CN114291076B - Linear road pedestrian collision avoidance method based on intelligent control of commercial vehicle and single vehicle - Google Patents
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Abstract
The invention discloses a pedestrian collision avoidance method, in particular to a straight line road pedestrian collision avoidance method based on intelligent control of a commercial vehicle and a single vehicle, which comprises the following steps: the pedestrian collision avoidance system comprises a dangerous pedestrian target screening module, a control parameter design module and a triggering threshold calibration module; by using the multi-parameter fusion control method, various working conditions of people and vehicles on the straight road are fully considered, and meanwhile, the threshold calibration principle of classification is adopted for different working conditions, so that the system disclosed by the invention can be used for more accurately and comprehensively coping with various people and vehicles collision working conditions on the straight road, the capability of ensuring the life safety of the system is improved, and traffic accidents of the people and the vehicles on the straight road are greatly reduced.
Description
Technical Field
The invention relates to the technical field of automatic driving equipment, in particular to a collision avoidance method for a straight line road pedestrian based on intelligent control of a commercial vehicle and a bicycle.
Background
And counting the annual report related data according to the road traffic accidents of the people's republic of China. It can be found that the ratio of pedestrian scratch accidents in 2009-2015 is 17.26% in all traffic accident data, which is approximately one fifth of all traffic accident patterns.
On the other hand, of all man-car accidents, nearly 70% of the accidents occur on urban roads where people are dense.
AEBS (automatic emergency braking system) is a longitudinal control technology in L2 level intelligent driving, the technology uses a camera, millimeter wave radar and other sensors to detect a front target in real time, calculates the collision risk of the vehicle and the target in real time according to the relative motion and the relative position relation of the target and the vehicle, and in the collision risk increasing process of the vehicle and the target, the system can sequentially send out first-level early warning, second-level early warning and emergency braking commands to remind a driver to take over the vehicle or autonomous emergency braking so as to avoid collision.
The performance requirement of the AEBS on pedestrians is increased in the performance requirement and the test procedure of the JT/T1242-2019 commercial vehicle automatic emergency braking system issued in 3/15 of 2019. In addition, regulations of the two portions JT/T1094-2016 and 1178.2-2019 of the department of transportation respectively prescribe the related requirements of forced installation of AEBS for passenger cars and trucks.
Based on the above-mentioned traffic accidents on the pedestrian road and related AEBS regulation requirements, pedestrian AEB systems have become the focus of controversial research and development for various factories and suppliers. The requirements on pedestrian working conditions in the regulations are single, and only the requirements on the legal working conditions or the early warning and braking time setting of the system are unreasonable, so that a plurality of problems can be generated: if only the legal conditions are designed, but the pedestrian conditions outside the legal conditions are not considered, the problem of extremely large missed triggering is caused, for example, if the static pedestrians right in front of the self-vehicle run are not considered, the traffic accidents of collision between the pedestrians and the vehicles are caused; secondly, the problem of false triggering of functions is solved, and N possible working conditions of pedestrian collision are considered in the process of functional design, so that collision avoidance of vehicles and pedestrians can be ensured, if the system triggering threshold is set unreasonably, the problem of early warning or braking advance exists, the false triggering of functions is caused, and serious traffic accidents such as rear-end collision of rear vehicles and the like are caused. The L2 level intelligent driving is auxiliary driving control, and the false triggering problem is more serious than the missed triggering problem, which is closely related to the system triggering threshold setting. Theoretical analysis is carried out on 7.4.7.3 pedestrian testing working conditions (shown in figure 3) in JT/T1242-2019, so that the maximum braking capacity of the commercial vehicle is calculated to be-6 m/s2, the situation of delay of a braking system is not considered, a first-stage early warning is required to be sent when the transverse distance between a pedestrian and the longitudinal axis of the vehicle is at least 3.4m, a second-stage early warning is required to be sent when the transverse distance is at least 2.8m, emergency braking is required to be carried out when the transverse distance is at least 2.8m, the width of the commercial vehicle is considered to be about 2.5m, namely, the first-stage early warning, the second-stage early warning and the emergency braking are required to be respectively sent when the transverse distances between the pedestrian and the edge of the vehicle are respectively 2.15m, 1.55m and 0.75m, and the numerical values are larger when the delay situation of the system is considered. Because of the large uncertainty of pedestrian movement, there are situations where the pedestrian suddenly stands or goes back after the system has sent out an early warning. With the increase of the collision risk of pedestrians, it is reasonable to warn the driver in advance, but if the early warning or braking time is too advanced in the system design, the system is likely to have false warning or even false braking, and if some manufacturers directly can completely avoid collision of pedestrians in the legal working condition, the problem of false triggering of functions after the road is definitely caused.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a straight line road pedestrian collision avoidance method based on intelligent control of a commercial vehicle and a bicycle, so as to solve the existing technical problems.
