CN113370978B - Rear-end collision risk prediction method and system and vehicle - Google Patents
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Abstract
The invention discloses a rear-end collision risk prediction method, a rear-end collision risk prediction system and a vehicle, wherein the rear-end collision risk prediction method comprises the following steps: when the calculation of the risk of rear-end collision is started, defining the calculation start time as an initial time t 0 And t is 0 =0, recording the storage time t 0 Initial travel speed V of vehicle of =0 0 Initial driving distance S 0 =0; recording and storing vehicle real-time speed V t Recording and storing the accumulated travel S of the vehicle t (ii) a Judgment of T>If the delta T is true, if yes, T' = T-delta T; otherwise t' = t 0 =0; calculating a first velocity difference Δ V 1 ＝V max1 ‑V T (ii) a Judgment S T >If Δ S is true, if so, S' = S T - Δ S; otherwise S' = S 0 =0; calculating a second speed difference Δ V 2 ＝V max2 -V; determining a first speed difference Δ V 1 ≥V a Whether the result is true or not; if so, the risk is higher; otherwise, the second speed difference value delta V is judged 2 ≥V b If yes, the risk is higher; otherwise, the risk is relatively low. All calculation parameters of the method are determined by the vehicle, the time for making the risk judgment is earlier, and the time for responding to an active safety device, a driver or other vehicles is longer.
Description
Technical Field
The invention relates to the technical field that vehicles can only safely run, in particular to a rear-end collision risk prediction method and system and a vehicle.
Background
Automobile rear-end accidents are the most common traffic accidents, and can cause personal injuries and deaths besides causing great economic loss. Therefore, in the automobile research and development process, various manufacturers invest a large amount of manpower and material resources to carry out rear-end collision research, and the purpose is to reduce or avoid the occurrence of rear-end accidents and reduce the loss caused by the rear-end collisions. In the research for reducing or avoiding the occurrence of rear-end collision and reducing the loss of the rear-end collision, two aspects of the research on the rear-end collision vehicle (rear vehicle) and the rear-end collision vehicle (front vehicle) can be distinguished. More in the research on the rear-end collision vehicles, the research on designing and matching the safety performance of the seat headrest and reducing the injury of personnel in the rear-end collision of the seat and the seat headrest is focused; in addition, the optimization of the structure of the vehicle to reduce the maintenance cost after rear-end collision is also an important research direction; however, both of them belong to the field of passive safety of automobiles and act after rear-end collision occurs. With the development of automatic driving and intelligent safety, rear-end collision prevention active safety devices in vehicles are gradually increased, the main mode is to collect information of rear vehicles through environment sensing equipment such as radars, cameras and infrared rays, predict whether rear-end collision can occur by combining driving state information of front vehicles, and send a signal for preparing rear-end collision to vehicle related systems and devices when rear-end collision is predicted to occur, so that the vehicles or the active safety devices take measures for avoiding collision and reducing collision damage. The method needs to measure physical parameters of the rear vehicle and predict further driving behaviors which may be taken by the rear vehicle, and has high technical difficulty and high implementation cost.
Disclosure of Invention
The invention aims to provide a rear-end collision risk prediction method, all calculation parameters are determined by a vehicle, and the technical difficulty is low; and the time for making the risk judgment is earlier, and the time for the active safety device, the driver or other vehicles to respond is longer; moreover, environment sensing equipment such as radar, camera shooting and infrared is not needed, and the cost is low.
In order to achieve the purpose, the invention provides a rear-end collision risk prediction method, which comprises the following steps:
when the calculation of the risk of the rear-end collision is started, the data which are stored last and are related to the calculation of the risk of the rear-end collision are eliminated, and the initial time t when the calculation is started is defined 0 And t is 0 =0, recording and storing the time t 0 Initial travel speed V of vehicle of =0 0 Initial driving distance S 0 =0; and from t 0 =0 start of real-time reading of vehicle real-time speed V t And each byStoring at intervals of delta t, reading the stored real-time speed V of the vehicle t And from T 0 =0 starting integration to obtain cumulative travel S of vehicle t And storing at intervals of Δ t;
judgment of T>If the delta T is true, if yes, T' = T-delta T; otherwise, t' = t 0 =0; wherein T represents the current time; Δ T represents a preset time period; t' represents a first starting moment, namely a moment corresponding to a preset time period delta T before the current moment T;
calculating a first velocity difference Δ V 1 ＝V max1 -V T Wherein V is T Representing the current vehicle running speed corresponding to the current time T; v max1 Representing the maximum running speed of the vehicle in the time period from T' to T;
judgment S T >If Δ S is true, if so, S' = S T - Δ S; otherwise, S' = S 0 =0; wherein Δ S is a preset distance; s T Indicating the current cumulative journey of the vehicle, i.e. from an initial time t 0 Integrating the real-time speed of the vehicle to the current time T to obtain the speed; s' represents the current vehicle cumulative journey S T A driving stroke corresponding to a previous preset distance delta S;
calculating a second speed difference Δ V 2 ＝V max2 -V T Wherein t "represents a second starting speed, i.e. the corresponding moment of travel up to the S' trip; v max2 Represents the maximum running speed of the vehicle in the time period from T' to T;
determining a first speed difference Δ V 1 ≥V a Whether the result is true or not; wherein, V a Is a first tailed-risk threshold;
if so, the vehicle has a higher risk of being rear-ended;
otherwise, the second speed difference value delta V is judged 2 ≥V b Is established, wherein V b A second tailed-risk threshold; if so, the vehicle has a higher risk of being rear-ended; otherwise, the risk of the vehicle being rear-ended is relatively low.
