CN115206133A - Rear-end collision prevention emergency risk avoidance control method and system, electronic equipment and storage medium - Google Patents
Rear-end collision prevention emergency risk avoidance control method and system, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention relates to a rear-end collision prevention emergency risk avoiding control method, a system, electronic equipment and a storage medium, wherein the rear-end collision prevention emergency risk avoiding control method comprises the following steps: when a first vehicle is provided with a V2X function module, the first vehicle sends the running information of the vehicle to surrounding vehicles through the V2X function module after detecting that the first vehicle or a second vehicle in front is in an abnormal running state; the abnormal driving state comprises a static state, a low-speed driving state and a braking state; the running information includes the position of the vehicle, the vehicle speed, and the acceleration/deceleration; the vehicle receiving the running information carries out collision avoidance processing calculation based on the vehicle and the received running information; the V2X technology and the ADAS technology are combined, when the vehicle at the front side has collision risk, emergency braking measures are taken, the emergency braking information of the vehicle is sent to surrounding traffic users through the V2X technology, the surrounding traffic users are reminded to take measures to avoid collision, and the condition that the front vehicle carries out emergency braking to bring a chain of rear-end collisions is prevented.
Description
Technical Field
The invention relates to the technical field of automatic driving and vehicle networking safety, in particular to a rear-end collision prevention emergency risk avoidance control method and system, electronic equipment and a storage medium.
Background
In the current automatic driving process of the vehicle, only an automatic driving sensor of the vehicle is used for detecting and identifying a target, and only an Advanced Driver Assist System (ADAS) is used for automatic emergency braking.
Aiming at a short-distance cut-out scene of a front vehicle, because the cut-out distance of the front vehicle is short, the time left for the detection and identification of a sensor of the main vehicle is short, when a system identifies a front target, the distance is very short, the main vehicle cannot reach the target identification or an actuator cannot reach the brake after the target identification, because the response time of the sensing system is short, the single vehicle intelligence is difficult to complete the complete collision avoidance, and the probability that the collision occurs later when the front vehicle is cut out is higher.
Aiming at the scene of Automatic Emergency Braking of a front vehicle, the prior art only depends on a sensor of the self vehicle to detect the motion state of a front target, when the sensor of the self vehicle detects that the front vehicle is automatically and emergently braked, the self vehicle is very close to the front vehicle, the reaction time left for the self vehicle is short at the moment, the self vehicle can only avoid collision or relieve the injury caused by collision by triggering AEB (Automatic Emergency Braking) or ESA (Emergency Steering Assist), but the speed drop allowed by the AEB is generally not more than 45km/h, and the ESA can be triggered only when a collision avoiding path exists. Under the high-speed working condition or under the condition that AEB cannot brake and a collision avoidance path does not exist, collision cannot be completely avoided.
Disclosure of Invention
The invention provides a rear-end collision prevention emergency risk avoidance control method, a rear-end collision prevention emergency risk avoidance control system, electronic equipment and a storage medium, wherein V2X (Vehicle to Vehicle networking) and ADAS (adaptive Vehicle analysis) technology are combined, and the problem that in single-Vehicle intelligence, a main Vehicle automatic driving sensor cannot recognize a scene that a main Vehicle collides with a first Vehicle RV1 when a third Vehicle RV2 is switched out in a short distance is effectively solved. When the front vehicle has collision risk, the emergency braking measure is taken and the emergency braking information of the vehicle is sent to surrounding traffic users through V2X, so that the surrounding traffic users are reminded to take measures to avoid collision, and the condition that the front vehicle carries out emergency braking to bring a rear-end collision accident is prevented.
According to a first aspect of the present invention, there is provided a rear-end collision prevention emergency risk avoidance control method, including: step 1, when a first vehicle is provided with a V2X function module, the first vehicle sends the running information of the vehicle to surrounding vehicles through the V2X function module after detecting that the first vehicle or a second vehicle in front is in an abnormal running state; the abnormal driving state comprises a static state, a low-speed driving state and a braking state; the running information includes a position of the vehicle, a vehicle speed, and an acceleration/deceleration;
and 2, the vehicle receiving the driving information carries out collision avoidance processing calculation based on the vehicle and the received driving information.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, for a third vehicle and a fourth vehicle sequentially located behind the first vehicle, when the first vehicle detects that the own vehicle is in an abnormal running state and the third vehicle is switched out to another lane according to a collision avoidance path, the running information is sent to the fourth vehicle.
