CN115167367A - Reversing collision avoidance system based on active safety and V2X technology - Google Patents
Reversing collision avoidance system based on active safety and V2X technology Download PDFInfo
- Publication number
- CN115167367A CN115167367A CN202210909921.4A CN202210909921A CN115167367A CN 115167367 A CN115167367 A CN 115167367A CN 202210909921 A CN202210909921 A CN 202210909921A CN 115167367 A CN115167367 A CN 115167367A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- reversing
- information
- dangerous
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005516 engineering process Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 89
- 238000006243 chemical reaction Methods 0.000 claims abstract description 8
- 238000004364 calculation method Methods 0.000 claims description 53
- 238000010295 mobile communication Methods 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 15
- 238000012360 testing method Methods 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 abstract description 11
- 238000013178 mathematical model Methods 0.000 abstract description 8
- 238000013507 mapping Methods 0.000 abstract description 4
- 239000011159 matrix material Substances 0.000 abstract description 4
- 230000008447 perception Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 9
- 230000004927 fusion Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a reverse collision avoidance system based on active safety and V2X technology, which combines traffic participant information such as vehicles, pedestrians and the like and roadside perception result information by utilizing V2X communication technology, realizes the mapping of target information in a reverse dangerous area mathematical model by establishing a vehicle reverse dangerous area mathematical model and combining the target information detected by a vehicle detection unit and coordinate matrix conversion, and can more accurately analyze a dangerous time domain and take braking and steering measures in time by combining a vehicle steering control unit and a braking control unit so as to avoid dangerous accidents.
Description
Technical Field
The invention belongs to the technical field of vehicle safety management, and particularly relates to a reversing collision avoidance system based on active safety and a V2X technology.
Background
With the rapid development of national economy and the rapid increase of the quantity of motor vehicles, as the year of 2019, the quantity of motor vehicles in the whole world reaches 12.9 million (3.48 million in China), 125 million (6.3 million in China) of traffic accidents are died every year, and the road traffic safety situation is very severe.
In the process of backing a car, because the visual angle of the rearview mirror is limited, a driver cannot effectively and timely notice the condition of the rear area of the car, and traffic accidents are easy to happen. Because the visual range of a driver sitting in a cab is limited, a large visual blind area can appear, and meanwhile, backing is also an inevitable driving behavior of the vehicle in the driving process. Therefore, if dangerous conditions occur in the hard-to-observe area during reversing, casualties and property loss are easily caused.
At present, most of monitoring and alarming in a reversing area are carried out by utilizing a sensor (such as an ultrasonic radar) of a vehicle and early warning is carried out on a driver, for example, a reversing camera with a rear collision early warning function with a notice number of CN212332518U is adopted, and the patent realizes the reversing early warning in the reversing process of the vehicle through the reversing camera by adopting a CMOS sensor with an RCTA module, combining a lens, a flash module and a video buffer, thereby improving the accuracy of the reversing early warning; for example, the invention discloses an automatic anti-collision system for automobile backing with the publication number of CN111216627A, and the system realizes the functions of detecting danger and performing emergency braking when the automobile backs through the induction module and the control module. However, due to the limitation of the sensing range of the sensor, the invention still cannot effectively detect the traffic participants outside the sensing range, and is difficult to timely cope with the traffic participants suddenly rushing into the sensing range; meanwhile, due to the limitation of the early warning range, the invention can not effectively early warn other traffic participants in the dangerous area when backing the car. As well as the active reverse braking auxiliary system and the control method with the publication number of CN103569102a, although the invention senses through the camera and the radar and takes the active braking measure for the rear danger during braking, the invention does not model the dangerous area swept by the vehicle body during reverse, and is difficult to perform the targeted measure, and the invention has the defect that the false alarm and the false alarm are easy to occur.
Disclosure of Invention
The invention discloses a reversing collision avoidance system based on active safety and a V2X technology, which provides reversing area danger early warning for a driver in a reversing process.
The technical scheme of the invention is as follows:
the invention discloses a reversing danger early warning system based on a reversing track model, which comprises a vehicle end system, a road test system and a V2P mobile end system.
The vehicle end system comprises a reverse vehicle system and a detection vehicle system; the reversing vehicle system comprises a vehicle driving data unit, a vehicle early warning unit, a reversing vehicle calculating unit and a reversing vehicle-mounted OBU; the vehicle detection system comprises a vehicle detection unit, a vehicle detection calculation unit and a vehicle-mounted OBU of a detection vehicle; the road test system comprises a road end detection unit, a road end calculation unit, a road end early warning unit and a road side RSU; the V2P mobile terminal system comprises a V2P data unit, a V2P early warning unit, a V2P calculation unit and a V2P mobile communication terminal.
A road end detection unit of the road test system detects traffic participants and obstacles in a sensing range in real time, sends out a detection result in real time through a road end RSU, and simultaneously sends the detection result to a road end calculation unit; the vehicle detection unit of the vehicle detection system acquires information of other traffic participants and obstacles in a sensing range in real time, sends the information out in real time through the vehicle-mounted OBU of the detection vehicle, and simultaneously sends the information to the vehicle detection calculation unit; a V2P data unit of the V2P mobile end system collects information such as user type, speed, direction and the like of a V2P user in real time, sends the information out through a V2P mobile communication terminal in real time and sends the information to a V2P computing unit at the same time; the vehicle running data unit of the reverse vehicle system collects the basic information of the vehicle in real time, receives the information sent by the road end RSU, the detection vehicle OBU and the V2P mobile communication terminal through the reverse vehicle OBU, and sends the information to the reverse vehicle computing unit at the same time.
