CN114038238B - Collision early warning system and method based on running state of second vehicle in front - Google Patents
Collision early warning system and method based on running state of second vehicle in front Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention discloses a collision early warning system and a method based on a front second vehicle running state, wherein the collision early warning system comprises a sensing layer, a decision layer and an execution layer, wherein the output end of the sensing layer is connected with the input end of the decision layer, the output end of the decision layer is connected with the input end of the execution layer, a millimeter wave radar and GPS data receiving and transmitting device are arranged in the sensing layer, an ECU control unit is arranged in the decision layer, and an electronic brake pedal and a voice prompt module are arranged in the execution layer, and the method comprises the following steps: firstly, arranging a GPS data transceiver; step two, arranging millimeter wave radars; thirdly, running an algorithm; fourthly, operating an executing mechanism; the beneficial effects are that: the occurrence of continuous rear-end collision accidents of a main vehicle, a front vehicle and the like, which are easily caused by the fact that the attention of the front vehicle is not concentrated or the braking is not timely caused by too small distance between the front vehicle and the vehicle, is avoided, and the safety of passengers and the road trafficability are improved.
Description
Technical Field
The present invention relates to a collision warning system and method, and more particularly, to a collision warning system and method based on a driving state of a second vehicle in front.
Background
At present, with the development of national economy, the living standard of people is gradually improved, automobiles are popularized in a large range, and the traffic on roads is also increased increasingly. The consequent traffic safety problem should also be considered important. According to statistics of traffic departments, the proportion of rear-end collision accidents in all traffic accidents is up to five. The occurrence of rear-end collision prevention is vital to the life and property safety of masses.
In the daily driving process, the main vehicle and the front vehicle are extremely easy to rear-end collision with the front vehicle due to the fact that the following distance of the main vehicle and the front vehicle is too short, or the front vehicle changes lanes at will, or the main vehicle encounters heavy fog with low visibility and other weather, continuous rear-end collision accidents are seriously caused, and serious personal and property losses are caused. Therefore, the occurrence of the rear-end collision event is avoided by simply relying on the emergency response of the driver and considering the driving state of the front vehicle, and the actual requirement of the active safety of the vehicle cannot be obviously met.
The main means for preventing the occurrence of the rear-end collision event at present comprises the following two points, namely, utilizing a safe distance algorithm, identifying the relative distance through a radar and a camera, comparing the relative distance with a preset safe distance, and further controlling the speed of the vehicle to reduce the possibility of collision; and secondly, utilizing a safe time algorithm. The time required for maximum deceleration braking is compared with the time required for the running on collision to control the vehicle speed so as to avoid the occurrence of a rear-end collision. However, most of the prior technical schemes take the front vehicle as the target vehicle for research, and less consideration is given to the driving state information of the second front vehicle, so that the prediction is insufficient, and the occurrence of the continuous rear-end collision accident is very easy to cause. The present invention has been made in view of the above-described problems.
Disclosure of Invention
The invention aims to provide a collision early warning system and a method based on the running state of a front second vehicle, which are provided by the invention, wherein the running state information of the front vehicle and the front second vehicle is obtained through a vehicle millimeter wave radar and a GPS data transceiver, early warning judgment is carried out according to a safe distance model algorithm, and a voice prompt module and an electronic brake pedal are added for execution, so that the occurrence of rear-end collision accidents is avoided.
The invention provides a collision early warning system based on a running state of a front second vehicle, which comprises a sensing layer, a decision layer and an execution layer, wherein the output end of the sensing layer is connected with the input end of the decision layer, the output end of the decision layer is connected with the input end of the execution layer, a millimeter wave radar and a GPS data transceiver are arranged in the sensing layer, an ECU control unit is arranged in the decision layer, an electronic brake pedal and a voice prompt module are arranged in the execution layer, the millimeter wave radar in the sensing layer is connected with a bus of the vehicle, the GPS data transceiver in the sensing layer is connected with the vehicle through a wireless signal, the GPS data transceiver transmits perceived vehicle information to the ECU control unit in the decision layer through the bus of the vehicle and the wireless signal for processing, the ECU control unit controls the voice prompt module in the execution layer and the electronic brake pedal to work according to a processing result, and the GPS data transceiver is assembled at an A column of a host vehicle and the front second vehicle for interacting running information of the two vehicles.