Optionally, when the first vehicle detects that the own vehicle is in an abnormal driving state, the process of sending the driving information to the fourth vehicle includes:
step 101, judging whether the first vehicle is provided with a V2X functional module or not; if yes, executing step 102, otherwise, executing step 103;
102, the first vehicle sends the running information of the vehicle to the fourth vehicle through the V2X function module;
103, judging whether the third vehicle is provided with a V2X function module and an ADAS function module, if so, executing a step 104, and otherwise, executing a step 105;
step 104, after the third vehicle obtains the running information of the first vehicle through ADAS functional module identification and calculation, the running information of the first vehicle is sent to the fourth vehicle through a V2X functional module;
and 105, the road side unit RSU identifies the abnormal running state of the first vehicle and sends the abnormal running state to a fourth vehicle.
Optionally, the process of receiving the driving information by the fourth vehicle and performing collision avoidance processing calculation based on the driving information includes:
step 201, selecting the first vehicle as a target by the fourth vehicle to calculate the predicted TTC, judging whether the TTC is greater than or equal to a first set time length, if so, executing step 202, otherwise, executing step 203;
step 202, the fourth vehicle triggers an ALC function to cut out the third vehicle from the collision avoidance path and then ends;
and 203, increasing the second set time length to the TTC, judging whether the AEB can stop in the TTC, if so, triggering the AEB to emergently brake and avoid the collision, and if not, triggering the ESA to emergently avoid the collision, and ending the process.
Optionally, when the first vehicle detects that the second vehicle in front is in an abnormal running state, the first vehicle sends the running information to a fifth vehicle behind the first vehicle.
Optionally, the process of sending the running information to the fifth vehicle by the first vehicle includes:
step 101', judging whether the first vehicle is provided with a V2X function module or not; if yes, executing step 102', otherwise executing step 103';
step 102', when the first vehicle detects that the first vehicle collides with the second vehicle and is emergently braked, the first vehicle sends the running information of the first vehicle to the fifth vehicle through the V2X function module;
step 103', when the drive test unit detects that the first vehicle will collide with the second vehicle and emergency braking is being performed, the drive test unit sends the driving information of the first vehicle to the fifth vehicle through V2I broadcasting.
Optionally, the process of receiving the driving information and performing collision avoidance processing calculation based on the driving information by the fifth vehicle includes:
step 201', the fifth vehicle judges whether a collision avoidance path exists according to the running information and the speed of the first vehicle, if so, step 202 is executed, otherwise, step 203 is executed;
step 202', calculating to obtain an expected TTC, judging whether the TTC is greater than or equal to a third set time length, if so, triggering ALC to perform automatic lane change and then ending, otherwise, executing step 204';
step 203', after the TTC is increased by a second set time length, triggering AEB emergency braking to avoid collision, and ending;
and step 204', judging whether the AEB can be stopped in the TTC, if so, executing step 203', otherwise, triggering to trigger the ESA to perform emergency lane change and then ending. According to a second aspect of the present invention, there is provided a rear-end collision prevention emergency risk avoidance control system, comprising: a first vehicle and its surrounding vehicles;
when the first vehicle is provided with a V2X function module, the first vehicle sends the running information of the vehicle to the surrounding vehicle through the V2X function module after detecting that the first vehicle or a second vehicle in front is in an abnormal running state; the abnormal driving state comprises a static state, a low-speed driving state and a braking state; the running information includes a position of the vehicle, a vehicle speed, and an acceleration/deceleration;
and after receiving the running information, the surrounding vehicles perform collision avoidance processing calculation based on the running information.
According to a third aspect of the present invention, there is provided an electronic device, comprising a memory, and a processor, wherein the processor is configured to implement the steps of the rear-end collision avoidance control method when executing a computer management-like program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium, on which a computer management-like program is stored, which, when executed by a processor, implements the steps of the rear-end collision avoidance control method.
The invention provides a rear-end collision prevention emergency risk avoidance control method, a rear-end collision prevention emergency risk avoidance control system, electronic equipment and a storage medium, wherein V2X and ADAS technologies are combined; the main vehicle acquires information such as the position, the speed, the acceleration and the like of a front vehicle in advance through V2X, selects the front vehicle as a target in advance, and triggers AEB, ESA or ALC functions by combining the speed of the main vehicle and information such as speed reduction allowed by AEB; the problem that in single-vehicle intelligence, the automatic driving sensor of the third vehicle RV2 is cut out in a close range and then the automatic driving sensor of the main vehicle cannot recognize the first vehicle RV1 in time to cause the main vehicle to collide with the first vehicle RV1 is effectively solved, and the life and property damage caused by collision is reduced. When the front vehicle has collision risk, the emergency braking measures are taken and the emergency braking information of the vehicle is sent to surrounding traffic users through V2X, the surrounding traffic users are reminded to take measures to avoid collision, the occurrence of the chain rear-end collision accident caused by the emergency braking of the front vehicle is prevented, the casualties and the property loss are reduced, and the effect of protecting the life safety of the vehicle and the members is achieved. By setting the communication mode, any vehicle equipped with the V2X function module is caused to transmit the traveling information of the vehicle in the abnormal traveling state to the surrounding vehicles, and if none of the vehicles is equipped with the V2X function module, the transmission of the traveling information can be performed by the RSU. And communication delay among V2X, between V2X and ADAS and between CAN is fully considered, and TTC time for triggering AEB is increased.
Drawings
Fig. 1 is a flowchart of an emergency risk avoiding control method for preventing rear-end collision according to the present invention;
FIG. 2 is a schematic diagram illustrating one embodiment of a vehicle operating condition provided by the present invention;
fig. 3 is a flowchart of an embodiment of an emergency risk avoiding control method for preventing rear-end collision according to the present invention;
FIG. 4 is a schematic illustration of another embodiment of a vehicle operating condition provided by the present invention;
FIG. 5 is a flowchart illustrating another embodiment of the emergency risk avoiding control method for preventing rear-end collision according to the present invention
Fig. 6 is a structural block diagram of an emergency risk avoidance control for preventing rear-end collision according to the present invention;
FIG. 7 is a schematic diagram of a hardware structure of a possible electronic device according to the present invention;
fig. 8 is a schematic diagram of a hardware structure of a possible computer-readable storage medium according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of an emergency risk avoiding control method for preventing rear-end collision according to the present invention, as shown in fig. 1, the method includes:
step 1, when a first vehicle is provided with a V2X function module, after the first vehicle detects that the first vehicle or a second vehicle in front of the first vehicle is in an abnormal driving state, the driving information of the first vehicle is sent to surrounding vehicles through the V2X function module; the abnormal driving state comprises a static state, a low-speed driving state and a braking state; the running information includes the position of the vehicle, the vehicle speed, and the acceleration/deceleration.
And 2, the vehicle receiving the driving information performs collision avoidance processing calculation based on the vehicle and the received driving information.
According to the rear-end collision prevention emergency risk avoidance control method, the V2X technology and the ADAS technology are combined, and the problem that in single-vehicle intelligence, a scene that the RV1 collides with the RV1 cannot be recognized by an automatic driving sensor of the main vehicle after the RV2 is switched out in a short distance is effectively solved. When the front vehicle has collision risk, an emergency braking measure is taken, the emergency braking information of the vehicle is sent to surrounding traffic users through V2X, the surrounding traffic users are reminded to take measures to avoid collision, and the condition that the front vehicle carries out emergency braking to bring a rear-end collision accident is prevented.
Example 1
Embodiment 1 of the present invention is an embodiment of an emergency risk avoiding control method for preventing rear-end collision, and as can be seen from fig. 1, an embodiment of the emergency risk avoiding control method for preventing rear-end collision includes:
step 1, when a first vehicle is provided with a V2X function module, after the first vehicle detects that the first vehicle or a second vehicle in front of the first vehicle is in an abnormal driving state, the driving information of the first vehicle is sent to surrounding vehicles through the V2X function module; the abnormal driving state comprises a static state, a low-speed driving state and a braking state; the running information includes the position of the vehicle, the vehicle speed, and the acceleration/deceleration.
In one possible embodiment, emergency braking means that the vehicle longitudinal deceleration is > 4m/s2 and the duration is greater than 1s, including the vehicle triggering an automatic emergency braking AEB function.
In a possible embodiment, for a third vehicle and a fourth vehicle which are sequentially behind the first vehicle, the first vehicle sends out driving information to the fourth vehicle when the first vehicle detects that the self-vehicle is in an abnormal driving state and the third vehicle is switched out to other lanes according to the collision avoidance path.
In specific implementation, a third vehicle behind the first vehicle can detect whether the front vehicle is in an abnormal driving state in real time, and timely performs collision avoidance processing calculation.
As shown in fig. 2, which is a schematic diagram of an embodiment of a vehicle driving condition provided by the present invention, in the embodiment shown in fig. 2, a first vehicle RV1 is stationary at a front, moves at a low speed, or brakes, and a third vehicle RV2 is switched out at a short distance when being close to the first vehicle RV1, specifically, when the first vehicle RV1 is in a stationary, low-speed driving, or braking state, a third vehicle RV2 behind the first vehicle RV1 judges in real time that a collision avoidance path exists and the third vehicle RV2 is switched out when being close to the first vehicle RV1, at this time, a sensor reserved for a fourth vehicle HV behind the third vehicle RV2 detects and identifies a short time, and when the system identifies a front target, the distance is very close, and complete collision avoidance is difficult to complete. Therefore, the abnormal traveling state is transmitted to the fourth vehicle HV behind the third vehicle RV2 in advance, and it is possible to avoid the occurrence of a collision due to a short time for the sensor of the fourth vehicle HV to detect and recognize.
As shown in fig. 3, which is a flowchart of an embodiment of the rear-end collision avoidance emergency risk avoiding control method provided by the present invention, it can be known in combination with fig. 3 that, in a possible embodiment, the process of sending the driving information to the fourth vehicle when the first vehicle detects that the own vehicle is in the abnormal driving state includes:
step 101, judging whether a first vehicle is provided with a V2X function module or not; if yes, go to step 102, otherwise go to step 103.
And 102, the first vehicle sends the running information of the vehicle to a fourth vehicle through the V2X functional module.
And 103, judging whether the third vehicle is provided with the V2X function module and the ADAS function module or not, if so, executing the step 104, and otherwise, executing the step 105.
And 104, after the third vehicle obtains the running information of the first vehicle through the ADAS functional module identification and calculation, the running information of the first vehicle is sent to the fourth vehicle through the V2X functional module.
And 105, identifying the abnormal running state of the first vehicle by the RSU, and sending the abnormal running state to the fourth vehicle.
And 2, the vehicle receiving the driving information performs collision avoidance processing calculation based on the vehicle and the received driving information.
In a possible embodiment, the fourth vehicle receives the traveling information, and the process of performing collision avoidance processing calculation based on the traveling information includes:
in step 201, the fourth vehicle selects the first vehicle as a target To calculate a predicted TTC (Time To Collision Time), and determines whether the TTC is greater than or equal To a first set Time period, if so, step 202 is executed, otherwise, step 203 is executed.
In one embodiment, the first set time period may be 4 seconds.
In step 202, the fourth vehicle triggers the ALC function to cut out the collision avoidance path following the third vehicle, and then the process is finished.
And 203, increasing the second set time length to the TTC, judging whether the AEB can stop in the TTC, if so, triggering the AEB to emergently brake and avoid the collision, and if not, triggering the ESA to emergently avoid the collision, and ending the process.
In specific implementation, after the collision risk is eliminated after the collision avoidance path is cut out, the AEB is triggered and the ESA is triggered in step 202 and step 203, the whole emergency braking process is ended. The second set time period added to TTC may be 0.2 seconds, and the 0.2s increase in TTC time to trigger AEB is sufficient to account for communication delays between V2X, between V2X and ADAS, and between CAN communications.
Example 2
Embodiment 2 of the present invention is another embodiment of the rear-end collision prevention emergency risk avoiding control method according to the present invention, and as can be seen from fig. 1, the another embodiment of the rear-end collision prevention emergency risk avoiding control method includes:
step 1, when a first vehicle is provided with a V2X function module, after the first vehicle detects that the first vehicle or a second vehicle in front of the first vehicle is in an abnormal driving state, the driving information of the first vehicle is sent to surrounding vehicles through the V2X function module; the abnormal driving state comprises a static state, a low-speed driving state and a braking state; the running information includes the position of the vehicle, the vehicle speed, and the acceleration/deceleration.
In one possible embodiment, the first vehicle sends the running information to a fifth vehicle behind the first vehicle when detecting that the second vehicle ahead is in the abnormal running state.
As shown in fig. 4, which is a schematic diagram of another embodiment of a vehicle driving condition provided by the present invention, in the embodiment shown in fig. 4, a first vehicle RV2 is stationary, moving at a low speed or braking in front of a second vehicle RV1, and the first vehicle RV2 detects that a collision with the second vehicle RV1 is about to occur, so that emergency braking is performed and driving information is transmitted to a fifth vehicle HV behind.
As shown in fig. 5, which is a flowchart of another embodiment of the method for controlling emergency hedge against rear-end collision according to the present invention, and as can be seen from fig. 5, in a possible embodiment, the process of sending the driving information from the first vehicle to the fifth vehicle includes:
step 101', judging whether a first vehicle is provided with a V2X function module or not; if yes, go to step 102', otherwise go to step 103'.
And 102', when the first vehicle detects that the first vehicle collides with the second vehicle and is emergently braked, the first vehicle sends the running information of the first vehicle to the fifth vehicle through the V2X function module.
In a specific implementation, when the first vehicle RV2 is equipped with the V2X technology, the first vehicle RV2 detects that a collision with the second vehicle RV1 is about to occur, performs emergency braking, and broadcasts key information such as the position of the own vehicle, the requested deceleration, the current deceleration, the distance between the own vehicle and the second vehicle RV1, and the TTC collision time to the nearby vehicles through the V2V, thereby prompting the nearby vehicles to avoid the collision.
In step 103', when the drive test unit detects that the first Vehicle is detecting that the first Vehicle will collide with the second Vehicle and is performing emergency braking, the drive test unit broadcasts the driving information of the first Vehicle to the fifth Vehicle through a V2I (Vehicle to Vehicle) broadcast.
In specific implementation, when the first vehicle RV2 is not equipped with the V2X technology, the road side unit detects that the first vehicle RV2 is about to collide with the second vehicle RV1, and performs emergency braking, and broadcasts key information such as the position and deceleration of the first vehicle RV2 to nearby vehicles through the V2I, so as to remind the nearby vehicles of collision avoidance.
And 2, performing collision avoidance processing calculation on the vehicles receiving the driving information based on the vehicles and the received driving information.
In a possible embodiment, the fifth vehicle receives the traveling information, and the process of performing collision avoidance processing calculation based on the traveling information includes:
step 201', the fifth vehicle judges whether a collision avoidance path exists according to the running information of the first vehicle and the speed of the fifth vehicle, if so, step 202 is executed, otherwise, step 203 is executed.
After receiving information such as the position and deceleration of the Vehicle of the first Vehicle RV2 sent by V2V or V2I (Vehicle to Infrastructure), the host Vehicle of the fifth Vehicle HV determines whether a collision avoidance path exists according to the distance between the fifth Vehicle HV and the first Vehicle RV2 detected by the ADAS system and the relative speed information and according to the surrounding environment of the host Vehicle.
Step 202', calculating to obtain the predicted TTC, judging whether the TTC is greater than or equal to a third set time length, if so, triggering the ALC to perform automatic lane change and then ending, otherwise, executing step 204'.
In specific implementation, the third set time period may be 1.2 seconds, and the TTC ≧ 1.2s is the conventional condition for AEB triggering, which is a calibratable amount. The TTC time needs to be calculated if there is a collision-avoidable path:
if the TTC is more than or equal to 1.2s, the ALC automatic lane change is triggered.
If TTC < 1.2s but AEB cannot brake, an ESA emergency lane change is triggered.
If TTC is less than 1.2s and AEB can stop braking, AEB is triggered 0.2s ahead.
And step 203', after the TTC is increased by a second set time length, triggering the AEB to emergently brake and avoid collision, and ending.
And adding a second set time length to the TTC by considering communication delay among the V2X, between the V2X and the ADAS, between the ADAS and the CAN and position error of the second vehicle RV1 provided by the V2X, wherein the second set time length CAN be 0.2 second, and if no collision-avoiding path exists, triggering the AEB by 0.2s in advance directly when the AEB triggering condition is met.
And step 204', judging whether the AEB can be stopped in the TTC, if so, executing step 203', otherwise, triggering to trigger the ESA to perform emergency lane change and then ending.
In specific implementation, after the ALC automatic lane change is triggered, the AEB is triggered, and the risk of collision is eliminated after the ESA is triggered in step 202', step 203', and step 204', the whole emergency braking process is ended.
Example 3
Embodiment 3 of the present invention is an embodiment of an emergency risk avoiding control system for preventing rear-end collision according to the present invention, and fig. 6 is a structural diagram of an emergency risk avoiding control system for preventing rear-end collision according to the embodiment of the present invention, and it can be seen from fig. 6 that the embodiment of the emergency risk avoiding control system for preventing rear-end collision includes: a first vehicle and its surrounding vehicles.
When a first vehicle is provided with a V2X function module, the first vehicle sends the running information of the vehicle to surrounding vehicles through the V2X function module after detecting that the first vehicle or a second vehicle in front is in an abnormal running state; the abnormal driving state comprises a static state, a low-speed driving state and a braking state; the running information includes the position of the vehicle, the vehicle speed, and the acceleration/deceleration.
And after the surrounding vehicles receive the running information, collision avoidance processing calculation is carried out based on the running information.
In one possible embodiment, for a third vehicle and a fourth vehicle which are sequentially behind the first vehicle, the first vehicle sends out driving information to the fourth vehicle when the first vehicle detects that the self-vehicle is in an abnormal driving state and the third vehicle is switched out to other lanes according to the collision avoidance path.
In one possible embodiment, the process of the first vehicle sending the running information to the fourth vehicle when detecting that the own vehicle is in the abnormal running state includes:
step 101, judging whether a first vehicle is provided with a V2X function module or not; if yes, go to step 102, otherwise go to step 103.
And 102, the first vehicle sends the running information of the vehicle to a fourth vehicle through the V2X functional module.
And 103, judging whether the third vehicle is provided with the V2X function module and the ADAS function module or not, if so, executing the step 104, and otherwise, executing the step 105.
And 104, after the third vehicle obtains the running information of the first vehicle through the ADAS functional module identification and calculation, the running information of the first vehicle is sent to the fourth vehicle through the V2X functional module.
And step 105, the road side unit RSU identifies the abnormal driving state of the first vehicle and sends the abnormal driving state to the fourth vehicle.
In one possible embodiment, the fourth vehicle receives the traveling information, and the process of performing collision avoidance processing calculation based on the traveling information includes:
step 201, the fourth vehicle selects the first vehicle as a target to calculate the expected TTC, whether the TTC is larger than or equal to a first set time length is judged, if yes, step 202 is executed, and if not, step 203 is executed.
And 202, triggering the ALC function by the fourth vehicle to follow the third vehicle and cut out the collision avoidance path, and ending.
And 203, increasing the second set time length to the TTC, judging whether the AEB can stop in the TTC, if so, triggering the AEB to emergently brake and avoid the collision, and if not, triggering the ESA to emergently avoid the collision, and ending the process.
In one possible embodiment, the first vehicle sends the running information to a fifth vehicle behind the first vehicle when detecting that the second vehicle ahead is in an abnormal running state.
In one possible embodiment, the process of the first vehicle sending the travel information to the fifth vehicle includes:
step 101', judging whether a first vehicle is provided with a V2X function module or not; if yes, go to step 102', otherwise go to step 103'.
And 102', when the first vehicle detects that the first vehicle collides with the second vehicle and is emergently braked, the first vehicle sends the running information of the first vehicle to the fifth vehicle through the V2X function module.
In step 103', when the drive test unit detects that the first vehicle is about to collide with the second vehicle and the first vehicle is performing emergency braking, the drive test unit transmits the driving information of the first vehicle to the fifth vehicle through V2I broadcasting.
In one possible embodiment, the fifth vehicle receives the traveling information, and the process of performing collision avoidance processing calculation based on the traveling information includes:
step 201', the fifth vehicle judges whether a collision avoidance path exists according to the running information of the first vehicle and the speed of the fifth vehicle, if so, step 202 is executed, otherwise, step 203 is executed.
Step 202', calculating to obtain the predicted TTC, judging whether the TTC is greater than or equal to a third set time length, if so, triggering the ALC to perform automatic lane change and then ending, otherwise, executing step 204'.
And step 203', after the TTC is increased by a second set time length, triggering the AEB to emergently brake and avoid collision, and ending.
And step 204', judging whether the AEB can be stopped in the TTC, if so, executing step 203', otherwise, triggering to trigger the ESA to perform emergency lane change and then ending.
It can be understood that the rear-end collision prevention emergency risk avoiding control system provided by the present invention corresponds to the rear-end collision prevention emergency risk avoiding control methods provided in the foregoing embodiments, and related technical features of the rear-end collision prevention emergency risk avoiding control system may refer to related technical features of the rear-end collision prevention emergency risk avoiding control method, which are not described herein again.
Referring to fig. 7, fig. 7 is a schematic view of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 7, an embodiment of the present invention provides an electronic device, which includes a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320, where the processor 1320 executes the computer program 1311 to implement the following steps: when a first vehicle is provided with a V2X function module, the first vehicle sends the running information of the vehicle to surrounding vehicles through the V2X function module after detecting that the first vehicle or a second vehicle in front is in an abnormal running state; the abnormal driving state comprises a static state, a low-speed driving state and a braking state; the running information includes the position of the vehicle, the vehicle speed, and the acceleration/deceleration; and the vehicle receiving the driving information performs collision avoidance processing calculation based on the driving information.
Referring to fig. 8, fig. 8 is a schematic diagram of an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 8, the present embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored, the computer program 1411 when executed by a processor implements the steps of: when a first vehicle is provided with a V2X function module, the first vehicle sends the running information of the vehicle to surrounding vehicles through the V2X function module after detecting that the first vehicle or a second vehicle in front is in an abnormal running state; the abnormal driving state comprises a static state, a low-speed driving state and a braking state; the running information includes the position of the vehicle, the vehicle speed, and the acceleration/deceleration; and the vehicle receiving the running information carries out collision avoidance processing calculation based on the running information.
The embodiment of the invention provides a rear-end collision prevention emergency risk avoidance control method, a rear-end collision prevention emergency risk avoidance control system, electronic equipment and a storage medium, wherein V2X and ADAS technologies are combined; the main vehicle acquires information such as the position, the speed, the acceleration and the like of a forward RV1 vehicle in advance through V2V, selects the RV1 as a target in advance, and triggers AEB, ESA or ALC functions by combining the speed of the main vehicle and information such as speed reduction allowed by the AEB; effectively solve in bicycle intelligence, RV2 cuts out the rear car automatic driving sensor in a short distance and can't come to discern RV1 and lead to the scene that RV1 collided, reduced the life and property damage because the collision brought. When the front vehicle has collision risk, the emergency braking measure is taken and the emergency braking information of the vehicle is sent to surrounding traffic users through V2X, the surrounding traffic users are reminded to take measures to avoid collision, the occurrence of the chain rear-end collision accident caused by the emergency braking of the front vehicle is prevented, the casualties and the property loss are reduced, and the effect of protecting the life safety of the vehicle and members is achieved. By setting the communication mode, any vehicle equipped with the V2X function module is caused to transmit the traveling information of the vehicle in the abnormal traveling state to the surrounding vehicles, and if none of the vehicles is equipped with the V2X function module, the transmitting of the traveling information can be performed by the RSU. The invention also fully considers the communication delay between V2X, between V2X and ADAS and between CAN communication, and increases TTC time for triggering AEB.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A rear-end collision prevention emergency risk avoiding control method is characterized in that the emergency braking method comprises the following steps:
step 1, when a first vehicle is provided with a V2X function module, after the first vehicle detects that the first vehicle or a second vehicle in front of the first vehicle is in an abnormal driving state, the driving information of the first vehicle is sent to surrounding vehicles through the V2X function module; the abnormal driving state comprises a static state, a low-speed driving state and a braking state; the running information includes a position of the vehicle, a vehicle speed, and an acceleration/deceleration;
and 2, the vehicle receiving the driving information carries out collision avoidance processing calculation based on the vehicle and the received driving information.
2. Emergency braking method according to claim 1,
and for a third vehicle and a fourth vehicle which are sequentially positioned behind the first vehicle, when the first vehicle detects that the self vehicle is in an abnormal running state and the third vehicle is switched out to other lanes according to a collision avoidance path, sending the running information to the fourth vehicle.
3. The emergency braking method according to claim 2, wherein the process of the first vehicle sending the running information to the fourth vehicle upon detecting that the own vehicle is in an abnormal running state includes:
step 101, judging whether the first vehicle is provided with a V2X function module or not; if yes, executing step 102, otherwise, executing step 103;
102, the first vehicle sends the running information of the vehicle to the fourth vehicle through the V2X function module;
step 103, judging whether the third vehicle is provided with a V2X function module and an ADAS function module, if so, executing step 104, and if not, executing step 105;
step 104, after the third vehicle obtains the running information of the first vehicle through ADAS functional module identification and calculation, the running information of the first vehicle is sent to the fourth vehicle through a V2X functional module;
and 105, identifying an abnormal running state of the first vehicle by the road side unit RSU, and sending the running information of the first vehicle to a fourth vehicle.
4. The emergency braking method according to claim 2, wherein the fourth vehicle receives the travel information, and the process of performing collision avoidance processing calculation based on the travel information comprises:
step 201, selecting the first vehicle as a target by the fourth vehicle to calculate the predicted TTC, judging whether the TTC is greater than or equal to a first set time length, if so, executing step 202, otherwise, executing step 203;
step 202, the fourth vehicle triggers an ALC function to cut out the third vehicle from the collision avoidance path and then ends;
and 203, increasing the second set time length to the TTC, judging whether the AEB can stop in the TTC, if so, triggering the AEB to emergently brake and avoid the collision, and if not, triggering the ESA to emergently avoid the collision, and ending the process.
5. Emergency braking method according to claim 1,
and when the first vehicle detects that the second vehicle in front is in an abnormal running state, the first vehicle sends the running information to a fifth vehicle behind the first vehicle.
6. The emergency braking method according to claim 5, wherein the process of the first vehicle sending the travel information to the fifth vehicle includes:
step 101', judging whether the first vehicle is provided with a V2X functional module or not; if yes, executing step 102', otherwise executing step 103';
step 102', when the first vehicle detects that the first vehicle collides with the second vehicle and is emergently braked, the first vehicle sends the running information of the first vehicle to the fifth vehicle through the V2X function module;
step 103', when the drive test unit detects that the first vehicle will collide with the second vehicle and emergency braking is being performed, the drive test unit sends the driving information of the first vehicle to the fifth vehicle through V2I broadcasting.
7. The emergency braking method according to claim 5, wherein the fifth vehicle receives the driving information, and the process of performing collision avoidance processing calculation based on the driving information comprises:
step 201', the fifth vehicle judges whether a collision avoidance path exists according to the running information and the speed of the first vehicle, if so, step 202 is executed, otherwise, step 203 is executed;
step 202', calculating to obtain an expected TTC, judging whether the TTC is greater than or equal to a third set time length, if so, triggering ALC to perform automatic lane change and then ending, otherwise, executing step 204';
step 203', after the TTC is increased by a second set time length, triggering AEB emergency braking to avoid collision, and ending;
and step 204', judging whether the AEB can be stopped in the TTC, if so, executing step 203', otherwise, triggering to trigger the ESA to perform emergency lane change and then ending.
8. The utility model provides a prevent urgent danger prevention control system that knocks into back which characterized in that includes: a first vehicle and its surrounding vehicles;
when the first vehicle is provided with a V2X function module, the first vehicle sends the running information of the vehicle to the surrounding vehicle through the V2X function module after detecting that the first vehicle or a second vehicle in front is in an abnormal running state; the abnormal driving state comprises a static state, a low-speed driving state and a braking state; the running information includes a position of the vehicle, a vehicle speed, and an acceleration/deceleration;
and after receiving the running information, the surrounding vehicles perform collision avoidance processing calculation based on the running information.
9. An electronic device, comprising a memory and a processor, wherein the processor is configured to implement the steps of the rear-end collision avoidance control method according to any one of claims 1 to 7 when executing a computer management-like program stored in the memory.
10. A computer-readable storage medium, having stored thereon a computer management-like program which, when executed by a processor, implements the steps of the rear-end collision avoidance control method according to any one of claims 1 to 7.
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