The detection vehicle calculation unit, the reversing vehicle calculation unit, the road end calculation unit and the V2P calculation unit all use the received information to establish a reversing dangerous area model in a mathematical modeling mode, simultaneously carry out coordinate conversion on information such as a target set detected by the road end detection unit and the position of a V2P user and map the information into an established coordinate system, and then judge whether danger exists in a reversing area according to the information such as the type, the speed and the direction of the target.
Further, the detection vehicle calculating unit, the backing vehicle calculating unit, the road end calculating unit and the V2P calculating unit analyze whether a danger exists in the backing danger time domain or not in the following modes:
judging whether a dangerous target exists in the reversing dangerous time domain, and if so, informing the vehicle to take advance evasion measures;
if no dangerous target exists in the reversing dangerous time domain, whether a target is about to enter the reversing dangerous time domain of the vehicle is further analyzed through speed and direction information of the target, if so, whether the time that the target enters the reversing dangerous time domain and collides is smaller than set time is judged, and if so, the vehicle is informed to take advance evasive measures.
Specifically, the reversing danger time domain is determined by two dimensions of a danger area and safety time and is represented by time; the innermost side of the dangerous area is determined by the track line of the track line C1 of the inner rear wheel, the outermost side is determined by the track line of the track line C5 of the outermost end of the outer side of the vehicle, and the dangerous area is an area surrounded by the track lines of the track lines C1 and C5; the safety time is a set time, and the reversing danger time domain refers to the minimum value of the following time:
1) The time required for the vehicle to reach the positions where other traffic participants and obstacles exist is determined according to the current speed and direction;
2) The vehicle is moving according to the current speed and direction, and the other traffic participants are moving according to the current speed and direction, and the time required for the collision to occur.
Specifically, the mathematical modeling of the reversing danger area is established as follows:
and (3) coordinate system: establishing a coordinate system by taking the middle point of a connecting line of rear wheels of the vehicle as an original point, taking the connecting line perpendicular to the rear wheels and back to the vehicle head as the positive direction of an X axis and taking the direction from the original point to the inner turning rear wheels as the positive direction of a Y axis;
vehicle body information: the vehicle body information storage module can obtain the connecting line length d1 of the rear wheels of the vehicle, the connecting line length d2 of the front wheels and the rear wheels of the vehicle and the distance d3 from the outer rear wheels of the vehicle to the farthest end of the vehicle body along the direction of the front wheels;
a reversing trajectory line: 5 sections of circular arcs are formed by C1, C2, C3, C4 and C5;
c0 represents the circle center of the track line of the vehicle body when the steering angle of the front wheel of the vehicle body is theta and the vehicle is backed; c1 is an inner rear wheel track line; c2 is an inner front wheel track line; c3 is an outer rear wheel track line; c4 is an outer front wheel track line; c5 is the vehicle outboard most distal trajectory line;
the initial position states of all positions of the vehicle body at the T0 moment are disclosed and agreed by the circle center coordinates and the trajectory line equations of all positions of the vehicle body as follows:
the system further comprises a vehicle early warning unit, a road end early warning unit and a V2P early warning unit, when the road end calculation unit judges that danger exists, early warning information is sent to the road end early warning unit, the V2P mobile communication terminal and an OBU of the reversing vehicle through the RSU, and the road end early warning unit is used for early warning traffic participants in a reversing dangerous time domain; the V2P mobile communication terminal sends the early warning information to a V2P early warning unit for providing early warning for a V2P mobile user; the backing vehicle OBU processes the early warning information and sends corresponding instructions to the vehicle brake control unit and the vehicle steering control unit to control the vehicle to take braking and steering measures to avoid dangerous accidents to the maximum extent.
Furthermore, the reversing vehicle system also comprises a vehicle brake control unit and a vehicle steering control unit; the vehicle calculating unit analyzes whether a dangerous target exists in the backing dangerous time domain, and if the dangerous target exists, the vehicle braking control unit is directly triggered to actively take braking measures; if not, further analyzing whether a target is about to enter a vehicle reversing dangerous time domain or not according to the speed and direction information of the target, if so, judging whether the time for the target to enter the dangerous time domain and collide is less than the set time, and if so, triggering a vehicle brake control unit to actively take braking measures; and the subsequent calculation unit continuously analyzes and judges whether the collision in the vehicle reversing dangerous time domain can be relieved or avoided through steering of the steering wheel, if so, the vehicle steering control unit is triggered to control the vehicle to actively steer towards the direction of the avoiding target, so that the dangerous accident is avoided.
