CN114248764A - Rear-end collision avoidance preventing system and method for rear vehicle - Google Patents
Rear-end collision avoidance preventing system and method for rear vehicle Download PDFInfo
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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
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
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Abstract
The invention discloses a rear-end collision avoidance preventing system and a rear-end collision avoidance preventing method for a rear vehicle, wherein the system comprises: the system comprises a vehicle automatic driving controller, a forward acquisition module, a backward acquisition module, a lateral acquisition module and an execution module, wherein the forward acquisition module is used for acquiring the motion data of a front vehicle target to obtain the motion information of the front vehicle; the backward acquisition module is used for acquiring the motion data of a rear vehicle target to obtain the motion information of the rear vehicle; the lateral acquisition module is used for acquiring the motion data of the lateral and rear vehicle targets to obtain the lateral and rear vehicle motion information; the vehicle automatic driving controller is used for controlling the execution module to execute the avoiding operation according to the front vehicle motion information, the rear vehicle motion information and the side rear vehicle motion information, so that the vehicle can avoid the vehicle with rear-end collision risk behind. The rear-end collision avoidance preventing system for the rear vehicle, provided by the invention, is used for pre-responding to the rear-end collision risk of the rear vehicle, so that the intelligent degree of the vehicle and the safety of the vehicle are improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a rear-end collision avoidance preventing system and a rear-end collision avoidance preventing method for a rear vehicle.
Background
The automatic driving is also called unmanned driving, and is an advanced technology for controlling the automatic driving of the vehicle through a computer system. At present, the development of the automatic driving automobile is changing day by day, the current mainstream automatic driving control type subfunction mainly identifies the target in front of the automobile and controls the automobile to execute the relevant operation so as to reach the automatic driving state, and most of the automatic driving control type subfunction aims at the backward target identification and is an early warning type function. The system aims at the target with collision risk right behind but does not realize monitoring, controls the vehicle to carry out operations such as avoidance and the like, is not intelligent enough, and has not high enough safety level.
Therefore, a rear-end collision avoidance system and method for a rear vehicle are needed.
Disclosure of Invention
The invention aims to provide a rear-end collision avoidance preventing system and a rear-end collision avoidance preventing method for a rear vehicle, which are used for solving the problems in the prior art, can respond to the rear-end collision risk of the rear vehicle, and improve the intelligent degree of the vehicle and the safety of the vehicle.
The invention provides a rear-end collision avoidance system for a rear vehicle, comprising:
vehicle automatic driving controller and with the preceding collection module, the backward collection module, side direction collection module and the execution module that vehicle automatic driving controller is connected, wherein:
the forward acquisition module is used for acquiring the motion data of a front vehicle target to obtain the motion information of the front vehicle;
the backward acquisition module is used for acquiring the motion data of a rear vehicle target to obtain the motion information of the rear vehicle;
the lateral acquisition module is used for acquiring the motion data of the lateral and rear vehicle targets to obtain the lateral and rear vehicle motion information;
the vehicle automatic driving controller is used for controlling the execution module to execute an avoiding operation according to the front vehicle motion information, the rear vehicle motion information and the side rear vehicle motion information, so that the vehicle can avoid the vehicle with rear-end collision risk behind.
The rear-end collision and avoidance prevention system for the rear vehicle as described above, wherein preferably, the forward acquisition module includes a forward-looking camera and a forward-looking millimeter wave radar, the forward-looking camera is disposed on a front windshield, and the forward-looking millimeter wave radar is disposed in a middle position of a front bumper.
The rear-end collision avoidance system for a rear vehicle as described above, wherein preferably the rear direction collection module includes a rear view camera provided on the rear window glass and a rear direction millimeter wave radar provided at a middle position of the rear bumper.
The rear-end collision avoidance system for the rear vehicle as described above, wherein preferably, the lateral collection module includes two blind spot monitoring radars, which are respectively disposed on both sides of the rear bumper.
The rear-end collision avoidance system for the rear vehicle as described above, wherein preferably, the front vehicle motion information includes a real-time speed and an orientation of the front vehicle target, the rear vehicle motion information includes a real-time speed and an orientation of the rear vehicle target, and the side rear vehicle motion information includes a real-time speed and an orientation of the side rear vehicle target.