The technical scheme adopted for solving the technical problems is as follows:
the invention provides a straight line road pedestrian collision avoidance method based on intelligent control of a commercial vehicle and a bicycle, which comprises the following steps: the pedestrian collision avoidance system comprises a dangerous pedestrian target screening module, a control parameter design module and a triggering threshold calibration module;
step1, the pedestrian collision avoidance system receives the pedestrian target state from the sensor in real time;
step2: the dangerous pedestrian target screening module predicts whether collision risk exists between the pedestrian and the vehicle in real time according to the relative motion and the relative position relation between the vehicle and the target pedestrian, selects the most dangerous pedestrian target, and executes Step3 when collision risk exists between the pedestrian and the vehicle;
Step3: the control parameter design module is activated, the time of collision between the vehicle and the target is calculated in real time through the control parameter, and when the time is smaller than the designed trigger threshold value, the pedestrian collision avoidance system issues a command to the executor.
Preferably, the control parameters are obtained by fusing longitudinal control parameters, and the calculation formula of the control parameters is as follows:
Wherein: d r is the relative distance between the target and the vehicle, and the unit is m;
v r is the relative speed of the target and the own vehicle, and the unit is m/s;
a r is the relative acceleration of the target and the vehicle, and the unit is m/s 2; .
Preferably, the control parameter selection method of the pedestrian collision avoidance system comprises the following steps:
(1) Preferably selecting ETTC as control parameter output;
(2) When the root number in ETTC is calculated to be negative, the control parameter is output as a positive safety value;
(3) Using TTC calculation when a r equals 0 in ETTC;
(4) When the finally output control parameter is negative, the target and the vehicle are not in collision risk, and the control parameter is output as a positive safety value.
Preferably, the dangerous pedestrian target screening module is used for screening the most dangerous pedestrian target, and the most dangerous pedestrian target screening method comprises the following steps:
Let the width of the vehicle be w, the speed and acceleration of the vehicle be v 1、a1, the target speed be v 2, the oblique insertion motion is carried out relative to the vehicle, the transverse absolute speed be v y, the longitudinal absolute speed be v x, the transverse relative distance to the vehicle be d y, the longitudinal relative distance be d x, the time required for the pedestrian to reach the longitudinal extension line of the leftmost edge of the vehicle in the motion process be T1, the time required for the pedestrian to reach the longitudinal extension line of the rightmost edge of the vehicle be T2, the time required for the vehicle to reach the collision point be SafeIndex, and if the collision risk exists between the pedestrian and the vehicle, the following steps are taken:
When a plurality of pedestrian targets and the own vehicle have collision risks at the same time, safeIndex of collision between the own vehicle and each target is calculated according to the relative position relation and the relative motion relation of each target and the own vehicle, and the target which is collided first is selected as the most dangerous pedestrian target.
Preferably, the triggering threshold calibration module is used for calibrating a triggering threshold, the triggering threshold is a threshold value of alarm and brake at each level corresponding to SafeIndex, and when a pedestrian is stationary on a self-vehicle running path or makes the same-direction or opposite-direction running motion relative to the self-vehicle, a first calibration principle is executed; the second calibration principle is executed when there is a lateral relative speed of the pedestrian with the own vehicle or a tendency of the pedestrian to insert with respect to the own vehicle.
The beneficial effects of the invention are as follows:
The pedestrian collision avoidance system designed based on the method can fully consider various collision conditions of people and vehicles on the straight road, and has the beneficial effects that:
(1) By using the multi-parameter fusion control method and fully considering various working conditions of people and vehicles collision on the straight road, the system can more accurately and comprehensively cope with various people and vehicles collision working conditions on the straight road, thereby improving the capability of the system for guaranteeing the life safety of people and greatly reducing traffic accidents on the people and vehicles.