In the present embodiment, the time at which the rear-end-collided collision risk calculation is started is at the time of vehicle start or before or after the vehicle start.
The invention also provides a calculation system for predicting the risk of the rear-end collision, which comprises a memory and a controller, wherein the memory is stored with a computer readable program, and the computer readable program can execute the steps of the method for predicting the risk of the rear-end collision when being called by the controller.
The invention also provides a vehicle comprising the system for calculating the risk of the rear-end collision.
The present invention also provides a storage medium having a computer readable program stored therein, the computer readable program being capable of executing the steps of the rear-end collision risk prediction method when being invoked.
Compared with the prior art, the invention has the following advantages:
according to the method for predicting the risk of rear-end collision, the driving state of the vehicle is divided into states with different rear-end collision risks, the different rear-end collision risk states can be used as control signals of an active safety device or auxiliary signals controlled by the active safety device according to requirements, and the method can also be used for reminding a driver, passengers and surrounding vehicles; the method is simple in calculation, all calculation parameters are determined by the vehicle, and the technical difficulty is low; the algorithm does not need environment sensing equipment such as radar, camera shooting, infrared and the like, and is low in cost; the method is used for judging the rear-end collision risk, the time for judging the risk is earlier, and the time for the active safety device, the driver or other vehicles to respond is longer; when the vehicle rear-end collision detection method is used in superposition and combination, different parameter values or functions are set for the variables, so that the method can be used for distinguishing different use scenes and can also be used for distinguishing the rear-end collision risks of vehicles with different performances and characteristics under different use scenes.
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Fig. 1 is a schematic structural diagram of a rear-end collision risk prediction method according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
Referring to fig. 1, the present embodiment discloses a method for predicting a rear-end collision risk, which includes the steps of:
when the calculation of the risk of the rear-end collision is started, the data which are stored last and are related to the calculation of the risk of the rear-end collision are eliminated, and the initial time t when the calculation is started is defined 0 And t is 0 =0, recording and storing the time t 0 Initial travel speed V of vehicle of =0 0 Initial running distance S 0 =0; and from t 0 =0 start of real-time reading of vehicle real-time speed V t And storing the vehicle speed at intervals of delta t, and reading the stored real-time speed V of the vehicle t And from T 0 =0 starting integration to obtain cumulative travel S of vehicle t And stored at intervals of at.
The time interval delta t of the stored data is defined during vehicle design and is determined according to the storage capacity and the calculation precision requirement, and the time interval delta t is reasonably designed for reducing the storage capacity of the data; the smaller the Δ t, the higher the calculation accuracy, the larger the storage space required by the data, and the more the data required to be processed by calculation; allowing optimization based on feedback from the actual vehicle during actual use of the algorithm. Vehicle real-time speed V T The vehicle can be obtained from the instrument in real time after being started, or can be obtained by installing a sensor on the vehicle according to requirements and stored at time intervals of delta t.
Judgment of T>If the delta T is true, if yes, T' = T-delta T; otherwise, t' = t 0 =0; wherein T represents the current time; Δ T represents a preset time period; t' represents a first starting time, i.e. a time corresponding to a preset time period Δ T before the current time T. The preset time period delta T is a time period defined in vehicle design and is used for determining the highest speed of the vehicle within a preset time period delta T from the current T moment when the vehicle runs; the preset time period Δ T may be a fixed value or a result calculated according to a function defined by the driving behavior; meanwhile, when the algorithm is used in a superposition, nesting and combination mode, the preset time period delta T can be set to be a plurality of values or a result of a plurality of function calculations, so that different use scenes and driving behaviors can be distinguished conveniently; the definition of the predetermined time period Δ T is the kernel of the algorithm of the present inventionThe definition of the heart parameter and the time period is reasonable, and the final calculation result of the algorithm is directly influenced to be effective, so that the preset time period delta T is obtained according to the characteristics of the vehicle type and after statistical study on rear-end accidents, and optimization and upgrading are allowed to be carried out according to the feedback of an actual vehicle in the actual using process of the algorithm. The time at which the calculation of the risk of rear-end collision is started, which is defined when the algorithm is used, may be at the time of vehicle start, and may also be defined before or after the vehicle start.