The millimeter wave radar in the perception layer is provided with two, and the model of millimeter wave radar is delta-Fu 76GHz ESR, and millimeter wave radar is connected with the well accuse screen of vehicle through the car bus, and millimeter wave radar can show in real time with the distance of preceding car and the speed of a preceding car and have the voice broadcast function.
The GPS data receiving and transmitting device consists of a receiving module, a transmitting module, a storage unit, a refreshing module and a display screen, wherein the storage unit is respectively connected with the receiving module, the transmitting module and the display screen, the refreshing module is connected with the display screen, and the receiving module is used for receiving vehicle running state information transmitted by other vehicles and comprises vehicle position and speed information; the sending module is used for sending the vehicle running state information of the own vehicle to the other vehicle, including the vehicle position and speed information; the storage unit is used for storing vehicle running state information transmitted from other vehicles; the refreshing module is used for refreshing the data transmitted from the other vehicle in real time, and the refreshing time interval is 1s; the display screen is used to display position and speed information transmitted from other vehicles to learn about the status of the other vehicles.
When the ECU control unit arranged in the decision layer works, if the speed change rate delta 1 of the front vehicle is stabilized between a and b, a<0,b<0, the ECU control unit preferentially processes the travel speed information transmitted from the front second vehicle; at this time, if the speed change rate delta 2 of the second vehicle in front is stabilized between a and b, the main vehicle continues to travel according to the original traveling mode without change; if the speed change rate of the second vehicle in front is not changed between a and b, the main vehicle and the front vehicle central control screen send out voice reminding to remind the vehicle to pay attention to speed reduction and control the vehicle distance; if the speed change rate delta 1 of the front vehicle exceeds the range a-b, when the distance between the main vehicle and the front vehicle is smaller than the warning critical distance d w When the vehicle speed and the vehicle distance are controlled, the main vehicle central control screen gives out a voice alarm to remind a driver of paying attention to controlling the vehicle speed and the vehicle distance; when the distance between the main car and the front car is smaller than the braking critical distance d br And if so, the ECU control unit controls the electronic brake pedal in the execution layer to carry out emergency braking.
The voice prompt module, the electronic brake pedal, the ECU control unit, the receiving module, the sending module, the storage unit, the refreshing module and the display screen are all assembled by the existing equipment, so that specific models and specifications are not repeated.
The invention provides a collision early warning method based on a front second vehicle running state, which comprises the following steps:
the first step, arranging a GPS data transceiver, wherein the specific steps are as follows:
step one, a GPS data transceiver is stuck to an A column of an automobile through a magic tape, and is connected with the automobile through wireless signals;
step two, a second front vehicle sends the running state information of the own vehicle to the main vehicle through the GPS data receiving and transmitting device in the running process of the automobile, and the main vehicle obtains the running state data of the front vehicle;
the second step, arrange millimeter wave radar, the concrete step is as follows:
arranging two Delfu 76GHz ESR millimeter wave radars on two sides of a front bumper, and symmetrically placing the Delfu 76GHz ESR millimeter wave radars;
step two, connecting CAN bus interfaces of two millimeter wave radars with an automobile bus and connecting a power line;
step three, the millimeter wave radar transmits the perceived driving state information of the front vehicle to the main vehicle through the CAN bus of the vehicle, and the main vehicle obtains the driving state data of the front vehicle;
the third step, algorithm operation, the concrete steps are as follows:
the main vehicle ECU control unit processes the front vehicle and the front vehicle running state data acquired in the previous two steps according to a designed algorithm, and compares the following distance between the main vehicle and the front vehicle with the warning critical distance and the braking critical distance; wherein the braking threshold distance:
in the above, v r The relative speed of the two vehicles; t (T) delay Is the system delay time; f (mu) is the road surface friction coefficient; v is the speed of the main vehicle; a, a max Is the maximum deceleration of the host vehicle；T rea Reflecting time for the driver; d, d 1 The distance between two vehicles after braking and parking is set; d, d 2 The distance is variable under the influence of different vehicle models;
warning critical distance:
d w ＝d br +vT h,min
in the above, T h,min Is the minimum workshop time interval; v is the speed of the main vehicle;
the specific acquisition method of each parameter is as follows:
relative velocity v r The method comprises the steps that millimeter wave radar senses and acquires the speed v of a main vehicle, the speed v of the main vehicle is provided by a main vehicle system, and other related parameters are preset values;