The rear-end collision avoidance prevention system for a rear vehicle as described above, wherein the execution module preferably includes an electric power steering system, an engine management system or an automatic transmission control unit, and a vehicle body control module, wherein,
the electric power steering system is used for controlling the vehicle to steer or change lanes;
the engine management system or the automatic gearbox control unit is used for controlling the acceleration of the vehicle;
the vehicle body control module is used for controlling the vehicle to give an alarm through lights and/or sounds.
The above-described rear-end collision avoidance system for a rear vehicle, wherein the vehicle automatic driving controller is preferably configured to:
judging whether the rear vehicle and the vehicle are smaller than a safe distance and approach quickly according to the rear vehicle motion information sent by the backward acquisition module in real time;
if yes, judging whether the vehicle and the front vehicle target are larger than a safe distance according to the front vehicle motion information of the same lane in the front and the front, which is sent by the front acquisition module in real time;
if so, controlling the engine management system or the automatic gearbox control unit to execute an acceleration instruction so as to keep away from a vehicle avoiding the rear-end collision risk;
if the distance between the vehicle and the front vehicle target is less than or equal to the safe distance, judging whether the left lane or the right lane of the lane where the vehicle is located is allowed to change according to the lateral and rear vehicle motion information sent by the lateral acquisition module in real time;
if so, controlling the electric power steering system to execute a lane changing instruction so as to avoid a vehicle with rear-end collision risk behind the vehicle;
and if the road conditions right in front, left and right of the vehicle and the vehicle target do not allow the vehicle to carry out the avoiding operation, controlling the vehicle body control module to carry out light and/or sound for alarming.
The invention also provides a rear-end collision and avoidance preventing method for a rear vehicle by adopting the system, which comprises the following steps:
collecting motion data of a front vehicle target to obtain motion information of the front vehicle;
acquiring motion data of a rear vehicle target to obtain rear vehicle motion information;
acquiring motion data of a side rear vehicle target to obtain side rear vehicle motion information;
and controlling the vehicle to execute an avoiding operation according to the front vehicle motion information, the rear vehicle motion information and the side rear vehicle motion information so as to enable the vehicle to avoid the vehicle with rear-end collision risk behind.
The method for preventing and avoiding rear-end collision and rear-end collision of a rear vehicle as described above, preferably, the acquiring motion data of a front vehicle target to obtain the motion information of the front vehicle includes:
the front-view camera arranged on the front windshield and the front-direction millimeter wave radar arranged in the middle of the front bumper are used for collecting the motion data of the front vehicle target to obtain the real-time speed and the direction of the front vehicle target,
the motion data of the rear vehicle target is collected to obtain rear vehicle motion information, and the method specifically comprises the following steps:
the motion data of the rear vehicle target is collected through a rear-view camera arranged on the rear window glass and a rear millimeter wave radar arranged in the middle position of a rear bumper, so as to obtain the real-time speed and the direction of the rear vehicle target,
the acquisition of the motion data of the vehicle targets at the rear and the side to obtain the vehicle motion information at the rear and the side specifically comprises the following steps:
the motion data of the side rear vehicle target is collected through two blind spot monitoring radars respectively arranged on two sides of a rear bumper, and the real-time speed and the direction of the side rear vehicle target are obtained.
In the method for avoiding a rear-end collision of a rear vehicle as described above, it is preferable that the controlling of the host vehicle to perform an avoiding operation based on the front vehicle motion information, the rear vehicle motion information, and the lateral rear vehicle motion information so that the host vehicle avoids a vehicle at rear-end collision risk includes:
judging whether the rear vehicle and the vehicle are smaller than a safe distance and approach quickly according to the rear vehicle motion information sent in real time;
if yes, judging whether the vehicle and the front vehicle target are larger than the safe distance according to the front vehicle motion information of the same lane in the front and the front which is sent in real time;
if so, controlling an engine management system or an automatic gearbox control unit to execute an acceleration instruction so as to keep away from a vehicle with rear-end collision risk;
if the distance between the vehicle and the front vehicle target is less than or equal to the safe distance, judging whether the left lane or the right lane of the lane where the vehicle is located is allowed to change according to the real-time sent side-rear vehicle motion information;
if so, controlling the electric power steering system to execute a lane changing instruction so as to avoid a vehicle with rear-end collision risk behind;
and if the road conditions right in front, left and right of the vehicle and the vehicle target do not allow the vehicle to carry out the avoiding operation, controlling the vehicle body control module to carry out light and/or sound for alarming.