Calculating a first velocity difference Δ V 1 ＝V max1 -V T Wherein V is T Representing the current vehicle running speed corresponding to the current time T; v max1 Representing the maximum running speed of the vehicle in the time period from T' to T;
judgment S T >If Δ S is true, if so, S' = S T - Δ S; otherwise, S' = S 0 =0; wherein Δ S is a preset distance; s T Indicating the current cumulative journey of the vehicle, i.e. from an initial time t 0 Integrating the real-time speed of the vehicle to the current time T; s' represents the current vehicle accumulated travel S T And the previous running stroke corresponds to the preset distance delta S. The preset distance delta S is a running distance defined in vehicle design and is used for determining the highest speed of the vehicle within a preset distance delta S from the current Tth moment when the vehicle runs; the preset distance Δ S may be a fixed value or a result calculated according to a function defined by the driving behavior; meanwhile, the preset distance delta S can be set to be a plurality of values or a plurality of function calculation results when the algorithms are used in a superposition, nesting and combination mode, so that different use scenes and driving behaviors can be distinguished conveniently; the definition of the preset distance delta S is a core parameter of the algorithm, whether the definition is reasonable or not directly influences whether a final calculation result of the algorithm is effective or not, so that the preset distance delta S is obtained according to the characteristics of the vehicle type and after statistical study on rear-end accidents, and optimization and upgrading are allowed to be carried out according to feedback of an actual vehicle in the actual use process of the algorithm.
Calculating a second speed difference Δ V 2 ＝V max2 -V T Wherein t "represents a second starting moment, i.e. the driving is reachedS' the corresponding time of the stroke; v max2 Indicating the maximum travel speed of the vehicle during the period T "to T. The difference value between the maximum driving speed or the characteristic speed in a past distance and the current driving speed of the vehicle is adopted, the difference value is larger than zero and represents that the vehicle in the distance adopts braking or is collided, and the like, and the negative value of the difference value represents that the vehicle accelerates or descends and the like. V max1 Representing that the vehicle or other vehicles can run to V on the road in the time period of T' to T before the current position of the vehicle max1 This speed; therefore, when the self vehicle performs relative deceleration in the time period, if other vehicles run at the same driving speed, the possibility of rear-end collision is caused because measures are not taken urgently or are not in place; those skilled in the art will further recognize that it is only an ideal situation to assume that other vehicles behave the same as the own vehicle in terms of its driving speed, and therefore V max1 In other use examples, other representative characteristic speeds of the vehicle can be substituted, and V is max1 It can also be multiplied by a coefficient or function to distinguish different types and performance of vehicles or different usage scenarios, thereby achieving diversity prediction. V max2 Is V max1 The supplement of (3) is directly defined by the driving distance, and the coverage range of the algorithm is enlarged.
Determining a first speed difference Δ V 1 ≥V a Whether the result is true or not; wherein, V a Is a first tailed-risk threshold;
if so, the vehicle has a higher risk of being rear-ended;
otherwise, the second speed difference value delta V is judged 2 ≥V b Whether or not, wherein V b Is a second rear-end-collision risk threshold; if so, the vehicle has a higher risk of being rear-ended; otherwise, the risk of the vehicle being rear-ended is relatively low.
First rear-end collision risk threshold V a Second rear-end collision risk threshold V b Is a threshold value V for judging whether the vehicle has a higher risk of being rear-ended a 、V b The meanings are the same, and can be the same numerical value or different numerical values; v a 、V b The vehicle is defined during vehicle design, and the larger the value is, the smaller the probability that the algorithm judges that the vehicle has higher rear-end collision risk is.
If the speed of the vehicle is lower than that of the vehicle behind, when the speed difference between the two vehicles exceeds a certain safe speed value, the probability of rear-end collision of the vehicle is high or the damage and the loss of the rear-end collision accident are very high; that is, in the above-described T' to T time period or Δ S distance, the possibility of being rear-ended due to the decelerating behavior of the own vehicle increases; the assumed "rear vehicle" may not exist at this time, but the "rear vehicle" may be rear-ended once it appears, and thus the vehicle is defined as having a high risk of rear-end collision at this time.
