CN115071696A - Automatic emergency collision avoidance control method for intelligent automobile intersection based on V2X - Google Patents

Automatic emergency collision avoidance control method for intelligent automobile intersection based on V2X Download PDF

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Publication number
CN115071696A
CN115071696A CN202210699922.0A CN202210699922A CN115071696A CN 115071696 A CN115071696 A CN 115071696A CN 202210699922 A CN202210699922 A CN 202210699922A CN 115071696 A CN115071696 A CN 115071696A
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vehicle
target obstacle
time
collision avoidance
ttc
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来飞
黄超群
杨辉
王枭屿
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Chongqing University of Technology
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Chongqing University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses an automatic emergency collision avoidance control method for an intelligent automobile intersection based on V2X, which comprises the following steps: s1, judging whether the running states of the main vehicle and the target obstacle vehicle meet the emergency collision avoidance activation condition, if so, entering a step S2, and if not, not processing; s2. calculating the time t 1 And time t 2 Minimum value of (1) as TTC R By combining the TTC R And comparing the braking time threshold value with the braking time threshold value to obtain a comparison result, and performing braking control on the main vehicle according to the comparison result. The invention can be suitable for the road surfaces with different attachment conditions, reduces the incidence rate of road accidents at the intersection and improves the safety of vehicle passing at the intersection.

Description

Automatic emergency collision avoidance control method for intelligent automobile intersection based on V2X
Technical Field
The invention relates to the field of intelligent automobile driving, in particular to an automatic emergency collision avoidance control method for an intelligent automobile intersection based on V2X.
Background
Nowadays, more and more vehicles run on roads, which increases the risk of collision between automobiles and influences the traffic safety. In order to cope with the collision risk, the collision avoidance mode based on the AEB control algorithm is applied to the intelligent automobile. However, most of the existing AEB control algorithms are designed for a single high-adhesion road surface by referring to the Euro NCAP evaluation rule, and the influence of the change of the road surface adhesion coefficient is not considered, so that the collision avoidance on the low-adhesion road surface is difficult to achieve.
Meanwhile, although some research methods consider road surface adhesion conditions, the method is only suitable for a straight-line rear-end collision working condition and cannot be directly applied to the intersection working condition, so that an intelligent automobile intersection automatic emergency collision avoidance control method based on V2X is urgently needed to solve the problems.
Disclosure of Invention
In view of the above, the invention aims to overcome the defects in the prior art, and provides an automatic emergency collision avoidance control method for an intelligent automobile intersection based on V2X, which can be adapted to roads with different attachment conditions, reduce the incidence of road accidents at the intersection, and improve the safety of vehicle passing at the intersection.
The invention discloses an automatic emergency collision avoidance control method for an intelligent automobile intersection based on V2X, which comprises the following steps:
s1, judging whether the running states of the main vehicle and the target obstacle vehicle meet the emergency collision avoidance activation condition, if so, entering a step S2, otherwise, not processing;
s2. calculating the time t 1 And time t 2 Minimum value of (1) as TTC R By combining the TTC R And comparing the braking time threshold value with the braking time threshold value to realize braking control of the main vehicle, and specifically comprising the following steps:
if TTC R >t c If so, a braking alarm is sent out;
if t b <TTC R ≤t c Let the brake pressure of the host vehicle be k of the maximum brake pressure 1 ％；
If t a <TTC R ≤t b Let the brake pressure of the host vehicle be k of the maximum brake pressure 2 ％；
If TTC R ≤t a Let the brake pressure of the host vehicle be k of the maximum brake pressure 3 ％；
Wherein, t 1 Time for the host to reach the predicted collision point; t is t 2 Time to reach the predicted collision point for the target obstacle vehicle; t is t a 、t b And t c Are all braking time threshold values and t a <t b <t c ；k 1 <k 2 <k 3 。
Further, the emergency collision avoidance activation condition includes: the distance L between the main vehicle and the target obstacle vehicle is not more than L 0 Time t 1 And time t 2 The difference Δ t therebetween is not more than δ and the distance between the host vehicle and the target obstacle vehicle gradually decreases; wherein, L is 0 And δ is a set threshold, Δ t ═ t 1 -t 2 |。
Further, the time t for the host to reach the predicted collision point is determined according to the following formula 1 ：
Figure BDA0003703987280000021
Wherein, the
Figure BDA0003703987280000022
θ 1 Is the azimuth angle of the host vehicle relative to the target obstacle vehicle; theta 2 The azimuth angle of the target obstacle vehicle is equivalent to the main vehicle; l is the distance between the host vehicle and the target obstacle vehicle; v 1 Is the running speed of the host vehicle.