According to the rear-end collision avoidance preventing system and the rear-end collision avoidance preventing method for the rear vehicle, the vehicle is controlled to execute avoidance operation according to the front vehicle motion information, the rear vehicle motion information and the side rear vehicle motion information, so that the vehicle avoids the vehicle with rear-end collision risk behind, the rear-end collision risk of the rear vehicle is pre-responded, the vehicle is controlled to execute reasonable operation by the automatic vehicle driving controller in combination with the target detected by the multiple sensors, and the vehicle intelligence degree and the vehicle safety are improved.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a block diagram illustrating an embodiment of a rear-end collision avoidance system for a rear vehicle according to the present invention;
FIG. 2 is a flowchart of a rear-end collision avoidance method for a rear vehicle according to the present invention;
fig. 3 is a schematic diagram of a rear-end collision avoidance prevention method for a rear vehicle according to the present invention.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.
As used in this disclosure, "first", "second": and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be intervening components between the specific component and the first component or the second component. When it is described that a specific component is connected to other components, the specific component may be directly connected to the other components without having an intervening component, or may be directly connected to the other components without having an intervening component.
All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
The existing mainstream scheme of the automatic driving automobile mainly aims at identifying a forward target and carrying out related control operations such as Automatic Emergency Braking (AEB) and adaptive cruise (ACC), and most backward targets are early warning functions, specifically, the current mainstream automatic driving automobile mainly aims at early warning functions such as blind spot monitoring and early warning at a side rear part and the like for the backward target, and a driver selects to carry out the related operations. In the process of driving of the automatic driving vehicle, when the backward vehicle approaches quickly, collision risk of rear-end collision often occurs, and the driving safety of the vehicle is threatened. Therefore, the monitoring is not realized for the target with the collision risk right behind, the vehicle is controlled to carry out operations such as avoidance, the intelligentization is insufficient, and the safety level is not high enough.
As shown in fig. 1, the rear-end collision avoidance system for a rear vehicle according to the present embodiment includes: vehicle automatic driving controller 1 and with forward collection module 2, backward collection module 3, side direction collection module 4 and the execution module that vehicle automatic driving controller 1 is connected, wherein:
the forward acquisition module 2 is used for acquiring motion data of a front vehicle target to obtain front vehicle motion information;
the backward acquisition module 3 is used for acquiring the motion data of a rear vehicle target to obtain the motion information of the rear vehicle;
the lateral acquisition module 4 is used for acquiring the motion data of the lateral and rear vehicle targets to obtain lateral and rear vehicle motion information;
the vehicle automatic driving controller (ADU)1 is used for controlling the execution module to execute an avoiding operation according to the front vehicle motion information, the rear vehicle motion information and the side rear vehicle motion information, so that the vehicle can avoid the vehicle with rear-end collision risk at the rear.
The vehicle of the invention runs in an automatic cruising or driver-assisted state. The front vehicle motion information comprises real-time speed and orientation of a front vehicle target, the rear vehicle motion information comprises real-time speed and orientation of a rear vehicle target, and the side rear vehicle motion information comprises real-time speed and orientation of a side rear vehicle target.
Further, the forward acquisition module 2 includes a forward looking camera (MPC) and a forward millimeter wave radar (MRR), the forward looking camera is disposed on the front windshield, and the forward millimeter wave radar is disposed in the middle of the front bumper. The backward acquisition module 3 comprises a rear view camera (MPC) and a backward millimeter wave radar (MRR), wherein the rear view camera is arranged on the rear window glass, and the backward millimeter wave radar is arranged in the middle of the rear bumper. The lateral acquisition module 4 comprises two blind spot monitoring radars (BSDs) which are respectively arranged on two sides of the rear bumper.