the main vehicle is provided with two Delfu 76GHz ESR millimeter wave radars, and the installation positions are respectively positioned at two sides of the front bumper; the millimeter wave radar monitors the azimuth angle to be +/-10 degrees, and the detection distance can reach 100m; two millimeter wave radars are adopted to monitor the running state of the front vehicle, so that the range is wider, and the acquired information is more accurate and reliable;
the fourth step, the operation of the actuating mechanism, the concrete steps are as follows:
after the third step of data processing, the ECU control unit controls the voice prompt module or the electronic brake pedal to start working according to the comparison result, the main vehicle detects the running speed and the following distance of the front vehicle through the millimeter wave radar, and the data is processed by the ECU control unit to judge whether the front vehicle is in a stable running state; if the front vehicle is in a stable running state, the main vehicle preferentially processes the running information of the front second vehicle, and in the situation, the main vehicle is consistent with the running information of the front second vehicle acquired by the front vehicle, and makes a prejudging action according to the running information of the front second vehicle in advance so as to avoid risks in advance; if the running state of the front vehicle is unstable, namely the speed and the running track change are obvious, the main vehicle preferentially processes the running information of the front vehicle, and no operation is performed when the distance between the main vehicle and the vehicle is larger than the warning critical distance through a safe distance algorithm; when the distance between the driver and the vehicle is smaller than the warning critical distance and larger than the braking critical distance, a voice prompt is sent out to inform the driver of reasonably controlling the vehicle speed; when the distance between the vehicle and the vehicle is smaller than the braking critical distance, the electronic brake pedal automatically works, so that emergency braking of the vehicle is realized, and traffic accidents caused by untimely braking of a driver are avoided.
The invention has the beneficial effects that:
according to the collision early warning system and method based on the running state of the front second vehicle, the GPS data receiving and transmitting device is arranged on the front second vehicle, so that the occurrence of the cascade rear-end collision accidents of a main vehicle, a front vehicle and the like, which are easily caused by the fact that the attention of the front vehicle is not concentrated or the vehicle following distance is too small and the vehicle following is not timely braked, is avoided, and the safety of passengers and the road trafficability are improved; the running state of the front vehicle can be mastered at any time by additionally arranging two millimeter wave radars on the main vehicle, so that a measure for avoiding risks is taken in advance; the voice reminding function is provided on the vehicle, and the voice broadcasting can be performed when the driving states of the front vehicle and the front second vehicle are changed, so that the driver can be reminded of focusing attention. Countermeasures are taken in advance, so that rear-end collision accidents are avoided; when the distance between the electronic brake pedal and the vehicle is smaller than the braking critical distance, the electronic brake pedal is automatically started, so that traffic accidents caused by the fact that a driver does not take emergency braking in time are reduced.
Drawings
Fig. 1 is a block diagram of the overall structure of the collision early warning system according to the present invention.
Fig. 2 is a block diagram of a GPS data transceiver according to the present invention.
The labels in the above figures are as follows:
1. the system comprises a perception layer 2, a decision layer 3, an execution layer 4, a millimeter wave radar 5, a GPS data transceiver 6, an ECU control unit 7, an electronic brake pedal 8, a voice prompt module 9, a receiving module 10, a sending module 11, a storage unit 12, a refreshing module 13 and a display screen.
Detailed Description
Please refer to fig. 1-2:
the invention provides a collision early warning system based on a front second vehicle running state, which comprises a sensing layer 1, a decision layer 2 and an execution layer 3, wherein the output end of the sensing layer 1 is connected with the input end of the decision layer 2, the output end of the decision layer 2 is connected with the input end of the execution layer 3, a millimeter wave radar 4 and a GPS data transceiver 5 are arranged in the sensing layer 1, an ECU control unit 6 is arranged in the decision layer 2, an electronic brake pedal 7 and a voice prompt module 8 are arranged in the execution layer 3, wherein the millimeter wave radar 4 in the sensing layer 1 is connected with a bus of the vehicle, the GPS data transceiver 5 in the sensing layer 1 is connected with the vehicle through a wireless signal, the GPS data transceiver 5 transmits sensed vehicle information to the ECU control unit 6 in the decision layer 2 for processing through the bus of the wireless signal, the ECU control unit 6 controls the voice prompt module 8 and the electronic brake pedal 7 in the execution layer 3 to work according to processing results, and the GPS data transceiver 5 is assembled at an A column of the host vehicle and the front second vehicle for interaction of the two vehicles.