Further, the time t at which the target obstacle vehicle reaches the predicted collision point is determined according to the following formula 2 ：
Figure BDA0003703987280000023
Wherein, the
Figure BDA0003703987280000024
θ 1 Is the azimuth angle of the host vehicle relative to the target obstacle vehicle; theta 2 Is a target obstacle vehicleEquivalent to the azimuth of the host vehicle; l is the distance between the host vehicle and the target obstacle vehicle; v 2 The traveling speed of the target obstacle vehicle.
Further, for a low-adhesion road surface:
the described
Figure BDA0003703987280000025
The above-mentioned
Figure BDA0003703987280000026
The above-mentioned
Figure BDA0003703987280000027
Wherein alpha is a proportionality constant, and mu is a road surface adhesion coefficient.
The invention has the beneficial effects that: the invention discloses an automatic emergency collision avoidance control method for an intelligent automobile intersection based on V2X, which is characterized in that based on V2X communication, vehicle information and environment information in an intersection area range are collected through a vehicle-mounted control unit and a roadside control unit, a circular area which takes the center of mass of a main vehicle as the center of a circle and takes a certain distance as the radius is taken as a possible collision detection area, after the detection area meets the emergency collision avoidance activation condition through judging the running state of the main vehicle and a target obstacle vehicle, the main vehicle actively triggers an AEB system, the smaller time value of the two vehicles reaching the intersection is taken as a judgment condition, and the current ground adhesion coefficients provided by the roadside control unit are combined to respectively carry out emergency collision avoidance control on the working conditions of a high-adhesion road surface and a low-adhesion road surface. The control method can be suitable for roads with different attachment conditions, reduces the incidence rate of road accidents at the intersection and improves the safety of vehicle passing at the intersection.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic diagram of the application of the V2X system of the present invention;
FIG. 2 is a schematic diagram of an intersection application scenario analysis of the present invention;
fig. 3 is a schematic diagram of the emergency collision avoidance control method of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings, in which:
the invention discloses an automatic emergency collision avoidance control method for an intelligent automobile intersection based on V2X, which comprises the following steps:
s1, judging whether the running states of the main vehicle and the target obstacle vehicle meet the emergency collision avoidance activation condition, if so, entering a step S2, and if not, not processing;
s2. calculating the time t 1 And time t 2 Minimum value of (1) as TTC R By combining the TTC R And comparing the braking time threshold value with the braking time threshold value to realize braking control of the main vehicle, and specifically comprising the following steps:
if TTC R >t c If so, a braking alarm is sent out;
if t b <TTC R ≤t c Then the brake pressure of the host vehicle is made k of the maximum brake pressure 1 ％；
If t a <TTC R ≤t b Let the brake pressure of the host vehicle be k of the maximum brake pressure 2 ％；
If TTC R ≤t a Let the brake pressure of the host vehicle be k of the maximum brake pressure 3 ％；
Wherein, t 1 Time for the host to reach the predicted collision point; t is t 2 Time to reach the predicted collision point for the target obstacle vehicle; t is t a 、t b And t c Are all braking time threshold values and t a <t b <t c ；k 1 <k 2 <k 3 。
In this embodiment, vehicle-to-vehicle communication system (OBU) and vehicle-to-roadside device communication system (RSU) in V2X communication are used to obtain vehicle motion state information and environmental information within a certain range at an intersection, and a schematic diagram of the V2X system is shown in fig. 1. The information obtainable by the OBU includes ID, speed, azimuth, traffic state, etc. of the vehicle, and the environmental information obtainable by the RSU includes intersection direction, stop line position, intersection vehicle behavior, road adhesion condition, etc. The distance and time for the two vehicles to reach the intersection point of the speed directions can be determined according to the speed, the azimuth angle and the real-time distance of the host vehicle and the target obstacle vehicle. The V2X system adopts the prior art and is not described in detail herein.