Further, the execution modules include an electric power steering system (EPS)5, an Engine Management System (EMS) or an automatic Transmission Control Unit (TCU)6, and a vehicle Body Control Module (BCM)7, wherein,
the electric power steering system 5 is used for controlling the vehicle to steer or change lanes;
the engine management system or automatic transmission control unit 6 is used to control vehicle acceleration;
the vehicle body control module 7 is used for controlling the vehicle to give an alarm through lights and/or sounds.
Further, the vehicle automatic driving controller 1 is specifically configured to:
judging whether the rear vehicle and the vehicle are smaller than a safe distance and approach quickly according to the rear vehicle motion information sent by the backward acquisition module 3 in real time;
if yes, judging whether the vehicle and the front vehicle target are larger than a safe distance according to the front vehicle motion information of the same lane in the front and the front, which is sent by the front acquisition module 2 in real time;
if so, controlling the engine management system or the automatic gearbox control unit 6 to execute an acceleration instruction so as to keep away from a vehicle avoiding the rear-end collision risk;
if the distance between the vehicle and the front vehicle target is less than or equal to the safe distance, judging whether the left lane or the right lane of the lane where the vehicle is located is allowed to change according to the lateral and rear vehicle motion information sent by the lateral acquisition module 4 in real time;
if yes, controlling the electric power steering system 5 to execute a lane changing instruction so as to avoid a vehicle with rear-end collision risk;
and if the road conditions right in front, left and right of the vehicle and the vehicle target do not allow the vehicle to carry out the avoiding operation, controlling the vehicle body control module 7 to carry out light and/or sound for alarming.
Specifically, the instrument can be controlled by the vehicle body control module 7 to perform sound alarm, and the following are displayed on the instrument: "rear-end vehicle has a risk of rear-end collision, please note".
In the invention, the automatic driving of the vehicle can be controlled through the automatic driving controller 1 of the vehicle, specifically, signals of sensors arranged around the vehicle are received, corresponding control strategies are formulated according to preset logics, and an execution module of the vehicle is controlled to perform corresponding operations, so that the purposes of preventing rear-end collision and avoiding are achieved.
According to the rear-end collision avoidance preventing system for the rear vehicle, the vehicle automatic driving controller controls the execution module to execute the avoidance operation according to the front vehicle motion information, the rear vehicle motion information and the side rear vehicle motion information, so that the vehicle avoiding the rear side and having the collision risk can respond to the collision risk of the rear vehicle, the vehicle automatic driving controller controls the vehicle to execute reasonable operation by combining with the target detected by the multiple sensors, and the vehicle intelligentization degree and the vehicle safety are improved.
As shown in fig. 2 and fig. 3, the method for preventing rear-end collision and avoiding for a rear vehicle provided in this embodiment specifically includes, in an actual execution process:
and step S1, acquiring the motion data of the front vehicle target to obtain the motion information of the front vehicle.
The vehicle of the invention runs in an auto-cruise or driver-assisted state. Specifically, the motion data of the front vehicle target is collected through a front-view camera arranged on a front windshield and a front-direction millimeter wave radar arranged in the middle of a front bumper, and the real-time speed and the direction of the front vehicle target are obtained.
And step S2, acquiring the motion data of the rear vehicle target to obtain the rear vehicle motion information.
Specifically, the motion data of the rear vehicle target is collected through a rear-view camera arranged on the rear window glass and a rear millimeter wave radar arranged in the middle of a rear bumper, and the real-time speed and the real-time direction of the rear vehicle target are obtained.
And step S3, acquiring the motion data of the vehicle targets at the side and the rear to obtain the motion information of the vehicle at the side and the rear.
Specifically, the motion data of the vehicle targets at the side rear part are collected through two blind spot monitoring radars respectively arranged at two sides of a rear bumper, and the real-time speed and the direction of the vehicle targets at the side rear part are obtained.
And step S4, controlling the vehicle to execute an avoiding operation according to the front vehicle motion information, the rear vehicle motion information and the side rear vehicle motion information, so that the vehicle avoids the vehicle with rear-end collision risk behind.
In an embodiment of the method for preventing a rear-end collision and a rear-end collision of a rear vehicle according to the present invention, the step S4 may specifically include:
and step S41, judging whether the rear vehicle and the vehicle are smaller than a safe distance and approach quickly according to the rear vehicle motion information sent in real time.
And step S42, if yes, judging whether the vehicle and the front vehicle target are larger than the safe distance according to the front vehicle motion information of the same lane in the front of the vehicle, which is sent in real time.