The invention has the beneficial effects that:
aiming at major potential safety hazards in the process of backing a vehicle, firstly, traffic participants and obstacles such as motor vehicles, pedestrians, non-motor vehicles and the like in a backing area are accurately detected through a road end detection unit; secondly, the driving data unit of the vehicle acquires the driving state data and information of the vehicle in real time; thirdly, acquiring information such as user types, positioning and the like of V2P mobile users in real time through a V2P data unit; fourthly, information interaction among the road end, the vehicle and the V2P mobile user is carried out through the OBU of the vehicle and the RSU of the road end and the V2P mobile communication terminal; fifthly, modeling the dangerous area in real time through a vehicle, a road end and a calculation unit of a V2P user, combining detected target information, mapping the target information in a reversing dangerous area mathematical model through coordinate matrix conversion, and then analyzing and judging whether danger exists in a reversing time domain; when danger exists, the vehicle brake control unit and the steering control unit take brake and avoidance measures, the road end early warning unit carries out early warning on traffic participants in a reverse driving region, and the V2P early warning unit provides early warning for V2P mobile users to avoid dangerous accidents. The method comprises the steps of combining traffic participant information such as vehicles and pedestrians with roadside perception result information by utilizing a V2X communication technology, mapping target information in a reversing dangerous area mathematical model by establishing a vehicle reversing dangerous area mathematical model and combining the target information detected by a vehicle detection unit through coordinate matrix conversion, and combining a vehicle steering control and braking control unit, so that a dangerous time domain can be analyzed more accurately and braking and steering measures can be taken in time to avoid dangerous accidents.
Drawings
Fig. 1 is a schematic diagram of the composition and data flow of a reverse collision avoidance system based on active safety and V2X technology shown in embodiment 1;
fig. 2 is a schematic diagram of the structure and data flow of the reversing collision avoidance system based on the V2X technology shown in embodiment 2;
FIG. 3 is a schematic diagram of a mathematical modeling of a dangerous region of a vehicle reversing using the present invention;
wherein, d1: the length of a connecting line of the rear wheels of the vehicle; d2: the length of a connecting line of the front wheel and the rear wheel of the vehicle; d3: the distance from the outer rear wheel of the vehicle to the farthest end of the vehicle body along the direction of the front wheel; c0 represents the circle center of the track line of the vehicle body when the steering angle of the front wheel of the vehicle body is theta and the vehicle is backed; c1 is an inner rear wheel track line; c2 is an inner front wheel trajectory; c3 An outer rear wheel trajectory; c4 is an outer front wheel track line; c5 is the vehicle outboard most distal trajectory line;
fig. 4 is a schematic diagram of a road-side fusion calculation early warning process of the system described in embodiment 2;
fig. 5 is a schematic diagram of a vehicle-end fusion calculation early warning process for the system described in embodiment 2;
fig. 6 is a schematic diagram of a V2P-side fusion calculation early warning process of the system described in embodiment 2.
Detailed Description
Example 1
The embodiment shows a specific structure of a reverse collision avoidance system based on active safety and V2X technology, as shown in fig. 1, the system generally includes a vehicle end system, a drive test system, and a V2P mobile end system. The vehicle end system comprises a reverse vehicle system and a detection vehicle system.
The following are specific configurations of the respective systems:
the reversing vehicle system comprises a vehicle driving data unit, a reversing vehicle calculating unit, a reversing vehicle OBU, a vehicle early warning unit, a vehicle brake control unit and a vehicle steering control unit. Specifically, the vehicle driving data unit comprises a CAN bus data module and a high-precision positioning module. The vehicle running data unit can acquire basic information of the size of the vehicle body, the running speed of the vehicle, the gear state, the brake state, the accelerator state data and the like in real time and send the information to the calculation processing unit. The vehicle early warning unit comprises an HMI interactive module (namely a vehicle-mounted display) and a horn medium and is used for early warning a vehicle driver when a traffic participant and an obstacle exist in a vehicle reversing area. The vehicle-mounted display is used for providing a UI interface and displaying the early warning information. The vehicle steering control unit comprises a CAN bus data module, a steering wheel angle sensor and an electric power steering system. The vehicle brake control unit comprises an electronic stabilizing system, an electronic gear shifting system, an engine control system, a CAN bus data module, an ESP system and a transmission control system. The CAN bus data module is used for acquiring basic information of the size of the vehicle body, the running speed of the vehicle, the gear state, the brake state, the accelerator state and the like in real time.
The vehicle detection system comprises a vehicle detection unit, a vehicle detection calculation unit and a vehicle-mounted OBU of the detection vehicle. Specifically, the vehicle detection unit includes camera detection module and radar detection module, and radar detection module includes laser radar and millimeter wave radar. The vehicle detection unit can detect other traffic participants and obstacle target information behind the vehicle and behind the left and right sides of the vehicle in real time, wherein the target information comprises but is not limited to target type, size, position, speed, movement direction and the like, and sends the target information to the calculation processing unit.
The road test system comprises a road end detection unit, a road end calculation unit, a road end early warning unit and a road side RSU. The road end detection unit is composed of a camera detection module and a laser radar detection module and a microwave radar detection module and is used for detecting obstacles and traffic participants in a sensing range, such as traffic participants of automobiles, pedestrians, small motor vehicles, small non-motor vehicles and the like. The RSU is used for communicating and information interaction with the OBU through a V2X technology. The road end calculating unit is used for establishing a mathematical model for a vehicle reversing area by the road end in real time and analyzing whether barriers and traffic participants exist in the vehicle reversing area or not. The road end early warning unit is used for timely reminding the traffic participants in the vehicle reversing domain under the condition that the traffic participants exist in the vehicle reversing time domain.
The V2P mobile terminal system comprises a V2P data unit, a V2P early warning unit, a V2P calculation unit and a V2P mobile communication terminal.
