front of the road and the running state information of the front imported vehicle;
the information processing module is used for acquiring the information acquired by the information acquisition module and judging whether the vehicle has the risk of collision with the front imported vehicle or not;
the information output module is used for sending out early warning information when the vehicle has the risk of collision with a front imported vehicle;
an electronic throttle control device for controlling vehicle braking;
and the positioning module is used for determining the position of the vehicle.
Preferably, the information collecting module includes:
a wheel speed sensor installed at a wheel for detecting a vehicle speed of a vehicle;
the laser radar is arranged in front of the vehicle and used for detecting the azimuth angle and the distance between the vehicle and the front vehicle;
the speed measuring radar is arranged on the front side of the vehicle and is used for detecting the speed and the relative acceleration of the front vehicle;
and the vehicle-mounted camera is used for scanning and distinguishing the lane line and surrounding vehicles.
Preferably, the information output module includes:
and the early warning lamp is arranged in the driver's cabin of the vehicle and is used for prompting the risk of the driver of the vehicle.
A vehicle collision avoidance control method for converging a vehicle facing a front comprises the following steps:
obtaining an initial distance D between the vehicle and a forward incoming vehicle1-0The speed v of the vehicle1Front merge vehicle speed v2And calculating the predicted distance D between the vehicle and the preceding vehicle1And calculating the safe distance D between the vehicle and the front vehiclef1Wherein:
when D is present1＜Df1When the vehicle is in use, the warning lamp flickers, and the vehicle brakes; and
when D is present1≥Df1And v is1＞v2yThe warning lamp flashes, and the speed of the vehicle is nu1Reduced to v2y；
The predicted distance between the vehicle and the vehicle to be converged is as follows:
Figure BDA0003092414920000021
the safe distance between the vehicle and the vehicle entering the vehicle is as follows:
Figure BDA0003092414920000022
ν2y＝ν2cosθ；
in the formula, a1Shows the braking acceleration of the vehicle, a2yIndicating the longitudinal acceleration, L, of the oncoming vehicle2Indicating the length of the leading oncoming vehicle, W2Representing the width of the vehicle merging ahead, theta representing the angle of inclination of the steering of the vehicle merging ahead, dsRepresenting a safe braking parameter; t is t0Indicates the time at which it is determined that there is a vehicle entering, tfinIndicating predicted vehicle importationAnd (4) ending the moment.
Preferably, the vehicle collision avoidance control method for the vehicle entering from the front includes:
when judging that a front vehicle is converged, acquiring the initial distance D between the vehicle and the vehicle in front of the vehicle road2-0The speed v of the front vehicle of the road3Calculating the predicted distance D between the vehicle and the vehicle in front of the vehicle2The safe distance D between the vehicle and the front vehicle of the vehicle channelf2(ii) a Wherein:
when D is present2＜Df2When the vehicle is in use, the warning lamp flickers, and the vehicle brakes;
when D is present2≥Df2And v is1＞v3When the vehicle is running, the warning light is flashing, the vehicle is braked until the vehicle speed is V1Down to v3；
The predicted distance between the vehicle and the vehicle in front of the vehicle road is as follows:
Figure BDA0003092414920000031
safe distance D between the vehicle and the front vehicle of the vehicle roadf2Comprises the following steps:
Figure BDA0003092414920000032
in the formula, a3Indicating the forward vehicle acceleration.
Preferably, the vehicle braking acceleration a is set at the time of braking the vehicle1Greater than the minimum braking acceleration amin；
Wherein,
Figure BDA0003092414920000033
preferably, the vehicle collision avoidance control method for the vehicle entering from the front includes:
when the braking acceleration of the vehicle is greater than the maximum safe braking acceleration a of the vehiclemaxIn time, the vehicle carries out emergent lane change and collision avoidance.
Preferably, the safety braking parameters are as follows:
Figure BDA0003092414920000034
in the formula, tau is the reaction time of the driver, tau' is the starting time of the braking system, and the time is taken as 0.6 s.
Preferably, the driver reaction time is:
τ＝1.1+K；
in the formula, K is a driver correction parameter, and the value range of K is [0.1,0.4 ].