In this embodiment, in step S1, the emergency collision avoidance activation condition includes: the distance L between the main vehicle and the target obstacle vehicle is not more than L 0 Time t 1 And time t 2 The difference Δ t therebetween is not more than δ and the distance between the host vehicle and the target obstacle vehicle gradually decreases; wherein, L is 0 And δ is a set threshold, L 0 Can take the value of 150 in m; said Δ t ═ t 1 -t 2 |。
When other vehicles within the range of the host vehicle 150m are the target vehicles of potential collision risk, in fact, it is not only the same time that both vehicles arrive at the collision point, i.e., t 1 ＝t 2 And considering certain safety redundancy, assuming that the time difference between two vehicles reaching the collision point satisfies that delta t is less than or equal to delta, the two vehicles are considered to possibly collide, and delta is a preset upper limit value. Considering the common working condition of urban roads, delta is taken as 0.5 second. When the variation amount of the distance between the host vehicle and the target obstacle vehicle is Δ L, the distance between the host vehicle and the target obstacle vehicle gradually decreases, that is, Δ L<0, it is considered that the two vehicles may collide;
in summary, the emergency collision avoidance activation conditions include: l is less than or equal to 150m, delta t is less than or equal to 0.5s and delta L is less than 0.
Once the above activation condition is satisfied, the braking control is performed on the host vehicle using the AEB system, and the process proceeds to step S2.
As shown in fig. 2, after a certain time, the host vehicle and the target vehicle (target obstacle vehicle) collide with each other at a point C at the intersection, that is, C is a predicted collision point; theta 1 、θ 2 And L are the azimuth angle and the real-time distance corresponding to the two vehicles respectively and can be acquired through a V2V sensor. According to the geometrical relationship, there may be:
Figure BDA0003703987280000041
determining the time t for the host to reach the predicted collision point according to the following formula 1 ：
Figure BDA0003703987280000051
Wherein, the
Figure BDA0003703987280000052
θ 1 Is the azimuth angle of the host vehicle relative to the target obstacle vehicle; theta 2 The azimuth angle of the target obstacle vehicle is equivalent to the main vehicle; l is the distance between the host vehicle and the target obstacle vehicle; v 1 Is the running speed of the host vehicle.
Determining the time t for the target obstacle vehicle to reach the predicted collision point according to the following formula 2 ：
Figure BDA0003703987280000053
Wherein, the
Figure BDA0003703987280000054
θ 1 Is the azimuth angle of the host vehicle relative to the target obstacle vehicle; theta 2 The azimuth angle of the target obstacle vehicle is equivalent to the main vehicle; l is the distance between the host vehicle and the target obstacle vehicle; v 2 The traveling speed of the target obstacle vehicle.
In this embodiment, in step S2, as shown in fig. 3, the AEB controller is designed to have a smaller TTC of the time taken for the two vehicles to reach the collision point R As a judgment condition, the TTC is used R And comparing with a braking time threshold value:
if TTC R >t c If so, the AEB system sends a braking alarm;
if t b <TTC R ≤t c If the AEB system is activated, the braking pressure of the main vehicle is 30% of the maximum braking pressure;
if t a <TTC R ≤t b If the AEB system is activated, the braking pressure of the main vehicle is 60% of the maximum braking pressure;
if TTC R ≤t a If the AEB system is activated, the braking pressure of the main vehicle is 100% of the maximum braking pressure;
for high adhesion road surfaces, t a 、t b And t c Take 0.7s, 1.6s and 2.0s, respectively.
For low adhesion road surfaces, the vehicle is following t a 、t b And t c When the set value is used for emergency braking, the reduction of the road adhesion coefficient often increases the braking distance of the vehicle, so that the collision cannot be successfully avoided. The high adhesion road surface and the low adhesion road surface can be divided according to a conventional standard, and the description is omitted here.