When the road side detection unit of the road side detection system works, the road side detection unit detects traffic participants and obstacles in a sensing range in real time, sends out detection results in real time through the road side RSU, and sends the detection results to the road side calculation unit; the vehicle detection unit of the vehicle detection system acquires information of other traffic participants and obstacles in a sensing range in real time, sends the information out in real time through the vehicle-mounted OBU of the detection vehicle, and simultaneously sends the information to the vehicle detection calculation unit; a V2P data unit of the V2P mobile end system collects information such as user type, speed, direction and the like of a V2P user in real time, sends the information out through a V2P mobile communication terminal in real time and sends the information to a V2P computing unit at the same time; the vehicle running data unit of the reverse vehicle system collects the basic information of the vehicle in real time, receives the information sent by the road end RSU, the detection vehicle OBU and the V2P mobile communication terminal through the reverse vehicle OBU, and simultaneously sends the information to the reverse vehicle computing unit.
The detection vehicle calculation unit, the reversing vehicle calculation unit, the road end calculation unit and the V2P calculation unit all use the received information to establish a reversing danger area model in a mathematical modeling mode, simultaneously carry out coordinate conversion on information such as a target set detected by the road end detection unit and the position of a V2P user and the like, map the information to an established coordinate system, and then judge whether danger exists in the reversing area according to the information such as the type, the speed and the direction of the target.
The above calculation processing unit analyzes whether there is danger in the reversing danger time domain by the following method:
and if the dangerous target exists, the vehicle is informed to take advance evasive measures. The evasive measures are specifically as follows: and sending the danger information to a vehicle early warning unit for warning, and directly triggering a vehicle brake control unit to actively take braking measures.
If no dangerous target exists in the reversing dangerous time domain, whether a target is about to enter the reversing dangerous time domain of the vehicle is further analyzed through speed and direction information of the target, if so, whether the time that the target enters the reversing dangerous time domain and collides is smaller than set time is judged, and if so, the vehicle is informed to take advance evasive measures. The evasive measures are specifically as follows: sending the danger information to a vehicle early warning unit for warning; the vehicle braking control unit is triggered to actively take braking measures, the subsequent calculation unit continues to analyze and judge whether the collision in the vehicle reversing dangerous area can be relieved or avoided through steering of the steering wheel, if yes, the vehicle steering control unit is triggered to control the vehicle to actively take steering towards the direction of the avoidance target, and therefore dangerous accidents are avoided.
The reversing danger time domain refers to the minimum of the following times:
1) The time required for the vehicle to reach the positions where other traffic participants and obstacles exist is determined according to the current speed and direction;
2) The vehicle is moving according to the current speed and direction, and the other traffic participants are moving according to the current speed and direction, and the time required for the collision to occur.
The reversing danger area mathematical modeling of the invention refers to fig. 2. Taking the steering angle of the front wheel of the vehicle to the right as an example, the inner rear wheel is appointed to be the right rear wheel; the outer rear wheel is a left rear wheel; the inner front wheel is a right front wheel; the outer front wheel is a left front wheel. D1, d2 and d3 can be obtained through the vehicle body information storage module, wherein d1 is the connecting line length of the rear wheels of the vehicle, d2 is the connecting line length of the front wheels and the rear wheels of the vehicle, and d3 is the distance from the outer rear wheels of the vehicle to the farthest end of the vehicle body along the direction of the front wheels. Here, a plane rectangular coordinate system as shown in fig. 3 is established with the midpoint of the connecting line of the rear wheels of the vehicle as the origin, the connecting line perpendicular to the rear wheels and pointing to the vehicle head as the positive direction of the X axis, and the direction from the origin to the rear wheels as the positive direction of the Y axis. 5 sections of circular arcs including C1, C2, C3, C4 and C5 can be seen in the drawing, wherein C0 represents the circle center of a vehicle body track line when the vehicle body backs a vehicle when the steering angle of the front wheel is theta; c1 is an inner rear wheel track line and is also the innermost track line of the vehicle body track; c2 is an inner front wheel track line; c3 is an outer rear wheel track line; c4 is an outer front wheel trajectory; c5 is the outermost trajectory line of the vehicle outer side and is also the outermost trajectory line of the vehicle body trajectory. The initial position states of all positions of the vehicle body at the T0 moment are disclosed and agreed by the circle center coordinates and the trajectory line equations of all positions of the vehicle body as follows:
in the case of the example 2, the following examples are given,
embodiment 2 shows a reverse collision avoidance system based on V2X technology, and referring to fig. 2, the system is different from the system of embodiment 1 in that there is no active safety part, that is, there is no vehicle brake control unit and no vehicle steering control unit in the reverse vehicle system. The system provides only an alarm and does not provide vehicle braking control and further steering control.
Example 3
This embodiment is used to describe the road-end fusion calculation early-warning process of the present invention, and refer to fig. 4.
Firstly, the road end detection unit detects traffic participants and obstacles such as automobiles, pedestrians, small motor vehicles and small non-motor vehicles in a sensing range in real time and sends detection results to the road end RSU in real time, wherein the detection results include but are not limited to target types, real-time positions, speeds and moving directions of the traffic participants or the obstacles.
Meanwhile, the vehicle driving data unit collects basic information of the automobile in real time, wherein the basic information comprises but is not limited to the speed, the gear state, the accelerator state, the brake state, high-precision positioning data and the like, and when the automobile is in a reversing state, the collected vehicle driving data information is sent out through the communication of the PC5 and the UU port through the OBU of the reversing vehicle.