And step S43, if yes, controlling an engine management system or an automatic gearbox control unit to execute an acceleration command so as to keep away from a vehicle avoiding the rear-end collision risk.
And step S44, if the distance between the vehicle and the front vehicle target is less than or equal to the safe distance, judging whether the lane change is allowed in the left lane or the right lane of the lane where the vehicle is located according to the real-time transmitted lateral and rear vehicle motion information.
And step S45, if yes, controlling the electric power steering system to execute a lane changing instruction so as to avoid a vehicle with rear-end collision risk.
Specifically, whether lane changing is allowed currently in a left lane of a lane where the vehicle is located is judged according to left rear vehicle motion information sent by a left blind spot monitoring radar in real time;
if so, controlling the electric power steering system to execute a command of changing lanes to the left lane so as to avoid a vehicle with rear-end collision risk behind;
if the left lane of the lane where the vehicle is located does not allow lane changing currently, judging whether the right lane of the lane where the vehicle is located allows lane changing currently or not according to the right rear vehicle motion information sent by the right blind spot monitoring radar in real time;
and if so, controlling the electric power steering system to execute a command of changing lanes to the right lane so as to avoid the vehicle with rear-end collision risk at the rear.
And step S46, if the road conditions right in front, left and right of the vehicle and the vehicle target do not allow the vehicle to carry out the avoiding operation, controlling the vehicle body control module to carry out light and/or sound for alarming.
Specifically, the instrument can be controlled by the vehicle body control module to perform sound alarm, and the following information is displayed on the instrument: "rear-end vehicle has a risk of rear-end collision, please note".
According to the rear-end collision avoidance preventing method for the rear vehicle, the vehicle is controlled to execute the avoidance operation according to the front vehicle motion information, the rear vehicle motion information and the side rear vehicle motion information, so that the vehicle with the rear-end collision risk after the vehicle avoids can respond to the rear-end collision risk of the rear vehicle, the automatic vehicle driving controller is combined with the target detected by the multiple sensors to control the vehicle to execute reasonable operation, and the vehicle intelligence degree and the vehicle safety are improved.
Thus, various embodiments of the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (10)
1. A rear-end collision avoidance prevention system for a rear vehicle, comprising: vehicle automatic driving controller and with the preceding collection module, the backward collection module, side direction collection module and the execution module that vehicle automatic driving controller is connected, wherein:
the forward acquisition module is used for acquiring the motion data of a front vehicle target to obtain the motion information of the front vehicle;
the backward acquisition module is used for acquiring the motion data of a rear vehicle target to obtain the motion information of the rear vehicle;
the lateral acquisition module is used for acquiring the motion data of the lateral and rear vehicle targets to obtain the lateral and rear vehicle motion information;
the vehicle automatic driving controller is used for controlling the execution module to execute an avoiding operation according to the front vehicle motion information, the rear vehicle motion information and the side rear vehicle motion information, so that the vehicle can avoid the vehicle with rear-end collision risk behind.
2. The rear-end collision avoidance system for a rear vehicle of claim 1, wherein the forward acquisition module comprises a forward looking camera disposed on a front windshield and a forward millimeter wave radar disposed in a middle position of a front bumper.
3. The rear-end collision avoidance system for a rear vehicle according to claim 1, wherein the rear direction collection module includes a rear view camera provided on a rear window glass and a rear direction millimeter wave radar provided at a middle position of a rear bumper.
4. The rear-end collision avoidance system for a rear vehicle of claim 1, wherein the lateral collection module comprises two blind spot monitoring radars, one on each side of the rear bumper.
5. The rear-end collision avoidance system for a rear vehicle of claim 1, wherein the front vehicle motion information includes real-time speed and orientation of a front vehicle object, the rear vehicle motion information includes real-time speed and orientation of a rear vehicle object, and the side rear vehicle motion information includes real-time speed and orientation of a side rear vehicle object.
6. The rear-end collision avoidance system for a rear vehicle of claim 1, wherein the execution module comprises an electric power steering system, an engine management system or an automatic transmission control unit, and a vehicle body control module, wherein,
the electric power steering system is used for controlling the vehicle to steer or change lanes;
the engine management system or the automatic gearbox control unit is used for controlling the acceleration of the vehicle;
the vehicle body control module is used for controlling the vehicle to give an alarm through lights and/or sounds.