The invention has the beneficial effects that:
(1) the vehicle collision avoidance control system facing the front vehicle to merge in can reduce the risk of collision accidents when the front vehicle merges in.
(2) The vehicle collision avoidance control method facing the front vehicle to enter can remind a driver or control the vehicle to automatically brake according to the predicted distance between the vehicle and the vehicle when the distance between the vehicle and the front vehicle to enter is small, so that the vehicle and the front vehicle to enter are prevented from colliding.
(3) The vehicle collision avoidance control method facing the front vehicle to merge in can remind a driver or control the vehicle to automatically brake according to the predicted distance between the vehicle and the vehicle in front of the vehicle when the distance between the vehicle and the vehicle in front of the vehicle is small, so that a space is reserved for the front vehicle to prevent the vehicle from colliding with the vehicle to merge in.
Drawings
Fig. 1 is a schematic diagram of an application condition of a vehicle collision avoidance control system facing a vehicle entering from the front according to the present invention.
Fig. 2 is a schematic diagram of a vehicle collision avoidance control method according to the present invention, in which a vehicle entering from the front is faced.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
The invention provides a vehicle collision avoidance control system for converging a vehicle facing a front vehicle, which comprises: the information acquisition module is used for acquiring the running state information of the vehicle, the running state information of the vehicle in front of the road and the running state information of the front imported vehicle; the information processing module is used for acquiring the information acquired by the information acquisition module and judging whether the vehicle has the risk of collision with the front imported vehicle or not; the information output module is used for sending out early warning information when the vehicle has the risk of collision with a front imported vehicle; an electronic throttle control device for controlling vehicle braking; and a positioning module for determining the location of the vehicle.
Wherein, the information acquisition module includes: a wheel speed sensor installed at a wheel for detecting a vehicle speed of a vehicle; the laser radar is arranged in front of the vehicle and used for detecting the azimuth angle and the distance between the vehicle and the front vehicle; the speed measuring radar is arranged on the front side of the vehicle and is used for detecting the speed and the relative acceleration of the front vehicle; the vehicle-mounted camera is used for scanning and distinguishing lane lines and surrounding vehicles; the information processing module adopts an ECU (electronic control Unit), and the speed of the vehicle is acquired through a can bus. When the images collected by the vehicle-mounted camera show that the vehicles in the adjacent lanes are overlapped with the lane lines of the vehicle lane and the vehicles in the adjacent lanes have the transverse speed pointing to the vehicle lane, the adjacent vehicles are judged to be the vehicles entering the vehicle lane.
The information output module includes: and the early warning lamp is arranged in the driver's cabin of the vehicle and is used for prompting the risk of the driver of the vehicle. The positioning module adopts a GPS or Beidou navigation system, the speed limit value of the position of the automobile is obtained through the positioning module, and the positioning module is electrically connected with the information acquisition module.
As shown in fig. 1-2, the present invention also provides a method for controlling collision avoidance of a vehicle entering from a front side, which uses the system for controlling collision avoidance of a vehicle entering from a front side, and the method mainly comprises: obtaining an initial distance D between the vehicle and a forward incoming vehicle1-0The speed v of the vehicle1Speed of vehicleν2And calculating the predicted distance D between the vehicle and the vehicle1Safety distance Df1Wherein:
when the predicted distance between the vehicle and the front vehicle is smaller than the safe distance (D)1＜Df1) When the vehicle is in use, the warning lamp flickers, and the vehicle brakes; and when the predicted distance between the host vehicle and the front vehicle is greater than (or equal to) the safe distance (D)1≥Df1) And the speed of the vehicle is greater than the longitudinal speed (v) of the interflow vehicle1＞ν2y) When the vehicle is running, the warning lamp flashes, the vehicle brakes, and the speed of the vehicle is limited by v1Reduced to v2y(ii) a Otherwise, the vehicle continues to keep running at the current speed.