Through V2I technique, can in time acquire the road in the place ahead and adhere to the coefficient, compare in high adhesion road surface, under the low adhesion road surface condition, need adjust the braking time threshold:
the above-mentioned
Figure BDA0003703987280000061
The above-mentioned
Figure BDA0003703987280000062
The above-mentioned
Figure BDA0003703987280000063
Wherein alpha is a proportionality constant; μ is a road surface adhesion coefficient. Under different road adhesion coefficients, the value of α is shown in table 1:
TABLE 1
Figure BDA0003703987280000064
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (5)

1. An automatic emergency collision avoidance control method for an intelligent automobile intersection based on V2X is characterized by comprising the following steps: the method comprises the following steps:
s1, judging whether the running states of the main vehicle and the target obstacle vehicle meet the emergency collision avoidance activation condition, if so, entering a step S2, and if not, not processing;
s2. calculating the time t 1 And time t 2 Minimum value of (1) as TTC R By combining the TTC R And comparing the braking time threshold value with the braking time threshold value to realize braking control of the main vehicle, and specifically comprising the following steps:
if TTC R >t c If so, a braking alarm is sent out;
if t b <TTC R ≤t c Let the brake pressure of the host vehicle be k of the maximum brake pressure 1 ％；
If t a <TTC R ≤t b Let the brake pressure of the host vehicle be k of the maximum brake pressure 2 ％；
If TTC R ≤t a Let the brake pressure of the host vehicle be k of the maximum brake pressure 3 ％；
Wherein, t 1 Time for the host to reach the predicted collision point; t is t 2 Time to reach the predicted collision point for the target obstacle vehicle; t is t a 、t b And t c Are all braking time threshold values and t a <t b <t c ；k 1 <k 2 <k 3 。
2. The V2X-based automatic emergency collision avoidance control method for intelligent automobile intersections according to claim 1, wherein: the emergency collision avoidance activation conditions include: the distance L between the main vehicle and the target obstacle vehicle is not more than L 0 Time t 1 And time t 2 The difference Δ t therebetween is not more than δ and the distance between the host vehicle and the target obstacle vehicle gradually decreases; wherein, L is 0 And δ is a set threshold, Δ t ═ t 1 -t 2 |。
3. The V2X-based automatic emergency collision avoidance control method for intelligent automobile intersections according to claim 1, wherein: determining the time t for the host vehicle to reach the predicted collision point according to the following formula 1 ：
Figure FDA0003703987270000011
Wherein, the
Figure FDA0003703987270000012
θ 1 Is the azimuth angle of the host vehicle relative to the target obstacle vehicle; theta 2 The azimuth angle of the target obstacle vehicle is equivalent to the main vehicle; l is the distance between the host vehicle and the target obstacle vehicle; v 1 Is the running speed of the host vehicle.
4. The V2X-based automatic emergency collision avoidance control method for intelligent automobile intersections according to claim 1, wherein: determining the time t for the target obstacle vehicle to reach the predicted collision point according to the following formula 2 ：
Figure FDA0003703987270000021
Wherein, the
Figure FDA0003703987270000022
θ 1 Is the azimuth angle of the host vehicle relative to the target obstacle vehicle; theta 2 The azimuth angle of the target obstacle vehicle is equivalent to the main vehicle; l is the distance between the host vehicle and the target obstacle vehicle; v 2 The traveling speed of the target obstacle vehicle.
5. The V2X-based automatic emergency collision avoidance control method for intelligent automobile intersections according to claim 1, wherein: for low adhesion pavements:
the above-mentioned
Figure FDA0003703987270000023
The above-mentioned
Figure FDA0003703987270000024
The above-mentioned
Figure FDA0003703987270000025
Where α is a proportionality constant and μ is a road adhesion coefficient.
CN202210699922.0A 2022-06-20 2022-06-20 Automatic emergency collision avoidance control method for intelligent automobile intersection based on V2X Pending CN115071696A (en)

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