7. The rear-end collision avoidance system for a rear vehicle of claim 6, wherein the vehicle autopilot controller is specifically configured to:
judging whether the rear vehicle and the vehicle are smaller than a safe distance and approach quickly according to the rear vehicle motion information sent by the backward acquisition module in real time;
if yes, judging whether the vehicle and the front vehicle target are larger than a safe distance according to the front vehicle motion information of the same lane in the front and the front, which is sent by the front acquisition module in real time;
if so, controlling the engine management system or the automatic gearbox control unit to execute an acceleration instruction so as to keep away from a vehicle avoiding the rear-end collision risk;
if the distance between the vehicle and the front vehicle target is less than or equal to the safe distance, judging whether the left lane or the right lane of the lane where the vehicle is located is allowed to change according to the lateral and rear vehicle motion information sent by the lateral acquisition module in real time;
if so, controlling the electric power steering system to execute a lane changing instruction so as to avoid a vehicle with rear-end collision risk behind the vehicle;
and if the road conditions right in front, left and right of the vehicle and the vehicle target do not allow the vehicle to carry out the avoiding operation, controlling the vehicle body control module to carry out light and/or sound for alarming.
8. A rear-end collision avoidance prevention method for a rear vehicle using the system of any one of claims 1 to 7, comprising the steps of:
collecting motion data of a front vehicle target to obtain motion information of the front vehicle;
acquiring motion data of a rear vehicle target to obtain rear vehicle motion information;
acquiring motion data of a side rear vehicle target to obtain side rear vehicle motion information;
and controlling the vehicle to execute an avoiding operation according to the front vehicle motion information, the rear vehicle motion information and the side rear vehicle motion information so as to enable the vehicle to avoid the vehicle with rear-end collision risk behind.
9. The method for avoiding a rear-end collision and a rear-end collision of a rear vehicle according to claim 8, wherein the acquiring motion data of the front vehicle target to obtain the motion information of the front vehicle specifically comprises:
the front-view camera arranged on the front windshield and the front-direction millimeter wave radar arranged in the middle of the front bumper are used for collecting the motion data of the front vehicle target to obtain the real-time speed and the direction of the front vehicle target,
the motion data of the rear vehicle target is collected to obtain rear vehicle motion information, and the method specifically comprises the following steps:
the motion data of the rear vehicle target is collected through a rear-view camera arranged on the rear window glass and a rear millimeter wave radar arranged in the middle position of a rear bumper, so as to obtain the real-time speed and the direction of the rear vehicle target,
the acquisition of the motion data of the vehicle targets at the rear and the side to obtain the vehicle motion information at the rear and the side specifically comprises the following steps:
the motion data of the side rear vehicle target is collected through two blind spot monitoring radars respectively arranged on two sides of a rear bumper, and the real-time speed and the direction of the side rear vehicle target are obtained.
10. The method according to claim 8, wherein the controlling the host vehicle to perform an evasive maneuver to avoid the host vehicle from a vehicle at rear-end risk according to the front vehicle motion information, the rear vehicle motion information, and the lateral rear vehicle motion information, specifically comprises:
judging whether the rear vehicle and the vehicle are smaller than a safe distance and approach quickly according to the rear vehicle motion information sent in real time;
if yes, judging whether the vehicle and the front vehicle target are larger than the safe distance according to the front vehicle motion information of the same lane in the front and the front which is sent in real time;
if so, controlling an engine management system or an automatic gearbox control unit to execute an acceleration instruction so as to keep away from a vehicle with rear-end collision risk;
if the distance between the vehicle and the front vehicle target is less than or equal to the safe distance, judging whether the left lane or the right lane of the lane where the vehicle is located is allowed to change according to the real-time sent side-rear vehicle motion information;
if so, controlling the electric power steering system to execute a lane changing instruction so as to avoid a vehicle with rear-end collision risk behind;
and if the road conditions right in front, left and right of the vehicle and the vehicle target do not allow the vehicle to carry out the avoiding operation, controlling the vehicle body control module to carry out light and/or sound for alarming.
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