The vehicle detection units with the system are arranged around the vehicle detection system, and also collect information of other traffic participants and obstacles in a sensing range in real time, and the information is transmitted out through the OBU of the detected vehicle through the communication between the PC5 and the UU interface.
Meanwhile, the V2P data unit collects the information of the type, speed, direction and the like of the V2P user in real time and sends the information to the V2P mobile communication terminal in real time, and the V2P mobile communication terminal sends the user information out through the communication between the PC5 and the UU port in real time.
And the road end RSU receives the backing vehicle OBU, detects relevant data sent by the vehicle OBU and the V2P mobile communication terminal, and sends the data to the road end computing unit.
And then, the road end computing unit processes the information received by the RSU in real time, and establishes a reversing danger area model by using basic information and real-time running state information of the vehicle in a mathematical modeling mode. A schematic diagram for mathematical modeling of a dangerous region of a vehicle in reverse is shown in FIG. 2.
Further, the road end calculating unit will perform coordinate transformation on the target set and the information of the V2P mobile subscriber sent by the road end detecting unit, and map the information into the established coordinate system. And then, judging whether dangers exist in the reversing time domain, such as whether obstacles exist in the vehicle reversing time domain and whether dangerous conditions of other traffic participants and the like are present or about to occur or not, according to the information of the type, the speed, the direction and the like of the target.
Further, whether a target is about to enter a vehicle reversing dangerous time domain or not is analyzed, whether the time that the target enters the dangerous time domain and collides is less than set time or not is analyzed, and whether the collision in the vehicle reversing dangerous time domain can be relieved or avoided through steering of a steering wheel or not is analyzed and judged.
When the danger exists, the early warning information is sent to a road end early warning unit, a V2P mobile communication terminal and an OBU of the reversing vehicle through the RSU, and the road end early warning unit is used for early warning traffic participants in a reversing dangerous time domain; the V2P mobile communication terminal sends the early warning information to a V2P early warning unit for providing early warning for a V2P mobile user; the backing vehicle OBU can process the early warning information and issue corresponding instructions to the vehicle brake control unit and the vehicle steering control unit to control the vehicle to take braking and steering measures to avoid dangerous accidents to the maximum extent.
Example 4:
this embodiment is used to describe the vehicle-end fusion calculation early warning process of the present invention, and refer to fig. 5.
Firstly, a road end detection unit detects traffic participants and obstacles such as automobiles, pedestrians, small motor vehicles and small non-motor vehicles in a sensing range in real time and sends a detection result to a road end RSU in real time, the RSU sends the detection result of the detection unit in real time through communication between a PC5 and a UU port, and the detection result comprises but is not limited to target types, real-time positions, speeds and moving directions of the traffic participants or the obstacles.
The vehicle detection unit equipped with the system is arranged around the vehicle detection unit and is also used for acquiring information of other traffic participants and obstacles in a sensing range in real time and sending the information in real time through the communication between the PC5 and the UU port by detecting the OBU of the vehicle.
Meanwhile, the V2P data unit collects the information of the type, speed, direction and the like of the V2P user in real time and sends the information to the V2P mobile communication terminal in real time, and the V2P mobile communication terminal sends the user information out through the communication between the PC5 and the UU port in real time.
The vehicle running data unit collects basic information of the automobile in real time, wherein the basic information comprises but is not limited to the speed, the gear state, the accelerator state, the brake state, high-precision positioning data and the like, when the automobile is in the reversing state, the reversing vehicle is triggered to carry out fusion early warning, and the OBU of the reversing vehicle can receive the information content sent by the RSU, the OBU of the detection vehicle and the V2P mobile communication terminal and sends the information to the computing unit of the detection vehicle.
The vehicle calculation unit establishes a reversing dangerous area model by using basic information and real-time running state information of a vehicle in a mathematical modeling mode. A schematic diagram for mathematical modeling of a dangerous region of a vehicle in reverse is shown in FIG. 2.
Further, the vehicle calculation unit performs coordinate conversion on the information such as the target set and the position of the V2P user, which is received by the OBU and detected by the road end detection unit, and maps the information to the established coordinate system.
Then, whether a dangerous target exists in the reversing dangerous time domain or not is analyzed, and if the dangerous target exists, the method comprises the following steps:
(1) Sending early warning information to a V2P mobile communication terminal and a road end RSU by an OBU of a reversing vehicle; the V2P mobile communication terminal sends the early warning information to the V2P early warning unit, and the early warning unit is used for providing danger early warning for a V2P user; the RSU sends the early warning information to a road end early warning unit for early warning of traffic participants in the reversing dangerous time domain;
(2) Directly triggering a vehicle brake control unit to actively take braking measures; if not, further analyzing whether a target is about to enter a vehicle reversing dangerous time domain or not according to the speed and direction information of the target, if so, judging whether the time for the target to enter the dangerous time domain and collide is less than the set time, and if so, triggering a vehicle brake control unit to actively take braking measures; and further, whether the collision in the vehicle reversing dangerous time domain can be relieved or avoided through steering of a steering wheel is analyzed and judged, if yes, a steering control unit of the vehicle is triggered, and the vehicle is controlled to actively take steering measures towards the direction of an avoidance target, so that dangerous accidents are avoided to the maximum extent.
Example 5:
this embodiment is used to describe the fusion calculation early warning process of the V2P mobile terminal of the present invention, and refer to fig. 6.