(2) Aiming at different collision scenes of people and vehicles on a straight line road, a threshold calibration method of scene classification is provided, and a plurality of principles of threshold calibration of each scene are provided, so that the system can more pointedly cope with various actual road working conditions, fully plays roles of function reminding and collision avoidance, fully considers the false triggering problem caused by uncertainty of pedestrian movement, and can greatly reduce the driving risk caused by false triggering of the system.
Drawings
The foregoing aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
Fig. 1 is a schematic diagram of an AEBP design architecture of a straight-line road pedestrian collision avoidance method based on intelligent control of a commercial vehicle and a bicycle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a typical scene of collision between a person and a vehicle on a straight line road based on a method for collision avoidance of a pedestrian on the straight line road based on intelligent control of a single vehicle of a commercial vehicle in an embodiment of the invention;
Fig. 3 is a schematic diagram of a pedestrian crossing condition of the straight line road pedestrian collision avoidance method based on intelligent control of a commercial vehicle and a bicycle according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The design of the pedestrian collision avoidance system (AEBP for short) mainly comprises 3 parts of module contents: the system comprises a dangerous pedestrian target screening module, a control parameter design module and a trigger threshold calibration module, wherein the architecture flow of the whole system is shown in figure 1. Firstly, the system receives the pedestrian target state from the sensor in real time, then the dangerous pedestrian target screening module predicts whether collision risk exists between the pedestrian and the vehicle in real time according to the relative motion and the relative position relation of the vehicle and the target pedestrian, and selects the most dangerous pedestrian target, when the collision risk exists between the pedestrian and the vehicle, the control parameter design module is activated, the accurate time of collision between the vehicle and the target is calculated in real time through the longitudinal fusion control parameter designed by the control parameter design module, when the time is smaller than the trigger threshold of each level designed by the trigger threshold calibration module, the system automatically sends corresponding execution instructions to the actuator, the corresponding control instructions are deceleration or braking, and the standard is determined according to the first calibration principle and the second calibration principle.
In the entire system, the following is mainly included.
The longitudinal control parameter fusion method is provided, so that the control parameter precision is higher
The control parameters are core parameters for controlling early warning and braking of the vehicle, and the accuracy of the control parameters is critical to the control execution of the controller. At present, most manufacturers use TTC as a control parameter of AEB, and the calculation formula is as follows:
Wherein:
d r is the relative distance between the target and the vehicle, and the unit is m;
v r is the relative speed of the target and the own vehicle, and the unit is m/s.
TTC considers only two parameters, namely relative distance and relative speed, and when the target is suddenly braked or accelerated, the target speed change is continuous and slow, so that the parameter cannot reflect the dangerous state of the target relative to the vehicle at the first time. At this time, another parameter ETTC is needed, and the calculation formula of the parameter is as follows:
Wherein,
A r is the relative acceleration of the target and the vehicle, and the unit is m/s 2;
From the ETTC equation, it can be seen that this parameter takes into account the acceleration magnitude of the target, so ETTC is able to predict the target risk status at the first time for the target rapid acceleration or rapid deceleration conditions mentioned above. However, there is a limitation in the use of this parameter, and from the equation, when a r is equal to 0, the parameter will not be available. In addition, when the root number in the formula is negative, the parameter is not available, and the analysis shows that the root number is negative, which represents no collision risk between the vehicle and the target.
Through the analysis, in order to exert the advantages of each parameter, the AEBP combines two parameters into one, and always selects the optimal control parameter output, the output control parameter is SafeIndex, and the selection principle is as follows:
i) Preferably selecting ETTC as control parameter output;
II) when the root number in ETTC is calculated as negative, safeIndex outputs a positive safety value;
III) using TTC calculation when a r in ETTC is equal to 0;
IV) when SafeIndex of the final output is negative, representing that the target and the own vehicle have no collision risk, and outputting a positive safety value;
The AEBP uses the design idea of combining TTC and ETTC in the design process, so that the problems that the control parameters cannot be calculated or the calculation accuracy is insufficient due to the limitation of single parameters are solved.