The millimeter wave radar 4 in the perception layer 1 is provided with two, the model of the millimeter wave radar 4 is DelFu 76GHz ESR, the millimeter wave radar 4 is connected with a central control screen of a vehicle through an automobile bus, and the millimeter wave radar 4 can display the distance from a front vehicle and the speed of the front vehicle in real time and has a voice broadcasting function.
The GPS data receiving and transmitting device 5 is composed of a receiving module 9, a transmitting module 10, a storage unit 11, a refreshing module 12 and a display screen 13, wherein the storage unit 11 is respectively connected with the receiving module 9, the transmitting module 10 and the display screen 13, the refreshing module 12 is connected with the display screen 13, and the receiving module 9 is used for receiving vehicle running state information sent by other vehicles, including vehicle position and speed information; the transmitting module 10 is configured to transmit vehicle running status information of the host vehicle, including vehicle position and speed information, to the other vehicle; the storage unit 11 is used for storing vehicle running state information transmitted from other vehicles; the refreshing module 12 is used for refreshing the data transmitted from the other vehicle in real time, and the refreshing time interval is 1s; the display 13 is used to display position and speed information transmitted from other vehicles to learn about the status of his vehicle.
The ECU control unit 6 provided in the decision layer 2 is configured to stabilize a-b, a when the front vehicle speed change rate delta 1 is stabilized between a-b during operation<0,b<0, the ECU control unit 6 preferentially processes the travel speed information transmitted from the second vehicle ahead; at this time, if the speed change rate delta 2 of the second vehicle in front is stabilized between a-b, the host vehicle is continued in the original running modeContinuing running without changing; if the speed change rate of the second vehicle in front is not changed between a and b, the main vehicle and the front vehicle central control screen send out voice reminding to remind the vehicle to pay attention to speed reduction and control the vehicle distance; if the speed change rate delta 1 of the front vehicle exceeds the range a-b, when the distance between the main vehicle and the front vehicle is smaller than the warning critical distance d w When the vehicle speed and the vehicle distance are controlled, the main vehicle central control screen gives out a voice alarm to remind a driver of paying attention to controlling the vehicle speed and the vehicle distance; when the distance between the main car and the front car is smaller than the braking critical distance d br In this case, the ECU control unit 6 controls the electronic brake pedal 7 in the execution layer 3 to perform emergency braking.
The voice prompt module 8, the electronic brake pedal 7, the ECU control unit 6, the receiving module 9, the transmitting module 10, the storage unit 11, the refreshing module 12 and the display screen 13 are all assembled by the existing equipment, so specific models and specifications are not repeated.
The invention provides a collision early warning method based on a front second vehicle running state, which comprises the following steps:
the first step, arranging a GPS data transceiver 5, specifically comprising the following steps:
step one, sticking a GPS data transceiver 5 at an automobile A column through a magic tape, wherein the GPS data transceiver 5 is connected with an automobile through a wireless signal;
step two, a second front vehicle sends the running state information of the own vehicle to the main vehicle through the GPS data receiving and transmitting device 5 in the running process of the automobile, and the main vehicle obtains the running state data of the front vehicle;
the second step, the arrangement of millimeter wave radar 4, the concrete steps are as follows:
arranging two Delfu 76GHz ESR millimeter wave radars 4 on two sides of a front bumper, and symmetrically placing;
step two, connecting CAN bus interfaces of two millimeter wave radars 4 with an automobile bus and connecting a power line;
step three, the millimeter wave radar 4 sends the perceived driving state information of the front vehicle to the main vehicle through the CAN bus of the vehicle, and the main vehicle obtains the driving state data of the front vehicle;
the third step, algorithm operation, the concrete steps are as follows:
the main vehicle ECU control unit 6 processes the front vehicle and the front vehicle running state data acquired in the previous two steps according to a designed algorithm, and compares the following distance between the main vehicle and the front vehicle with the warning critical distance and the braking critical distance; wherein the braking threshold distance:
in the above, v r The relative speed of the two vehicles; t (T) delay Is the system delay time; f (mu) is the road surface friction coefficient; v is the speed of the main vehicle; a, a max The maximum deceleration of the vehicle; t (T) rea Reflecting time for the driver; d, d 1 The distance between two vehicles after braking and parking is set; d, d 2 The distance is variable under the influence of different vehicle models;
warning critical distance:
d w ＝d br +vT h,min
in the above, T h,min Is the minimum workshop time interval; v is the speed of the main vehicle;
the specific acquisition method of each parameter is as follows:
relative velocity v r The vehicle speed v of the main vehicle is provided by a main vehicle system and other related parameters are preset values;