Firstly, a road end detection unit detects traffic participants and obstacles such as automobiles, pedestrians, small motor vehicles and small non-motor vehicles in a sensing range in real time and sends a detection result to a road end RSU in real time, the RSU sends the detection result of the detection unit in real time through communication between a PC5 and a UU port, and the detection result comprises but is not limited to target types, real-time positions, speeds and moving directions of the traffic participants or the obstacles.
The vehicle running data unit collects basic information of the automobile in real time, wherein the basic information comprises but is not limited to the speed, the gear state, the accelerator state, the brake state, high-precision positioning data and the like, and when the automobile is in a reversing state, the information collected by the vehicle running data unit through the reversing vehicle OBU is sent out through the PC5 and the UU port communication.
The vehicle detection unit equipped with the system is arranged around the vehicle detection unit and is also used for acquiring information of other traffic participants and obstacles in a sensing range in real time and sending the information in real time through the communication between the PC5 and the UU port by detecting the OBU of the vehicle.
Meanwhile, the V2P data unit collects the information of the user type, speed, direction and the like of the V2P user in real time and sends the information to the V2P mobile communication terminal in real time; the V2P mobile communication terminal receives the RSU, detects the information content of the vehicle OBU and the backing vehicle OBU and sends the information to the V2P calculation unit.
The V2P calculation unit establishes a reversing dangerous area model by using the received basic information and real-time running state information of the reversing vehicle in a mathematical modeling mode. A schematic diagram for mathematical modeling of a dangerous region of a vehicle in reverse is shown in FIG. 2.
Further, the V2P calculating unit performs coordinate transformation on the information, such as the road end detecting unit, the target set for detecting vehicle, and the position of the V2P user, received by the V2P mobile communication terminal, and maps the information into the established coordinate system. And then judging whether danger exists in the reversing time domain or not through information such as the type, the speed, the direction and the like of the target, further analyzing whether the target is about to enter the reversing dangerous time domain of the vehicle or not, analyzing whether the time of the target entering the dangerous time domain to collide is less than the set time or not, and analyzing and judging whether the collision in the reversing dangerous time domain of the vehicle can be reduced or avoided through steering of a steering wheel or not.
When the danger exists, the early warning information is sent to a V2P early warning unit, a road end RSU and an OBU of a reversing vehicle through a V2P mobile communication terminal, and the V2P early warning unit is used for early warning for V2P users in a reversing dangerous time domain; the RSU sends the early warning information to a road end early warning unit for early warning of traffic participants in the reversing dangerous time domain; the backing vehicle OBU processes the early warning information and sends corresponding instructions to the vehicle brake control unit and the vehicle steering control unit to control the vehicle to take braking and steering measures to avoid dangerous accidents to the maximum extent.
According to the series of embodiments, the vehicle reversing dangerous area mathematical model is established, the target information detected by the vehicle detection unit is combined, and mapping of the target information in the reversing dangerous area mathematical model is realized through coordinate matrix conversion, so that a dangerous time domain can be analyzed and early warned more accurately. A space dangerous area is established through a reversing track, a dangerous time domain is established through measuring and calculating the collision time of the vehicle and the barrier, the space domain is crossed with the time domain, early warning or processing measures for judging the collision risk only through the time domain are advanced, the rule determined by the space domain and the time domain is followed in advance, and the collision prediction accuracy is improved. Meanwhile, the invention can also send the early warning information to the vehicle automatic driving perception processing terminal, and provide information for vehicle automatic driving perception.
Claims (9)
1. A reversing collision avoidance system based on active safety and V2X technology is characterized in that: the system comprises a vehicle end system, a drive test system and a V2P mobile end system;
the vehicle end system comprises a vehicle backing system and a vehicle detection system; the reversing vehicle system comprises a vehicle running data unit, a reversing vehicle calculating unit and a reversing vehicle OBU; the vehicle detection system comprises a vehicle detection unit, a vehicle detection calculation unit and a vehicle-mounted OBU of a detection vehicle; the road test system comprises a road end detection unit, a road end calculation unit and a road side RSU; the V2P mobile terminal system comprises a V2P data unit, a V2P calculation unit and a V2P mobile communication terminal;
a road end detection unit of the road test system detects traffic participants and obstacles in a sensing range in real time, sends detection results to a vehicle end system and a V2P mobile end system in real time through a road end RSU, and simultaneously sends the detection results to a road end calculation unit; the vehicle detection unit of the vehicle detection system collects information of other traffic participants and obstacles in a sensing range in real time, sends the information to the V2P mobile terminal system, the road test system and the reversing vehicle system in real time through detecting a vehicle-mounted OBU of the vehicle, and simultaneously sends the information to the vehicle detection calculation unit; a V2P data unit of the V2P mobile end system collects information such as user types, speeds, directions and the like of V2P users in real time, sends the information to a road test system and a vehicle end system through a V2P mobile communication terminal in real time, and simultaneously sends the information to a V2P calculation unit; the vehicle running data unit of the reverse vehicle system collects the basic information of the vehicle in real time, receives the information sent by the road end RSU, the detection vehicle OBU and the V2P mobile communication terminal through the reverse vehicle OBU, and sends the information to the reverse vehicle calculation unit at the same time;
the detection vehicle calculation unit, the reversing vehicle calculation unit, the road end calculation unit and the V2P calculation unit all use the received information to establish a reversing dangerous area model through mathematical modeling, simultaneously carry out coordinate conversion on information such as a target set detected by the road end detection unit and the position of a V2P user and the like, map the information into an established coordinate system, and then judge whether danger exists in a reversing time domain through the information such as the type, the speed, the direction and the like of the target.