The algorithm example of the invention does not need to identify all the risks of rear-end collision, but identifies the condition that the risks of rear-end collision are increased because the vehicle takes a certain action, and more importantly, identifies the condition that serious injury and loss are possibly caused, so as to be used as a judgment signal or a judgment auxiliary signal for the response of an active safety device of the vehicle; it should be understood that, instead of the rear-end collision necessarily occurring when the algorithm outputs "the vehicle has a high risk of being rear-ended", the rear-end collision is more likely to occur, or the damage and loss are more severe once the vehicle is rear-ended. It should also not be understood that the risk of rear-end collision can be differentiated only between the two cases "vehicle has a higher risk of rear-end collision" and "vehicle has a relatively low risk of rear-end collision", but can be further divided into more and thinner sections according to the needs of the user.
In the present embodiment, the rear-end-collision-risk calculation start timing is at the time of vehicle start, or before or after the vehicle start.
The invention discloses a calculation system for predicting the risk of rear-end collision, which comprises a memory and a controller, wherein a computer readable program is stored in the memory, and the computer readable program can execute the steps of the rear-end collision risk prediction method when being called by the controller.
The invention discloses a vehicle which comprises the system for calculating the risk of the rear-end collision.
The invention discloses a storage medium, wherein a computer readable program is stored, and when the computer readable program is called, the steps of the rear-end collision risk prediction method can be executed.
The rear-end collision risk prediction method divides the driving state of the vehicle into states with different rear-end collision risks, can use the different rear-end collision risk states as a control signal of an active safety device or an auxiliary signal controlled by the active safety device according to requirements, and can also be used for reminding a driver, passengers and surrounding vehicles; the method is simple in calculation, all calculation parameters are determined by the vehicle, and the technical difficulty is low; the algorithm does not need environment sensing equipment such as radar, camera shooting and infrared equipment, and is low in cost; the method is used for judging the rear-end collision risk, the time for judging the risk is earlier, and the time for the active safety device, the driver or other vehicles to respond is longer; when the vehicle rear-end collision detection method is used in superposition and combination, different parameter values or functions are set for the variables, so that the method can be used for distinguishing different use scenes and can also be used for distinguishing the rear-end collision risks of vehicles with different performances and characteristics under different use scenes.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (5)
1. A rear-end collision risk prediction method is characterized by comprising the following steps:
when the calculation of the risk of the rear-end collision is started, the data which are stored last and are related to the calculation of the risk of the rear-end collision are eliminated, and the initial time t when the calculation is started is defined 0 And t is 0 =0, recording and storing the time t 0 Initial stage of vehicle of =0Initial running speed V 0 Initial driving distance S 0 =0; and from t 0 =0 starting to read the vehicle real-time speed V in real time t And storing at intervals of time delta t, and reading the stored real-time speed V of the vehicle t And from T 0 =0 starting integration to obtain cumulative travel S of vehicle t And storing at intervals of Δ t;
judgment of T>If the delta T is true, if yes, T' = T-delta T; otherwise, t' = t 0 =0; wherein T represents the current time; Δ T represents a preset time period; t' represents a first starting moment, namely a moment corresponding to a preset time period delta T before the current moment T;
calculating a first velocity difference Δ V 1 ＝V max1 -V T Wherein V is T Representing the current vehicle running speed corresponding to the current time T; v max1 Representing the maximum running speed of the vehicle in the time period from T' to T;
judgment S T >If Δ S is true, if so, S' = S T - Δ S; otherwise, S' = S 0 =0; wherein Δ S is a preset distance; s T Indicating the current cumulative journey of the vehicle, i.e. from an initial time t 0 Integrating the real-time speed of the vehicle to the current time T; s' represents the current vehicle cumulative journey S T A driving stroke corresponding to a previous preset distance delta S;
calculating a second speed difference Δ V 2 ＝V max2 -V T Wherein t "represents a second starting moment, i.e. the corresponding moment of travel up to the S' trip; v max2 Represents the maximum running speed of the vehicle in the time period from T' to T;
determining a first speed difference Δ V 1 ≥V a Whether the result is true or not; wherein, V a Is a first tailed-risk threshold;
if so, the vehicle has a higher risk of being rear-ended;
otherwise, the second speed difference value delta V is judged 2 ≥V b Whether or not, wherein V b Is a second rear-end-collision risk threshold;
if so, the vehicle has a higher risk of being rear-ended; otherwise, the risk of the vehicle being rear-ended is relatively low.
2. The rear-end collision risk prediction method according to claim 1, characterized in that the rear-end collision risk calculation start time is at the time of vehicle start or before or after the vehicle start.
3. A calculation system for predicting the risk of a rear-end collision, comprising a memory and a controller, characterized in that said memory has stored therein a computer readable program which, when invoked by the controller, is able to carry out the steps of the method for predicting the risk of a rear-end collision according to claim 1 or 2.
4. A vehicle characterized by comprising the predictive rear-end collision risk calculation system according to claim 3.
5. A storage medium having a computer readable program stored therein, wherein the computer readable program, when invoked, is capable of performing the steps of the method for predicting a risk of a tailed collision as claimed in claim 1 or 2.
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