the main vehicle is provided with two Delfu 76GHz ESR millimeter wave radars 4, and the installation positions are respectively positioned at two sides of the front bumper; the millimeter wave radar 4 monitors the azimuth angle to be +/-10 degrees, and the detection distance can reach 100m; two millimeter wave radars 4 are adopted to monitor the running state of the front vehicle, so that the range is wider, and the acquired information is more accurate and reliable;
the fourth step, the operation of the actuating mechanism, the concrete steps are as follows:
after the third step of data processing, according to the comparison result, the ECU control unit 6 controls the voice prompt module 8 or the electronic brake pedal 7 to start working, the main vehicle detects the running speed and the following distance of the front vehicle through the millimeter wave radar 4, and the data is processed by the ECU control unit 6 to judge whether the front vehicle is in a stable running state; if the front vehicle is in a stable running state, the main vehicle preferentially processes the running information of the front second vehicle, and in the situation, the main vehicle is consistent with the running information of the front second vehicle acquired by the front vehicle, and makes a prejudging action according to the running information of the front second vehicle in advance so as to avoid risks in advance; if the running state of the front vehicle is unstable, namely the speed and the running track change are obvious, the main vehicle preferentially processes the running information of the front vehicle, and no operation is performed when the distance between the main vehicle and the vehicle is larger than the warning critical distance through a safe distance algorithm; when the distance between the driver and the vehicle is smaller than the warning critical distance and larger than the braking critical distance, a voice prompt is sent out to inform the driver of reasonably controlling the vehicle speed; when the distance between the vehicle and the vehicle is smaller than the braking critical distance, the electronic brake pedal 7 automatically works to realize emergency braking of the vehicle, so that traffic accidents caused by untimely braking of a driver are avoided.
Claims (1)
1. The collision early warning system based on the running state of the second vehicle in front comprises a sensing layer, a decision layer and an execution layer, wherein the output end of the sensing layer is connected with the input end of the decision layer, the output end of the decision layer is connected with the input end of the execution layer, a millimeter wave radar and a GPS data transceiver device are arranged in the sensing layer, an ECU control unit is arranged in the decision layer, an electronic brake pedal and a voice prompt module are arranged in the execution layer, the millimeter wave radar in the sensing layer is connected with a bus of the vehicle, the GPS data transceiver device in the sensing layer is connected with the vehicle through wireless signals, the GPS data transceiver device transmits sensed vehicle information to the ECU control unit in the decision layer for processing through the bus of the vehicle and the wireless signals, the ECU control unit controls the voice prompt module in the execution layer and the electronic brake pedal to work according to processing results, and the GPS data transceiver device is assembled at an A column of the main vehicle and the second vehicle in front and used for interacting running information of the two vehicles; the number of millimeter wave radars in the sensing layer is two, the type of the millimeter wave radars is Delfu 76GHz ESR, the millimeter wave radars are connected with a central control screen of the vehicle through an automobile bus, and the millimeter wave radars can display the distance between the millimeter wave radars and the front vehicle and the speed of the front vehicle in real time and have a voice broadcasting function; the GPS data transceiver is composed of a receiverThe system comprises a module, a sending module, a storage unit, a refreshing module and a display screen, wherein the storage unit is respectively connected with a receiving module, the sending module and the display screen, the refreshing module is connected with the display screen, and the receiving module is used for receiving vehicle running state information sent by other vehicles, including vehicle position and speed information; the sending module is used for sending the vehicle running state information of the own vehicle to the other vehicle, including the vehicle position and speed information; the storage unit is used for storing vehicle running state information transmitted from other vehicles; the refreshing module is used for refreshing the data transmitted from the other vehicle in real time, and the refreshing time interval is 1s; the display screen is used for displaying position and speed information transmitted from other vehicles so as to know the state of the other vehicles; when the ECU control unit arranged in the decision layer works, if the speed change rate delta 1 of the front vehicle is stabilized between a and b, a<0,b<0, the ECU control unit preferentially processes the travel speed information transmitted from the front second vehicle; at this time, if the speed change rate delta 2 of the second vehicle in front is stabilized between a and b, the main vehicle continues to travel according to the original traveling mode without change; if the speed change rate of the second vehicle in front is not changed between a and b, the main vehicle and the front vehicle central control screen send out voice reminding to remind the vehicle to pay attention to speed reduction and control the vehicle distance; if the speed change rate delta 1 of the front vehicle exceeds the range a-b, when the distance between the main vehicle and the front vehicle is smaller than the warning critical distance d w When the vehicle speed and the vehicle distance are controlled, the main vehicle central control screen gives out a voice alarm to remind a driver of paying attention to controlling the vehicle speed and the vehicle distance; when the distance between the main car and the front car is smaller than the braking critical distance d br And when the electronic brake pedal is in the execution layer, the ECU control unit controls the electronic brake pedal in the execution layer to carry out emergency braking, and the electronic brake pedal is characterized in that: the method of the collision early warning system based on the driving state of the second front vehicle comprises the following steps:
the first step, arranging a GPS data transceiver, wherein the specific steps are as follows:
step one, a GPS data transceiver is stuck to an A column of an automobile through a magic tape, and is connected with the automobile through wireless signals;
step two, a second front vehicle sends the running state information of the own vehicle to the main vehicle through the GPS data receiving and transmitting device in the running process of the automobile, and the main vehicle obtains the running state data of the front vehicle;
the second step, arrange millimeter wave radar, the concrete step is as follows:
arranging two Delfu 76GHz ESR millimeter wave radars on two sides of a front bumper, and symmetrically placing the Delfu 76GHz ESR millimeter wave radars;
step two, connecting CAN bus interfaces of two millimeter wave radars with an automobile bus and connecting a power line;
step three, the millimeter wave radar transmits the perceived driving state information of the front vehicle to the main vehicle through the CAN bus of the vehicle, and the main vehicle obtains the driving state data of the front vehicle;
the third step, algorithm operation, the concrete steps are as follows:
the main vehicle ECU control unit processes the front vehicle and the front vehicle running state data acquired in the previous two steps according to a designed algorithm, and compares the following distance between the main vehicle and the front vehicle with the warning critical distance and the braking critical distance; wherein the braking threshold distance:
in the above, v r The relative speed of the two vehicles; t (T) delay Is the system delay time; f (mu) is the road surface friction coefficient; v is the speed of the main vehicle; a, a max The maximum deceleration of the vehicle; t (T) rea Reflecting time for the driver; d, d 1 The distance between two vehicles after braking and parking is set; d, d 2 The distance is variable under the influence of different vehicle models;
warning critical distance:
d w ＝d br +vT h,min
in the above, T h,min Is the minimum workshop time interval; v is the speed of the main vehicle;
the specific acquisition method of each parameter is as follows:
relative velocity v r The method comprises the steps that millimeter wave radar senses and acquires the speed v of a main vehicle, the speed v of the main vehicle is provided by a main vehicle system, and other related parameters are preset values;
the main vehicle is provided with two Delfu 76GHz ESR millimeter wave radars, and the installation positions are respectively positioned at two sides of the front bumper; the millimeter wave radar monitors the azimuth angle to be +/-10 degrees, and the detection distance can reach 100m; two millimeter wave radars are adopted to monitor the running state of the front vehicle, so that the range is wider, and the acquired information is more accurate and reliable;
the fourth step, the operation of the actuating mechanism, the concrete steps are as follows:
after the third step of data processing, the ECU control unit controls the voice prompt module or the electronic brake pedal to start working according to the comparison result, the main vehicle detects the running speed and the following distance of the front vehicle through the millimeter wave radar, and the data is processed by the ECU control unit to judge whether the front vehicle is in a stable running state; if the front vehicle is in a stable running state, the main vehicle preferentially processes the running information of the front second vehicle, and in the situation, the main vehicle is consistent with the running information of the front second vehicle acquired by the front vehicle, and makes a prejudging action according to the running information of the front second vehicle in advance so as to avoid risks in advance; if the running state of the front vehicle is unstable, namely the speed and the running track change are obvious, the main vehicle preferentially processes the running information of the front vehicle, and no operation is performed when the distance between the main vehicle and the vehicle is larger than the warning critical distance through a safe distance algorithm; when the distance between the driver and the vehicle is smaller than the warning critical distance and larger than the braking critical distance, a voice prompt is sent out to inform the driver of reasonably controlling the vehicle speed; when the distance between the vehicle and the vehicle is smaller than the braking critical distance, the electronic brake pedal automatically works, so that emergency braking of the vehicle is realized, and traffic accidents caused by untimely braking of a driver are avoided.
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| CN103971540B (en) * | 2014-05-16 | 2016-08-17 | 长安大学 | A kind of prior-warning device preventing vehicle pileup from knocking into the back and method for early warning |
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