The predicted distance between the vehicle and the vehicle to be converged is as follows:
Figure BDA0003092414920000051
tfin＝s0/v1；
the safe distance between the vehicle and the vehicle entering the vehicle is as follows:
Figure BDA0003092414920000052
ν2y＝ν2cosθ；
in the formula, a1Shows the braking acceleration of the vehicle, a2Indicating the oncoming vehicle acceleration, L2Indicating the length of the leading oncoming vehicle, W2Representing the width of the oncoming vehicle ahead, theta representing the angle of inclination of the oncoming vehicle's steering, dsRepresenting a safe braking parameter; t is t0Indicates the time at which it is determined that there is a vehicle merge, tfinIndicating the predicted vehicle convergence end time; s0Representing predicted incorporations distances, s being set empirically0＝120。
Wherein the safety braking parameters are:
Figure BDA0003092414920000061
in the formula, tau is the reaction time of the driver, tau 'is the starting time of the braking system, and 0.6s is taken according to the experience tau'.
The driver reaction time is as follows:
τ＝1.1+K；
in the formula, K is a driver correction parameter and is determined according to the driving style of a driver; the value range of K is [0.1,0.4 ].
Controlling the braking acceleration a of the vehicle when the vehicle is braked1Greater than the minimum braking acceleration amin(ii) a Wherein,
Figure BDA0003092414920000062
when the braking acceleration a of the vehicle is detected1Greater than the maximum safe braking acceleration a of the vehiclemaxIn time, the vehicle carries out emergent lane change and collision avoidance.
In another embodiment, the method further comprises: the vehicle entering ahead is detected, and the predicted distance between the vehicle and the vehicle entering ahead is larger than (or equal to) the safe distance between the vehicle and the vehicle entering ahead (D)1≥Df1) And the vehicle speed of the vehicle is less than the longitudinal vehicle speed (v) of the front afflux vehicle1＜ν2y) Then, the initial distance D between the vehicle and the vehicle in front of the vehicle is obtained2-0(when judging that there is a vehicle entering in front, the distance between the vehicle and the vehicle in front of the vehicle), the vehicle speed v in front of the vehicle3Calculating the predicted distance D between the vehicle and the vehicle in front of the vehicle2The safe distance D between the vehicle and the front vehicle of the vehicle channelf2(ii) a Wherein: when the predicted distance between the vehicle and the vehicle in front of the vehicle is smaller than the safe distance (D)2＜Df2) When the vehicle is in use, the warning lamp flickers, and the vehicle brakes; and when the predicted distance between the vehicle and the vehicle in front of the vehicle is larger than the safe distance (D)2≥Df2) And the speed of the vehicle is greater than that of the front vehicle (v)1＞v3) When the vehicle is running, the warning light is flashing, the vehicle is braked, and the vehicle speed is V1Down to v3(ii) a Otherwise, thisThe vehicle keeps running at the current speed.
The predicted distance between the vehicle and the vehicle in front of the vehicle road is as follows:
Figure BDA0003092414920000063
safe distance D between the vehicle and the front vehicle of the vehicle roadf2Comprises the following steps:
Figure BDA0003092414920000071
in the formula, a3Indicating the forward vehicle acceleration.
Controlling the braking acceleration a of the vehicle when the vehicle is braked1Greater than the minimum braking acceleration amin(ii) a Wherein,
Figure BDA0003092414920000072
when the braking acceleration a of the vehicle is detected1Greater than the maximum safe braking acceleration a of the vehiclemaxWhen the vehicle is in use, the vehicle can be in emergency lane change for collision avoidance; wherein the maximum safe braking acceleration a of the vehiclemaxSet according to the vehicle type, amaxHas a value range of 5-7m/s2。
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims (9)

1. A vehicle collision avoidance control system for a vehicle entering in front of the vehicle, comprising:
the information acquisition module is used for acquiring the running state information of the vehicle, the running state information of the vehicle in front of the road and the running state information of the front imported vehicle;
the information processing module is used for acquiring the information acquired by the information acquisition module and judging whether the vehicle has the risk of collision with the front imported vehicle or not;
the information output module is used for sending out early warning information when the vehicle has the risk of collision with a front imported vehicle;
an electronic throttle control device for controlling vehicle braking;
and the positioning module is used for determining the position of the vehicle.