Aiming at different collision scenes of people and vehicles on a straight road, the method for screening the most dangerous pedestrian targets is provided
The most dangerous pedestrian target screening method is realized by the dangerous pedestrian target screening module, when the most dangerous pedestrian targets are screened, firstly AEBP can judge whether collision exists between all pedestrian targets in the sensor range on the straight road and the self-vehicle, and the pedestrians comprise various scenes such as static scenes, transverse scenes, oblique scenes, same-direction scenes, opposite scenes and the like, and the specific screening method is shown in figure 2. Assuming that the width of the vehicle is w, the speed and the acceleration of the vehicle are v 1、a1 respectively, the target speed is v 2, the vehicle performs oblique insertion motion relative to the vehicle, the transverse absolute speed is v y, the longitudinal absolute speed is v x, the transverse relative distance relative to the vehicle is d y, the longitudinal relative distance is d x, and the acceleration of the vehicle is ignored because the pedestrian moves slowly. Further, it is assumed that the time required for the pedestrian to reach the leftmost edge longitudinal extension of the vehicle (point a in the drawing) during the movement is T 1, and the time required for the pedestrian to reach the rightmost edge longitudinal extension of the vehicle (point B in the drawing) is T 2. The time required for the vehicle to reach the collision point O is SafeIndex. Assuming that there is a risk of collision between the pedestrian and the vehicle:
T 1<SafeIndex<T2, i.e
SafeIndex the calculation method is performed according to the method in (1), and will not be described again. Therefore, when the above formula is established, it can be determined that the pedestrian target has a collision risk with the own vehicle. In addition, in the actual design process, due to the influence of the vehicle CAN data delay and the sensor error, the lateral distance range of the collision between the pedestrian and the vehicle is slightly larger than the vehicle width, and the above formula CAN be further written as follows:
When a plurality of pedestrian targets and the own vehicle have collision risks at the same time, safeIndex of collision between the own vehicle and each target is calculated according to the relative position relation and the relative motion relation of each target and the own vehicle, and the target which is collided first is selected as the most dangerous pedestrian target.
Aiming at different collision scenes of people and vehicles on a straight road, a threshold calibration method for scene classification is provided, and a plurality of principles for threshold calibration of various scenes are provided
The trigger threshold calibration module is used for calibrating various scene thresholds, the AEBP trigger threshold calibration determines the time of alarming and braking at each level of the system, and the threshold calibration is divided into two working conditions according to the relative relation between pedestrians and self vehicles in the calibration process (provided that collision risks exist between the pedestrians and the self vehicles): the first is that pedestrians are stationary on the self-vehicle running path or do the same-direction or opposite-direction running motion relative to the self-vehicle; the second is that there is a transverse relative speed between the pedestrian and the vehicle, with a tendency to insert relative to the vehicle. In order to fully consider the false triggering and missing triggering conditions of the system, a plurality of calibration principles exist in the two working conditions. The first working condition calibration principle is a first calibration principle, wherein the first calibration principle comprises that the SafeIndex threshold value of ① -level early warning cannot be more than 4.4, and the SafeIndex threshold value of emergency braking cannot be more than 3.0; ② Under the same working condition, the SafeIndex threshold value of the first-stage early warning cannot be smaller than the SafeIndex threshold value of the second-stage early warning, and the SafeIndex threshold value of the second-stage early warning cannot be smaller than the SafeIndex threshold value of emergency braking; ③ SafeIndex the threshold value is influenced by the speed of the vehicle and the relative speed, the primary early warning is calibrated by using a linear table look-up method related to the speed of the vehicle, and the secondary early warning and the emergency braking are calibrated by using a linear table look-up method related to the target relative speed; ④ When the speed of the vehicle is greater than 60km/h, only the SafeIndex threshold values of the two-stage early warning are calibrated (according to the road type ratio in the accident data of the vehicles and the people in fig. 2, most accidents occur on urban roads with dense personnel, and the probability of pedestrian collision on high speed (the national stipulated speed is greater than 60 km/h) is very low), and the system does not have a braking collision avoidance function any more so as to fully reduce the false triggering risk of the system; ⑤ The vehicle can be completely prevented from collision and the minimum distance from the target in the collision prevention process of the vehicle cannot be more than 2m. The calibration principle of the second working condition is a second calibration principle, the first 4 of the second calibration principle is the same as the first calibration principle, and the 5 th is: the self-vehicle can realize complete collision avoidance with the target pedestrians under the speed of 20km/h, the minimum distance from the target in the collision avoidance process cannot be more than 2m, and the speed can realize the requirement of at least 25km/h for speed reduction under the speed of 20km-60km/h so as to fully reduce the false triggering of the system.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (4)