2. The active safety and V2X technology-based backup collision avoidance system of claim 1, wherein: the detection vehicle calculation unit, the reversing vehicle calculation unit, the road end calculation unit and the V2P calculation unit analyze whether danger exists in a reversing dangerous time domain or not. If the dangerous target exists, the vehicle is informed to take advance evasion measures;
if no dangerous target exists in the reversing dangerous time domain, whether the target is about to enter the reversing dangerous time domain of the vehicle is further analyzed through speed and direction information of the target, if yes, whether the time that the target enters the reversing dangerous time domain and collides is smaller than set time is judged, and if yes, the vehicle is informed to take advance evasive measures.
3. A reverse collision avoidance system based on active safety and V2X technology as claimed in claim 2 wherein: the reversing danger time domain is determined through two dimensions of a danger area and safety time and is represented through time; the innermost side of the dangerous area is determined by the track line of the track line C1 of the inner rear wheel, the outermost side is determined by the track line of the track line C5 of the outermost end of the outer side of the vehicle, and the dangerous area is an area surrounded by the track lines of the track lines C1 and C5; the safety time is a set time, and the reversing danger time domain refers to the minimum value of the following time:
1) The time required for the vehicle to reach the positions where other traffic participants and obstacles exist is determined according to the current speed and direction;
2) The vehicle is moving according to the current speed and direction, and the other traffic participants are moving according to the current speed and direction, and the time required for the collision to occur.
4. A reverse collision avoidance system based on active safety and V2X technology as claimed in any one of claims 1 to 3 wherein: the reversing dangerous area mathematical modeling is established in the following way:
and (3) coordinate system: establishing a coordinate system by taking the middle point of a connecting line of rear wheels of the vehicle as an original point, taking the connecting line perpendicular to the rear wheels and back to the vehicle head as the positive direction of an X axis and taking the direction from the original point to the inner turning rear wheels as the positive direction of a Y axis;
vehicle body information: the vehicle body information storage module can obtain the connecting line length d1 of the rear wheels of the vehicle, the connecting line length d2 of the front wheels and the rear wheels of the vehicle and the distance d3 from the outer rear wheels of the vehicle to the farthest end of the vehicle body along the direction of the front wheels;
a reversing trajectory line: 5 sections of circular arcs are C1, C2, C3, C4 and C5;
c0 represents the circle center of the vehicle body trajectory line when the steering angle of the front wheel of the vehicle body is theta and the vehicle is backed; c1 is an inner rear wheel track line; c2 is an inner front wheel track line; c3 is an outer rear wheel track line; c4 is an outer front wheel track line; c5 is the vehicle outboard most distal trajectory line;
the initial position states of all positions of the vehicle body at the T0 moment are disclosed and appointed by the circle center coordinates and the trajectory line equation of all positions of the vehicle body as follows:
5. the active safety and V2X technology-based backup collision avoidance system of claim 4, wherein: the system also comprises a vehicle early warning unit, a road end early warning unit and a V2P early warning unit, when the road end calculation unit judges that danger exists, early warning information is sent to the road end early warning unit, the V2P mobile communication terminal and an OBU of the reversing vehicle through the RSU, and the road end early warning unit is used for early warning traffic participants in a reversing dangerous time domain; the V2P mobile communication terminal sends the early warning information to a V2P early warning unit for providing early warning for a V2P mobile user; the backing vehicle OBU processes the early warning information and sends corresponding instructions to the vehicle brake control unit and the vehicle steering control unit to control the vehicle to take braking and steering measures to avoid dangerous accidents to the maximum extent.
6. A reverse collision avoidance system based on active safety and V2X technology as claimed in claim 4 wherein: the reversing vehicle system also comprises a vehicle brake control unit and a vehicle steering control unit; the vehicle calculation unit analyzes whether a dangerous target exists in the reversing dangerous time domain, and if the dangerous target exists, the vehicle brake control unit is directly triggered to actively take a braking measure; if not, further analyzing whether a target is about to enter a vehicle reversing dangerous time domain or not according to the speed and direction information of the target, if so, judging whether the time for the target to enter the dangerous time domain and collide is less than the set time, and if so, triggering a vehicle brake control unit to actively take braking measures; and the subsequent calculation unit continuously analyzes and judges whether the collision in the vehicle reversing dangerous time domain can be relieved or avoided through steering of the steering wheel, if so, the vehicle steering control unit is triggered to control the vehicle to actively steer towards the direction of the avoiding target, so that the dangerous accident is avoided.
7. A back-up collision avoidance system based on active safety and V2X technology as claimed in any one of claims 1-5 wherein: the vehicle running data unit collects basic information of the vehicle in real time, wherein the basic information comprises but is not limited to vehicle speed, gear state, accelerator state, brake state, high-precision positioning data and the like.
8. The active safety and V2X technology-based backup collision avoidance system according to any one of claims 1-5, wherein: the vehicle detection unit detects other traffic participant and/or obstacle target information behind the vehicle and behind the left and right sides of the vehicle in real time, wherein the target information comprises target types and/or sizes and/or positions and/or speeds and/or moving directions.