2. The system of claim 1, wherein the information collection module comprises:
a wheel speed sensor installed at a wheel for detecting a vehicle speed of a vehicle;
the laser radar is arranged in front of the vehicle and used for detecting the azimuth angle and the distance between the vehicle and the front vehicle;
the speed measuring radar is arranged on the front side of the vehicle and is used for detecting the speed and the relative acceleration of the front vehicle;
and the vehicle-mounted camera is used for scanning and distinguishing the lane line and surrounding vehicles.
3. The system of claim 2, wherein the information output module comprises:
and the early warning lamp is arranged in the driver's cabin of the vehicle and is used for prompting the risk of the driver of the vehicle.
4. A vehicle collision avoidance control method for converging a vehicle facing a front is characterized by comprising the following steps:
obtaining an initial distance D between the vehicle and a forward incoming vehicle1-0The speed v of the vehicle1Front merge vehicle speed v2And calculating the predicted distance D between the vehicle and the preceding vehicle1And calculating the safe distance D between the vehicle and the front vehiclef1Wherein:
when D is present1＜Df1When the vehicle is in use, the warning lamp flickers, and the vehicle brakes; and
when D is present1≥Df1And v is1＞v2yThe warning lamp flashes, and the speed of the vehicle is nu1Reduced to v2y；
The predicted distance between the vehicle and the vehicle to be converged is as follows:
Figure FDA0003092414910000011
the safe distance between the vehicle and the vehicle entering the vehicle is as follows:
Figure FDA0003092414910000021
ν2y＝ν2cosθ；
in the formula, a1Shows the braking acceleration of the vehicle, a2yIndicating the longitudinal acceleration, L, of the oncoming vehicle2Indicating the length of the leading oncoming vehicle, W2Representing the width of the vehicle merging ahead, theta representing the angle of inclination of the steering of the vehicle merging ahead, dsRepresenting a safe braking parameter; t is t0Indicates the time at which it is determined that there is a vehicle entering, tfinIndicating the predicted vehicle convergence end time.
5. The method for controlling collision avoidance of a vehicle entering with a front vehicle facing thereto according to claim 4, further comprising:
when judging that a front vehicle is converged, acquiring the initial distance D between the vehicle and the vehicle in front of the vehicle road2-0The speed v of the front vehicle of the road3Calculating the predicted distance D between the vehicle and the vehicle in front of the vehicle2The safe distance D between the vehicle and the front vehicle of the vehicle channelf2(ii) a Wherein:
when D is present2＜Df2When the vehicle is in use, the warning lamp flickers, and the vehicle brakes;
when D is present2≥Df2And v is1＞v3When the vehicle is running, the warning light is flashing, the vehicle is braked until the vehicle speed is V1Down to v3；
The predicted distance between the vehicle and the vehicle in front of the vehicle road is as follows:
Figure FDA0003092414910000022
safe distance D between the vehicle and the front vehicle of the vehicle roadf2Comprises the following steps:
Figure FDA0003092414910000023
in the formula, a3Indicating the forward vehicle acceleration.
6. The method as claimed in claim 5, wherein the braking acceleration a of the vehicle is determined by the acceleration of the vehicle during braking1Greater than the minimum braking acceleration amin；
Wherein,
Figure FDA0003092414910000024
7. the method for controlling collision avoidance of a vehicle entering in the face of a vehicle ahead of claim 6, further comprising:
when the braking acceleration of the vehicle is greater than the maximum safe braking acceleration a of the vehiclemaxIn time, the vehicle carries out emergent lane change and collision avoidance.
8. The method as claimed in claim 7, wherein the safety braking parameters are as follows:
Figure FDA0003092414910000031
in the formula, tau is the reaction time of the driver, tau' is the starting time of the braking system, and the time is taken as 0.6 s.
9. The method of claim 8, wherein the driver reaction time is:
τ＝1.1+K；
in the formula, K is a driver correction parameter, and the value range of K is [0.1,0.4 ].
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Application publication date: 20210810