1. A straight line road pedestrian collision avoidance method based on intelligent control of a commercial vehicle and a bicycle comprises the following steps: the pedestrian collision avoidance system is characterized in that: the pedestrian collision avoidance system comprises a dangerous pedestrian target screening module, a control parameter design module and a triggering threshold calibration module;
Step1: the pedestrian collision avoidance system receives the pedestrian target state from the sensor in real time;
step2: the dangerous pedestrian target screening module predicts whether collision risk exists between the pedestrian and the vehicle in real time according to the relative motion and the relative position relation between the vehicle and the target pedestrian, selects the most dangerous pedestrian target, and executes Step3 when collision risk exists between the pedestrian and the vehicle;
Step3: the control parameter design module is activated, the time of collision between the vehicle and the target is calculated in real time through the control parameter, and when the time is smaller than the designed trigger threshold value, the pedestrian collision avoidance system issues a command to the executor;
The triggering threshold calibration module is used for calibrating a triggering threshold, the triggering threshold is SafeIndex, and when a pedestrian is stationary on a self-vehicle running path or makes the same-direction or opposite-direction running motion relative to the self-vehicle, a first calibration principle is executed; when the pedestrian and the vehicle have transverse relative speeds or the pedestrian has an inserting trend relative to the vehicle, executing a second calibration principle;
The first calibration principle comprises:
the SafeIndex threshold value of the first-level early warning cannot be larger than 4.4, and the SafeIndex threshold value of the emergency braking cannot be larger than 3.0;
Under the same working condition, the SafeIndex threshold value of the first-stage early warning cannot be smaller than the SafeIndex threshold value of the second-stage early warning, and the SafeIndex threshold value of the second-stage early warning cannot be smaller than the SafeIndex threshold value of emergency braking;
SafeIndex the threshold value is influenced by the speed of the vehicle and the relative speed, the primary early warning is calibrated by using a linear table look-up method related to the speed of the vehicle, and the secondary early warning and the emergency braking are calibrated by using a linear table look-up method related to the target relative speed;
When the speed of the vehicle is greater than 60km/h, only the SafeIndex threshold values of the two-stage early warning are calibrated.
2. The collision avoidance method for straight-line road pedestrians based on intelligent control of commercial vehicle single vehicles according to claim 1, wherein the method comprises the following steps: the control parameters are obtained by fusing longitudinal control parameters, and the calculation formula of the control parameters is as follows:
Wherein: d r is the relative distance between the target and the vehicle, and the unit is m;
v r is the relative speed of the target and the own vehicle, and the unit is m/s;
a r is the relative acceleration of the target and the vehicle, and the unit is m/s 2.
3. The collision avoidance method for straight-line road pedestrians based on intelligent control of commercial vehicle single vehicles according to claim 2, wherein the method comprises the following steps: the control parameter selection method of the pedestrian collision avoidance system comprises the following steps:
(1) Preferably selecting ETTC as control parameter output;
(2) When the calculation result under the root number in the ETTC formula is negative, the control parameter is output as a positive safety value;
(3) Using TTC calculation when a r equals 0 in ETTC;
Wherein:
d r is the relative distance between the target and the vehicle, and the unit is m;
v r is the relative speed of the target and the own vehicle, and the unit is m/s;
(4) When the finally output control parameter is negative, the target and the vehicle are not in collision risk, and the control parameter is output as a positive safety value.
4. The collision avoidance method for straight-line road pedestrians based on intelligent control of commercial vehicle single vehicles according to claim 1, wherein the method comprises the following steps: the dangerous pedestrian target screening module is used for screening the most dangerous pedestrian target, and the method for screening the most dangerous pedestrian target comprises the following steps:
Let the width of the vehicle be w, the speed and acceleration of the vehicle be v 1、a1, the target speed be v 2, the oblique insertion motion is carried out relative to the vehicle, the transverse absolute speed be v y, the longitudinal absolute speed be v x, the transverse relative distance to the vehicle be d y, the longitudinal relative distance be d x, the time required for the pedestrian to reach the longitudinal extension line of the leftmost edge of the vehicle in the motion process be T 1, the time required for the pedestrian to reach the longitudinal extension line of the rightmost edge of the vehicle be T 2, the time required for the vehicle to reach the collision point be SafeIndex, and if the collision risk exists between the pedestrian and the vehicle, the following steps are carried out:
When a plurality of pedestrian targets and the own vehicle have collision risks at the same time, safeIndex of collision between the own vehicle and each target is calculated according to the relative position relation and the relative motion relation of each target and the own vehicle, and the target which is collided first is selected as the most dangerous pedestrian target.
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