9. The active safety and V2X technology-based backup collision avoidance system according to any one of claims 1-5, wherein: the road end detection unit detects traffic participants and obstacles such as automobiles, pedestrians, small motor vehicles and small non-motor vehicles in a sensing range in real time, and detection results include but are not limited to target types, real-time positions, speeds and moving directions of the traffic participants or the obstacles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210909921.4A CN115167367B (en) | 2022-07-29 | 2022-07-29 | Reversing collision avoidance system based on active safety and V2X technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210909921.4A CN115167367B (en) | 2022-07-29 | 2022-07-29 | Reversing collision avoidance system based on active safety and V2X technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115167367A true CN115167367A (en) | 2022-10-11 |
| CN115167367B CN115167367B (en) | 2024-08-23 |
Family
ID=83476440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210909921.4A Active CN115167367B (en) | 2022-07-29 | 2022-07-29 | Reversing collision avoidance system based on active safety and V2X technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115167367B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115675282A (en) * | 2022-10-28 | 2023-02-03 | 重庆长安汽车股份有限公司 | Reversing early warning strategy determination method, early warning method, system, equipment and medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020082806A1 (en) * | 1995-01-13 | 2002-06-27 | Kaub Alan R. | Traffic safety prediction model |
| US20140240114A1 (en) * | 2011-11-01 | 2014-08-28 | Volkswagen Aktiengesellschaft | Method for outputting alert messages of a driver assistance system and associated driver assistance system |
| CN111674465A (en) * | 2020-05-25 | 2020-09-18 | 长城汽车股份有限公司 | Reversing control method and system and vehicle |
| KR20210128537A (en) * | 2020-04-16 | 2021-10-27 | 현대모비스 주식회사 | Reverse driving assistance device and reverse driving method using the same |
| WO2022095814A1 (en) * | 2020-11-05 | 2022-05-12 | 长沙智能驾驶研究院有限公司 | Automatic vehicle reversing control method and apparatus, vehicle and storage medium |
-
2022
- 2022-07-29 CN CN202210909921.4A patent/CN115167367B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020082806A1 (en) * | 1995-01-13 | 2002-06-27 | Kaub Alan R. | Traffic safety prediction model |
| US20140240114A1 (en) * | 2011-11-01 | 2014-08-28 | Volkswagen Aktiengesellschaft | Method for outputting alert messages of a driver assistance system and associated driver assistance system |
| KR20210128537A (en) * | 2020-04-16 | 2021-10-27 | 현대모비스 주식회사 | Reverse driving assistance device and reverse driving method using the same |
| CN111674465A (en) * | 2020-05-25 | 2020-09-18 | 长城汽车股份有限公司 | Reversing control method and system and vehicle |
| WO2022095814A1 (en) * | 2020-11-05 | 2022-05-12 | 长沙智能驾驶研究院有限公司 | Automatic vehicle reversing control method and apparatus, vehicle and storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115675282A (en) * | 2022-10-28 | 2023-02-03 | 重庆长安汽车股份有限公司 | Reversing early warning strategy determination method, early warning method, system, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115167367B (en) | 2024-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109080630B (en) | Environment sensing system for vehicle and control method thereof | |
| CN111554124B (en) | Intersection truck right-turning anti-collision early warning system and early warning method | |
| CN110488319B (en) | Ultrasonic wave and camera fusion-based collision distance calculation method and system | |
| Jansson et al. | Decision making for collision avoidance systems | |
| CN110155045A (en) | A kind of vehicle promptly accelerates Self-Protection Subsystem and its self-protection method | |
| WO2021217752A1 (en) | Vehicle-pedestrian collision risk region calculation method and safety evaluation system | |
| CN109733283B (en) | AR-based shielded barrier recognition early warning system and recognition early warning method | |
| CN106448190B (en) | Real-time monitoring and early warning device and method for traffic flow around self-vehicle on highway | |
| CN104104915A (en) | Multifunctional driving monitoring early warning system based on mobile terminal | |
| CN210454790U (en) | Vehicle emergency acceleration self-protection system | |
| CN111231827A (en) | Device and method for displaying front collision risk area of vehicle in rainy and foggy weather | |
| CN104751677A (en) | Vehicle collision alarm method and system | |
| CN113470433A (en) | Vehicle inner wheel difference region danger early warning method and system based on V2I, vehicle and roadside equipment | |
| CN205498764U (en) | Integrated rear portion initiative safety precaution's ADAS system based on vision | |
| CN115167367B (en) | Reversing collision avoidance system based on active safety and V2X technology | |
| CN113221638B (en) | Vehicle target perception method and system | |
| CN113470432A (en) | Vehicle inner wheel difference region danger early warning method and system based on V2V and vehicle | |
| CN108238102A (en) | A kind of vehicle-mounted ultrasonic wave sensor system | |
| CN117601751A (en) | Parallel light warning system, parallel light warning method and vehicle | |
| CN113077656B (en) | Parking road section anti-collision early warning method based on vehicle-to-vehicle RFID communication | |
| CN115303266B (en) | Reversing danger early warning system and method based on reversing track model | |
| CN114715089A (en) | Method and system for transverse braking of vehicle | |
| Furutani | Obstacle detection systems for vehicle safety | |
| CN110889409B (en) | Method, device, equipment and storage medium for monitoring and optimizing automobile radar | |
| CN114228705A (en) | Electric vehicle early warning system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |