CN117485331A - Anti-collision method and device for vehicle, electronic equipment and storage medium - Google Patents
Anti-collision method and device for vehicle, electronic equipment and storage medium Download PDFInfo
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- CN117485331A CN117485331A CN202311714401.9A CN202311714401A CN117485331A CN 117485331 A CN117485331 A CN 117485331A CN 202311714401 A CN202311714401 A CN 202311714401A CN 117485331 A CN117485331 A CN 117485331A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle anti-collision method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: collecting a first vehicle distance between the vehicle and a front vehicle which is ahead in the running direction and a second vehicle distance between the vehicle and a rear vehicle which is behind in the running direction; when the first vehicle distance and the second vehicle distance meet the set safe distance condition, acquiring the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle; and adjusting the speed of the vehicle according to the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle. In the vehicle anti-collision method, the vehicle comprehensively analyzes the vehicle speed of the vehicle, the vehicle speed of the front vehicle and the vehicle speed of the rear vehicle, and adjusts the vehicle speed to a reasonable vehicle speed, so that the collision with the front vehicle or the rear vehicle is prevented, the safe running of the vehicle can be ensured to the greatest extent, and the rear-end collision accident is avoided.
Description
Technical Field
The present disclosure relates to the field of automobiles, and in particular, to a method and apparatus for preventing a vehicle from collision, an electronic device, and a storage medium.
Background
In the field of safe driving of automobiles, when collision between a host vehicle and a preceding vehicle is prevented, the technical scheme adopted is generally as follows: only the running conditions of the vehicle and the front vehicle are considered, and when the collision is predicted, an early warning prompt is output to remind a driver of timely operation. Similarly, only the respective running conditions of the host vehicle and the rear vehicle are considered when the host vehicle is prevented from colliding with the rear vehicle. It can be seen that the situation of possible collision cannot be comprehensively predicted by the conventional technical scheme. Therefore, how to avoid collision accidents between the vehicle and other vehicles in the same lane to the greatest extent and improve the safety of the vehicle in the driving process becomes a problem to be solved urgently.
Disclosure of Invention
According to the vehicle anti-collision method, device, electronic equipment and storage medium, the problem that the situation that the vehicle possibly collides in the running process cannot be comprehensively predicted in the prior art is solved, and safe running of the vehicle can be guaranteed to the greatest extent.
In a first aspect, the present application provides a vehicle anti-collision method, applied to a host vehicle, the method including:
collecting a first vehicle distance between the vehicle and a front vehicle which is ahead in the running direction and a second vehicle distance between the vehicle and a rear vehicle which is behind in the running direction;
when the first vehicle distance and the second vehicle distance meet the set safe distance condition, acquiring the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle;
and adjusting the speed of the vehicle according to the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle.
Optionally, the safety distance condition is that the first vehicle distance is smaller than a first early warning distance and the second vehicle distance is not smaller than a second early warning distance; the adjusting the vehicle speed according to the vehicle speed of the vehicle, the vehicle speed of the front vehicle and the vehicle speed of the rear vehicle comprises the following steps:
when the vehicle speed of the host vehicle is greater than the vehicle speed of the front vehicle and the vehicle speed of the front vehicle is not less than the vehicle speed of the rear vehicle, the vehicle speed of the host vehicle is adjusted to be a first speed which is not less than the vehicle speed of the rear vehicle and not greater than the vehicle speed of the front vehicle;
And when the vehicle speed of the vehicle is greater than the vehicle speed of the front vehicle and the vehicle speed of the front vehicle is less than the vehicle speed of the rear vehicle, adjusting the vehicle speed of the vehicle to a second speed, wherein the second speed is the vehicle speed of the front vehicle.
Optionally, after the adjusting the vehicle speed of the host vehicle to the second speed, the method further includes:
determining collision reaction time according to the second vehicle distance, the second speed and the rear vehicle speed;
and under the condition that the collision reaction time is smaller than a preset time threshold, controlling the host vehicle to flash a brake lamp so as to prompt the rear vehicle to decelerate.
Optionally, the method further comprises:
and under the condition that the speed of the host vehicle is greater than the speed of the front vehicle and the speed of the rear vehicle is greater than the speed of the front vehicle, carrying out lane changing adjustment on the host vehicle.
Optionally, the safety distance condition is that the first vehicle distance is not smaller than the first early warning distance and the second vehicle distance is smaller than the second early warning distance; the adjusting the vehicle speed according to the vehicle speed of the vehicle, the vehicle speed of the front vehicle and the vehicle speed of the rear vehicle comprises the following steps:
when the vehicle speed of the host vehicle is smaller than the vehicle speed of the rear vehicle and the vehicle speed of the rear vehicle is not larger than the vehicle speed of the front vehicle, the vehicle speed of the host vehicle is adjusted to be a third speed which is not smaller than the vehicle speed of the rear vehicle and not larger than the vehicle speed of the front vehicle;
When the host vehicle speed is smaller than the rear vehicle speed and the rear vehicle speed is larger than the front vehicle speed, the host vehicle speed is adjusted to a fourth speed, and the fourth speed is determined by the following formula (1):
V＝(S 10 V 2 + S 02 V 1 )/(S 10 + S 02 ) (1)
wherein V represents the fourth speed, V 1 Representing the speed of the front vehicle, V 2 Represents the speed of the rear vehicle S 10 Representing the first distance S 02 Representing the second distance.
Optionally, in a case where the host vehicle speed is less than the rear vehicle speed and the rear vehicle speed is greater than the front vehicle speed, the method further includes:
controlling the host vehicle to flash a brake lamp so as to prompt the rear vehicle to decelerate; or alternatively
And carrying out lane change adjustment on the vehicle.
Optionally, the first pre-warning distance is determined by the following formula (2), and the second pre-warning distance is determined by the following formula (3):
R w1 ＝D 10 +S 0 -S 1 (2)
R w2 ＝D 02 +S 2 -S 0 (3)
wherein R is w1 Representing the first early warning distance, R w2 Representing the second early warning distance D 10 Representing the relative distance between the vehicle and the front vehicle when the emergency brake is stopped, D 02 Representing the relative distance between the vehicle and the rear vehicle when the emergency brake is stopped, S 0 Represents the braking distance when the vehicle is braked emergently, S 1 Represents the braking distance when the front vehicle is braked emergently, S 2 And the braking distance when the rear vehicle is braked emergently is represented.
Optionally, the method further comprises:
and under the condition that the first vehicle distance is smaller than the first early warning distance and the second vehicle distance is smaller than the second early warning distance, lane changing adjustment is carried out on the vehicle.
In a second aspect, the present application provides a vehicle collision avoidance device comprising:
the acquisition module is used for acquiring a first vehicle distance between the vehicle and a front vehicle which is ahead in the running direction and a second vehicle distance between the vehicle and a rear vehicle which is behind in the running direction;
the acquisition module is used for acquiring the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle when the first vehicle distance and the second vehicle distance meet the set safe distance condition;
the first adjusting module is used for adjusting the speed of the vehicle according to the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle.
Optionally, the safety distance condition is that the first vehicle distance is smaller than a first early warning distance and the second vehicle distance is not smaller than a second early warning distance; the first adjustment module includes:
the first adjusting sub-module is used for adjusting the vehicle speed of the vehicle to be a first speed which is not less than the vehicle speed of the rear vehicle and not more than the vehicle speed of the front vehicle under the condition that the vehicle speed of the vehicle is greater than the vehicle speed of the front vehicle and not less than the vehicle speed of the rear vehicle;
The second adjusting sub-module is used for adjusting the speed of the vehicle to a second speed when the speed of the vehicle is larger than the speed of the front vehicle and the speed of the front vehicle is smaller than the speed of the rear vehicle, and the second speed is the speed of the front vehicle.
Optionally, the apparatus further comprises:
the determining module is used for determining collision reaction time according to the second vehicle distance, the second speed and the rear vehicle speed;
and the first control module is used for controlling the host vehicle to flash the brake lamp under the condition that the collision reaction time is smaller than a preset time threshold value so as to prompt the rear vehicle to decelerate.
Optionally, the apparatus further comprises:
the second adjusting module is used for carrying out lane changing adjustment on the host vehicle under the condition that the host vehicle speed is greater than the front vehicle speed and the rear vehicle speed is greater than the front vehicle speed.
Optionally, the safety distance condition is that the first distance is not less than the first pre-warning distance and the second distance is less than the second pre-warning distance, and the first adjustment module includes:
a third adjustment sub-module, configured to adjust the host vehicle speed to a third speed, where the host vehicle speed is less than the rear vehicle speed and the rear vehicle speed is not greater than the front vehicle speed, and the third speed is not less than the rear vehicle speed and not greater than the front vehicle speed;
A fourth adjustment sub-module, configured to adjust the vehicle speed to a fourth speed when the vehicle speed is less than the rear vehicle speed and the rear vehicle speed is greater than the front vehicle speed, where the fourth speed is determined by the following formula (1):
V＝(S 10 V 2 + S 02 V 1 )/(S 10 + S 02 ) (1)
wherein V represents the fourth speed, V 1 Representing the speed of the front vehicle, V 2 Represents the speed of the rear vehicle S 10 Representing the first distance S 02 Representing the second distance.
Optionally, the apparatus further comprises:
the second control module is used for controlling the host vehicle to flash a brake lamp so as to prompt the rear vehicle to decelerate; or alternatively
And the third adjusting module is used for carrying out lane change adjustment on the vehicle.
Optionally, the first pre-warning distance is determined by the following formula (2), and the second pre-warning distance is determined by the following formula (3):
R w1 ＝D 10 +S 0 -S 1 (2)
R w2 ＝D 02 +S 2 -S 0 (3)
wherein R is w1 Representing the first early warning distance, R w2 Representing the second early warning distance D 10 Representing the relative distance between the vehicle and the front vehicle when the emergency brake is stopped, D 02 Representing the relative distance between the vehicle and the rear vehicle when the emergency brake is stopped, S 0 Represents the braking distance when the vehicle is braked emergently, S 1 Represents the braking distance when the front vehicle is braked emergently, S 2 And the braking distance when the rear vehicle is braked emergently is represented.
Optionally, the apparatus further comprises:
and the fourth adjusting module is used for carrying out lane change adjustment on the vehicle under the condition that the first vehicle distance is smaller than the first early warning distance and the second vehicle distance is smaller than the second early warning distance.
In a third aspect, the present application provides an electronic device, including:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute to implement a vehicle collision avoidance method as described in the first aspect of the present application.
In a fourth aspect, the present application provides a non-transitory computer readable storage medium, which when executed by a processor of an electronic device, causes the electronic device to perform a method of implementing a vehicle collision avoidance as described in the first aspect of the present application.
In the vehicle anti-collision method, first, a first distance between a vehicle and a front vehicle which is ahead in the running direction and a second distance between the vehicle and a rear vehicle which is behind in the running direction are acquired, then whether the first distance and the second distance meet the set safe distance conditions is judged, if yes, the vehicle speed, the front vehicle speed and the rear vehicle speed are acquired, and then the vehicle speed is adjusted according to the vehicle speed, the front vehicle speed and the rear vehicle speed so as to prevent collision. In the vehicle anti-collision method, the vehicle comprehensively analyzes the vehicle speed of the vehicle, the vehicle speed of the front vehicle and the vehicle speed of the rear vehicle, and adjusts the vehicle speed to be a reasonable vehicle speed, so that collision with the front vehicle or the rear vehicle is prevented.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart illustrating a method of vehicle collision avoidance according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a vehicle anti-collision method according to an embodiment of the present application;
FIG. 3 is a block diagram of a vehicle anti-collision device according to one embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be apparent that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The application provides a vehicle anti-collision method which is applicable to any type of vehicle, and in order to better state the vehicle anti-collision method, the vehicle is adopted as an execution main body in each subsequent embodiment, and the principle of other vehicles for executing the vehicle anti-collision method is the same as that of the vehicle for executing the vehicle anti-collision method.
Specifically, when the host vehicle executes the vehicle collision avoidance method, the vehicle collision avoidance method may be executed by a central control system in the host vehicle, or the vehicle collision avoidance method may be executed by another device equipped with a vehicle control function mounted on the host vehicle.
A vehicle collision prevention method provided in the present application will be described in detail. Fig. 1 is a flowchart illustrating a vehicle collision avoidance method according to an embodiment of the present application. Referring to fig. 1, the vehicle collision prevention method of the present application includes the steps of:
step S11: a first distance between the host vehicle and a front vehicle that is forward in the traveling direction and a second distance between the host vehicle and a rear vehicle that is rearward in the traveling direction are acquired.
In the present embodiment, whether the vehicle is on the same lane in the front-rear direction of the host vehicle may be determined based on a technique such as GPS (Global Positioning System ) or RSSI (Received Signal Strength Indicator, received signal strength). If the vehicles are on the same lane in the front-rear direction, the distance between the vehicle and the nearest vehicle (front vehicle) in front is obtained as a first distance, and the distance between the vehicle and the nearest vehicle (rear vehicle) in rear is obtained as a second distance.
In one embodiment, the first distance and the second distance may be obtained by a radar system mounted in a fore-aft position of the host vehicle. In the present embodiment, the first inter-vehicle distance and the second inter-vehicle distance may be obtained by other means, and the present embodiment is not particularly limited thereto.
Step S12: and when the first vehicle distance and the second vehicle distance meet the set safe distance conditions, acquiring the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle.
Specifically, step S12 may include:
and acquiring the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle when the first vehicle distance is smaller than the first early warning distance and the second vehicle distance is not smaller than the second early warning distance, or when the first vehicle distance is not smaller than the first early warning distance and the second vehicle distance is smaller than the second early warning distance.
In the present embodiment, the set safe distance conditions include: first distance < first pre-warning distance and second distance > =second pre-warning distance, first distance > =first pre-warning distance and second distance < second pre-warning distance.
Wherein, first car distance < first early warning distance and second car distance > =second early warning distance represents: the distance between the vehicle and the front vehicle is short, and the vehicle belongs to a dangerous distance range; and the distance between the vehicle and the rear vehicle is proper, and the vehicle belongs to the normal distance range. First distance > = first warning distance and second distance < second warning distance represents: the distance between the vehicle and the front vehicle is proper, and the vehicle belongs to a normal distance range; and the distance between the vehicle and the rear vehicle is shorter, and the vehicle belongs to a dangerous distance range.
In one embodiment, the host vehicle speed may be obtained through a TCU (Transmission Control Unit, automatic transmission control unit) or VCU (Vehicle Control Unit, electric vehicle whole controller), and the front vehicle speed and the rear vehicle speed may be obtained through a radar system installed at the front-rear position of the host vehicle. In this embodiment, the own vehicle speed, the front vehicle speed, and the rear vehicle speed may also be obtained by other modes, and the mode of obtaining various vehicle speeds is not particularly limited in this embodiment.
Step S13: and adjusting the speed of the vehicle according to the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle.
In this embodiment, the present vehicle speed, the vehicle speed of the preceding vehicle and the vehicle speed of the following vehicle are comprehensively analyzed, and the vehicle speed is adjusted to a reasonable vehicle speed, so that collision with the preceding vehicle or the following vehicle is prevented.
In this embodiment, when the distance between the host vehicle and the front vehicle belongs to the dangerous distance range and the distance between the host vehicle and the rear vehicle belongs to the normal distance range, or when the distance between the host vehicle and the front vehicle belongs to the normal distance range and the distance between the host vehicle and the rear vehicle belongs to the dangerous distance range, the host vehicle comprehensively analyzes the own speed, the front vehicle speed and the rear vehicle speed, and adjusts the own speed to a reasonable speed, thereby preventing collision with the front vehicle or the rear vehicle.
In combination with the above embodiment, in an implementation manner, when the safety distance condition is that the first vehicle distance is smaller than the first pre-warning distance and the second vehicle distance is not smaller than the second pre-warning distance, that is, the distance between the host vehicle and the front vehicle belongs to a dangerous distance range, and the distance between the host vehicle and the rear vehicle belongs to a normal distance range, the step S13 may include:
when the speed of the host vehicle is greater than the speed of the front vehicle and the speed of the front vehicle is greater than the speed of the rear vehicle, the speed of the host vehicle is adjusted to be a first speed which is not less than the speed of the rear vehicle and not greater than the speed of the front vehicle;
when the vehicle speed of the host vehicle is greater than the vehicle speed of the front vehicle and the vehicle speed of the front vehicle is less than the vehicle speed of the rear vehicle, the vehicle speed of the host vehicle is adjusted to be a second speed, and the second speed is the vehicle speed of the front vehicle.
In this embodiment, when the vehicle speed of the host vehicle is greater than the vehicle speed of the front vehicle, the host vehicle collides with the front vehicle with a high probability, so that the host vehicle needs to be decelerated, and if the vehicle speed of the front vehicle is not just less than the vehicle speed of the rear vehicle at this time, the vehicle speed of the host vehicle can be adjusted to a first speed (the vehicle speed of the rear vehicle < = the first speed < = the vehicle speed of the front vehicle), so that the host vehicle cannot collide with the front vehicle or the rear vehicle, and further the safe running of the vehicle is ensured.
In this embodiment, if the speed of the rear vehicle and the speed of the vehicle are both greater than the speed of the front vehicle, then the probability that the vehicle, the front vehicle and the rear vehicle will collide continuously is high, and then the speed of the vehicle is adjusted to a second speed (second speed=speed of the front vehicle) to ensure that the vehicle will not collide with the front vehicle, and then the speed of the vehicle is continuously adjusted according to the distance variation condition and the respective speed variation condition between the following vehicle and the rear vehicle in combination with the vehicle anti-collision method of the present application, thereby realizing anti-collision.
In this embodiment, when the distance between the host vehicle and the front vehicle belongs to the dangerous distance range and the distance between the host vehicle and the rear vehicle belongs to the normal distance range, the magnitude relation among the host vehicle speed, the front vehicle speed and the rear vehicle speed is comprehensively analyzed, and the host vehicle speed is adjusted to a reasonable speed according to different magnitude relations, so that collision with the front vehicle or the rear vehicle is avoided, and further safe running of the vehicle is ensured.
In combination with the above embodiment, in one implementation, after adjusting the vehicle speed of the host vehicle to the second speed, the method of the present application may further include:
determining collision reaction time according to the second vehicle distance, the second speed and the vehicle speed of the rear vehicle;
And under the condition that the collision reaction time is smaller than a preset time threshold value, controlling the host vehicle to flash a brake lamp so as to prompt the rear vehicle to decelerate.
In this embodiment, the collision reaction time may be determined based on the safety model of the collision time, and then the collision reaction time is compared with a preset time threshold to predict the probability of collision.
The core principle adopted by the safety model of collision time is as follows: collision reaction time = second vehicle distance/(rear vehicle speed-second vehicle speed). TCC at a collision reaction time less than a preset time threshold W When the vehicle is in a collision state, and the vehicle is in a collision state, so that the vehicle is in a collision state. TCC with preset time threshold W Is obtained according to the data statistics of the real response time of a large number of drivers.
If the collision reaction time is not less than the preset time threshold TCC W Indicating that the driver needs to react longer, i.e. the driver does not have enough reaction time to brake and avoid the collision, other strategies may be taken to avoid the collision, such as changing the lane in which the host vehicle is traveling.
In this embodiment, when the vehicle speed of the host vehicle is greater than the vehicle speed of the front vehicle and the vehicle speed of the front vehicle is less than the vehicle speed of the rear vehicle, whether the driver has enough reaction time to brake can also be detected, and when the driver determines that the driver has enough reaction time to brake, the host vehicle is controlled to flash the brake lamp so as to prompt the rear vehicle to slow down, thereby ensuring the safe running of the vehicle.
In combination with the above embodiment, in an implementation manner, the method of the present application may further include:
and under the condition that the speed of the vehicle is greater than the speed of the front vehicle and the speed of the rear vehicle is greater than the speed of the front vehicle, the lane change adjustment is carried out on the vehicle.
In this embodiment, when it is detected that the vehicle speed of the rear vehicle and the vehicle speed of the own vehicle are both greater than the vehicle speed of the front vehicle, another manner may be adopted to prevent collision, namely: the lane is changed.
In each embodiment of the present application, the mode of adjusting the vehicle speed of the host vehicle may be automatic adjustment of the vehicle control system, or may output corresponding early warning prompt information to remind the driver of adjustment, where the specific mode of adjusting the vehicle speed of the host vehicle is not limited.
In this embodiment, after the vehicle speed of the host vehicle is adjusted to the first speed or the second speed, a prompt that the adjustment corresponding to the first speed or the second speed is successful may be further output, so as to remind the user of paying attention to the situation of the vehicle on the same lane in real time.
In each embodiment of the present application, the lane changing manner may be automatic adjustment of the vehicle control system, or may output corresponding early warning prompt information to remind the driver of adjustment, and the specific manner of lane changing is not limited in this embodiment.
In this embodiment, after the lane change, a prompt of success of the lane change may also be output to remind the user to pay attention to the situation of the same-lane vehicle in real time.
To sum up, when the detected vehicle speed of the rear vehicle and the detected vehicle speed of the own vehicle are both greater than the vehicle speed of the front vehicle, the following modes can be adopted: the speed of the vehicle is adjusted to be the second speed, and a mode II can be adopted: the lane is changed, so that the vehicle can avoid collision in various modes, and the safe running of the vehicle is further ensured.
In combination with the above embodiment, in an implementation manner, when the safety distance condition is that the first vehicle distance is not less than the first pre-warning distance and the second vehicle distance is less than the second pre-warning distance, that is, the distance between the host vehicle and the front vehicle belongs to a normal distance range, and the distance between the host vehicle and the rear vehicle belongs to a dangerous distance range, the step S13 may include:
under the condition that the speed of the vehicle is smaller than the speed of the rear vehicle and the speed of the rear vehicle is not larger than the speed of the front vehicle, the speed of the vehicle is adjusted to be a third speed which is not smaller than the speed of the rear vehicle and not larger than the speed of the front vehicle;
when the vehicle speed of the host vehicle is smaller than the vehicle speed of the rear vehicle and the vehicle speed of the rear vehicle is larger than the vehicle speed of the front vehicle, the vehicle speed of the host vehicle is adjusted to be a fourth speed, and the fourth speed is determined by the following formula (1):
V＝(S 10 V 2 + S 02 V 1 )/(S 10 + S 02 ) (1)
Wherein V represents the fourth speed, V 1 Representing the speed of the front vehicle, V 2 Represents the speed of the rear vehicle S 10 Represents a first distance S 02 Representing a second distance.
In this embodiment, when the vehicle speed of the host vehicle is smaller than the vehicle speed of the rear vehicle, the host vehicle collides with the rear vehicle with a high probability, so that the host vehicle needs to accelerate, and if the vehicle speed of the rear vehicle is just smaller than the vehicle speed of the front vehicle at this time, the vehicle speed of the host vehicle can be adjusted to a third speed (the vehicle speed of the rear vehicle < = the third speed < = the vehicle speed of the front vehicle), so that the host vehicle does not collide with the front vehicle or the rear vehicle, and the safe running of the vehicle is ensured.
In this embodiment, if the speed of the front vehicle and the speed of the host vehicle are both less than the speed of the rear vehicle, then the host vehicle, the front vehicle and the rear vehicle will collide continuously with a large probability, and then the fourth speed can be determined according to the formula (1), and then the speed of the host vehicle is adjusted to the fourth speed, so as to ensure that the host vehicle will not collide with the front vehicle or the rear vehicle.
In this embodiment, when the distance between the host vehicle and the front vehicle belongs to the normal distance range and the distance between the host vehicle and the rear vehicle belongs to the dangerous distance range, the magnitude relation among the host vehicle speed, the front vehicle speed and the rear vehicle speed is comprehensively analyzed, and the host vehicle speed is adjusted to a reasonable speed according to different magnitude relations, so that collision with the front vehicle or the rear vehicle is avoided, and further safe running of the vehicle is ensured.
In combination with the above embodiment, in one implementation, when it is detected that the vehicle speed of the front vehicle and the vehicle speed of the host vehicle are both smaller than the vehicle speed of the rear vehicle, collision may be avoided as follows:
the flashing brake lamp of the vehicle is controlled to prompt the rear vehicle to decelerate; or alternatively
And (5) carrying out lane change adjustment on the vehicle.
To sum up, in this embodiment, when it is detected that the front vehicle speed and the vehicle speed of the host vehicle are both smaller than the rear vehicle speed, a mode one may be adopted: the flashing brake lamp of the vehicle is controlled to prompt the rear vehicle to decelerate; mode two may also be employed: the lane change adjustment is carried out on the vehicle; mode three may also be employed: the host vehicle speed is adjusted to a fourth speed (see the foregoing embodiment for specific details). In the specific implementation, any one of the above three modes may be arbitrarily selected, and this embodiment is not particularly limited.
In this embodiment, after the vehicle speed of the host vehicle is adjusted to the third speed or the fourth speed, a prompt that the adjustment corresponding to the third speed or the fourth speed is successful may be further output, so as to remind the user of paying attention to the situation of the vehicle on the same lane in real time.
In this embodiment, for the case where the vehicle speed of the front vehicle and the vehicle speed of the own vehicle are both smaller than the vehicle speed of the rear vehicle, various ways are provided to avoid collision, thereby ensuring safe running of the vehicle.
In combination with the above embodiment, in an implementation manner, the present application further provides a method for acquiring the first early warning distance and the second early warning distance. The first pre-warning distance can be obtained through the following formula (2), and the second pre-warning distance can be obtained through the following formula (3).
R w1 ＝D 10 +S 0 -S 1 (2)
R w2 ＝D 02 +S 2 -S 0 (3)
Wherein R is w1 Represents a first early warning distance, R w2 Represents a second early warning distance D 10 Representing the relative distance between the emergency brake of the vehicle and the front vehicle to be stationary, D 02 Representing the relative distance between the vehicle and the rear vehicle when the emergency brake is stopped, S 0 Represents the braking distance when the vehicle is braked emergently, S 1 Represents the braking distance when the front vehicle is braked emergently, S 2 Indicating the braking distance when the rear vehicle is braked emergently.
Wherein D (including D 10 And D 02 ) For the relative distance between emergency braking and rest of two vehicles, generally 3-5m, D 10 And D 02 The specific value of (2) can be set according to the actual requirement.
Specifically S 0 ＝V 0 2 /2a 0 ，S 1 ＝V 1 2 /2a 1 ，S 2 ＝V 2 2 /2a 2 。
Wherein V is 0 For the speed of the host vehicle, V 1 For the speed of the front vehicle, V 2 Is the speed of the rear vehicle. a, a 0 Is the host vehicleAcceleration during braking, a 1 Acceleration a when front car is braked 2 Is the acceleration of the rear vehicle during braking.
In the specific implementation process, a 0 、a 1 A) 2 The determination may be made in any manner, which is not particularly limited in this embodiment.
In one embodiment, a 0 、a 1 A) 2 Can be determined using the following equation (4):
a i ＝ μ i gcosθ i +gsinθ i (4)
wherein θ is the inclination angle of the road, the uphill is positive, the downhill is negative, μ is the real-time road adhesion coefficient, g is the gravitational acceleration. The μ and θ corresponding to different vehicles in the driving process can be obtained in any mode, and the method for obtaining the inclination angle of the road and the real-time road adhesion coefficient in this embodiment is not particularly limited.
In one embodiment, the vehicle, the front vehicle and the rear vehicle may adopt the acceleration a (generally, the acceleration of the vehicle during braking, which is calculated according to the inclination angle of the road and the real-time road adhesion coefficient during driving of the vehicle), i.e. the differences between the inclination angle of the road and the real-time road adhesion coefficient of different vehicles are not considered, so that the calculation process of the anti-collision prediction is simplified, and the anti-collision prediction efficiency is improved.
In combination with the above embodiment, in an implementation manner, the method of the present application may further include:
and under the condition that the first vehicle distance is smaller than the first early warning distance and the second vehicle distance is smaller than the second early warning distance, the lane change adjustment is carried out on the vehicle.
In the application, the vehicle detects whether the first vehicle distance is smaller than the first early warning distance and the second vehicle distance is smaller than the second early warning distance in real time, once the first vehicle distance is smaller than the first early warning distance and the second vehicle distance is smaller than the second early warning distance, the distance between the vehicle and the front vehicle and the distance between the vehicle and the rear vehicle are determined to be in dangerous distance ranges, and at the moment, the vehicle immediately changes the road to prevent collision with the front vehicle or the rear vehicle. The immediate lane change refers to stopping the execution process of adjusting the vehicle speed of the host vehicle according to the vehicle speed of the host vehicle, the vehicle speed of the front vehicle, the vehicle speed of the rear vehicle, and the like in the previous embodiment, and immediately changing the lane.
Fig. 2 is a schematic diagram of a vehicle collision avoidance method according to an embodiment of the present application. In connection with the above embodiments and fig. 2, the following describes in detail the anti-collision method of the present application in one specific embodiment:
when the vehicle normally runs on the lane, whether other vehicles run on the same lane or not is determined based on technologies such as GPS or RSSI. If it is determined that other vehicles in front and behind the vehicle run on the same lane, the vehicle collision early warning system is immediately started. When the vehicle collision early warning system works, the vehicle speed V of the vehicle is obtained through the TCU or the VCU 0 The vehicle speed V of the nearest preceding vehicle is obtained through the radar system of the front and the rear of the vehicle 1 Vehicle speed V of nearest rear vehicle 2 Distance S between front vehicle and host vehicle 10 Distance S between rear vehicle and own vehicle 02 。
Then, the vehicle collision early warning system calculates a braking distance S when the vehicle is braked emergently 0 ＝V 0 2 /2a 0 Braking distance S during emergency braking of front vehicle 1 ＝V 1 2 /2a 1 Braking distance S during emergency braking of rear vehicle 2 ＝V 2 2 /2a 2 。a 0 、a 1 A) 2 Reference is made to the foregoing.
Then, the vehicle collision early warning system calculates a first early warning distance R between the vehicle and the front vehicle w1 ＝R w1 ＝D 10 +S 0 -S 1 ＝D 10 +V 0 2 /2a 0 -V 1 2 /2a 1 Calculating a second early warning distance R between the vehicle and the rear vehicle w2 ＝D 02 +S 2 -S 0 ＝D 02 +V 2 2 /2a 2 -V 0 2 /2a 0 。
Then, the vehicle collision warning system makes the following judgment:
(1) When S is 10 <R w1 And S is 02 <R w2 And monitoring the lateral lane and controlling the lane change of the vehicle.
(2) When S is 10 <R w1 And S is 02 >＝R w2 ：
1) If V 0 <＝V 1 The method indicates that the vehicle and the front vehicle have no collision risk and are not processed.
2) If V 0 >V 1 The collision risk of the vehicle and the front vehicle is shown, the vehicle needs to accelerate, and further judgment is carried out:
at V 1 >＝V 2 At the time, the speed V of the vehicle 0 Adjusted to a first speed, V 2 <=first speed<＝V 1 ；
At V 1 <V 2 At the time, the speed V of the vehicle 0 Adjusted to a second speed, second speed=v 1 。
In the (2) point, the vehicle speed V of the vehicle is set to 0 After adjusting to the second speed, the following method may also be performed: according to the formula t=s 02 /(V 2 -V 1 ) Calculating the collision reaction time T, if<TCC with preset time threshold W The flashing brake lamp of the vehicle is controlled to prompt the rear vehicle to decelerate if the collision reaction time T>Tcc=preset time threshold W And controlling the vehicle to change the lane.
Alternatively, in the point 2) in the above (2), at V 1 <V 2 The following method may also be performed: the vehicle is controlled to change lanes without executing the vehicle speed V 0 And adjusting to a second speed.
(3) When S is 10 >＝R w1 And S is 02 <R w2 ：
1) If V 0 >＝V 2 The method indicates that the vehicle and the rear vehicle have no collision risk and are not processed.
2) If V 0 <V 2 The collision risk of the vehicle and the rear vehicle is shown, the vehicle needs to accelerate, and further judgment is carried out:
At V 2 <＝V 1 At the time, the speed V of the vehicle 0 Is adjusted to a third speed, V 2 <=third speed<＝V 1 。
At V 2 >V 1 At this time, according to formula v= (S 10 V 2 +S 02 V 1 )/(S 10 +S 02 ) Calculating a fourth speed V and setting the vehicle speed V 0 And adjusting to a fourth speed.
In the (3) above, at the (2) th point, the host vehicle speed V 0 After adjusting to the fourth speed, the following method may also be performed: the flashing brake lamp of the vehicle is controlled to prompt the rear vehicle to decelerate; or the lane change adjustment is carried out on the vehicle.
In the above implementation, if S is performed 10 <R w1 And S is 02 >＝R w2 Corresponding procedure or S 10 >＝R w1 And S is 02 <R w2 S is detected in the process of the corresponding program 10 <R w1 And S is 02 <R w2 Immediate lane change (no longer execute S 10 <R w1 And S is 02 >＝R w2 Corresponding procedure or S 10 >＝R w1 And S is 02 <R w2 Corresponding program) to prevent collision with a preceding vehicle or a following vehicle. Namely S 10 <R w1 And S is 02 <R w2 The priority of the corresponding program is greater than S 10 <R w1 And S is 02 >＝R w2 Corresponding procedure or S 10 >＝R w1 And S is 02 <R w2 Priority of the corresponding program.
In this embodiment, when the distance between the host vehicle and the front vehicle belongs to the dangerous distance range and the distance between the host vehicle and the rear vehicle belongs to the normal distance range, or when the distance between the host vehicle and the front vehicle belongs to the normal distance range and the distance between the host vehicle and the rear vehicle belongs to the dangerous distance range, the host vehicle comprehensively analyzes the own speed, the front vehicle speed and the rear vehicle speed, and adjusts the own speed to a reasonable speed, thereby preventing collision with the front vehicle or the rear vehicle.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments and that the acts referred to are not necessarily required by the embodiments of the present application.
Based on the same inventive concept, an embodiment of the present application provides a vehicle collision preventing apparatus 300. The vehicle collision avoidance device 300 is installed in the host vehicle for performing the vehicle collision avoidance method of the present application. Referring to fig. 3, fig. 3 is a block diagram illustrating a vehicle anti-collision device according to an embodiment of the present application. As shown in fig. 3, the apparatus 300 includes:
an acquisition module 301 for acquiring a first inter-vehicle distance between the host vehicle and a preceding vehicle that is forward in the traveling direction and a second inter-vehicle distance between the host vehicle and a following vehicle that is backward in the traveling direction;
an obtaining module 302, configured to obtain a host vehicle speed, a front vehicle speed, and a rear vehicle speed when the first vehicle distance and the second vehicle distance meet a set safe distance condition;
The first adjusting module 303 is configured to adjust the vehicle speed of the host vehicle according to the vehicle speed of the host vehicle, the vehicle speed of the front vehicle, and the vehicle speed of the rear vehicle.
Optionally, the safety distance condition is that the first vehicle distance is smaller than a first early warning distance and the second vehicle distance is not smaller than a second early warning distance; the first adjustment module 303 includes:
the first adjusting sub-module is used for adjusting the vehicle speed of the vehicle to be a first speed which is not less than the vehicle speed of the rear vehicle and not more than the vehicle speed of the front vehicle under the condition that the vehicle speed of the vehicle is greater than the vehicle speed of the front vehicle and not less than the vehicle speed of the rear vehicle;
the second adjusting sub-module is used for adjusting the speed of the vehicle to a second speed when the speed of the vehicle is larger than the speed of the front vehicle and the speed of the front vehicle is smaller than the speed of the rear vehicle, and the second speed is the speed of the front vehicle.
Optionally, the apparatus 300 further includes:
the determining module is used for determining collision reaction time according to the second vehicle distance, the second speed and the rear vehicle speed;
and the first control module is used for controlling the host vehicle to flash the brake lamp under the condition that the collision reaction time is smaller than a preset time threshold value so as to prompt the rear vehicle to decelerate.
Optionally, the apparatus 300 further includes:
the second adjusting module is used for carrying out lane changing adjustment on the host vehicle under the condition that the host vehicle speed is greater than the front vehicle speed and the rear vehicle speed is greater than the front vehicle speed.
Optionally, the safety distance condition is that the first distance is not less than the first pre-warning distance and the second distance is less than the second pre-warning distance, and the first adjusting module 303 includes:
a third adjustment sub-module, configured to adjust the host vehicle speed to a third speed, where the host vehicle speed is less than the rear vehicle speed and the rear vehicle speed is not greater than the front vehicle speed, and the third speed is not less than the rear vehicle speed and not greater than the front vehicle speed;
a fourth adjustment sub-module, configured to adjust the vehicle speed to a fourth speed when the vehicle speed is less than the rear vehicle speed and the rear vehicle speed is greater than the front vehicle speed, where the fourth speed is determined by the following formula (1):
V＝(S 10 V 2 + S 02 V 1 )/(S 10 + S 02 ) (1)
wherein V represents the fourth speed, V 1 Representing the speed of the front vehicle, V 2 Represents the speed of the rear vehicle S 10 Representing the first distance S 02 Representing the second distance.
Optionally, the apparatus 300 further includes:
the second control module is used for controlling the host vehicle to flash a brake lamp so as to prompt the rear vehicle to decelerate; or alternatively
And the third adjusting module is used for carrying out lane change adjustment on the vehicle.
Optionally, the first pre-warning distance is determined by the following formula (2), and the second pre-warning distance is determined by the following formula (3):
R w1 ＝D 10 +S 0 -S 1 (2)
R w2 ＝D 02 +S 2 -S 0 (3)
wherein R is w1 Representing the first early warning distance, R w2 Representing the second early warning distance D 10 Representing the relative distance between the vehicle and the front vehicle when the emergency brake is stopped, D 02 Representing the relative distance between the vehicle and the rear vehicle when the emergency brake is stopped, S 0 Represents the braking distance when the vehicle is braked emergently, S 1 Represents the braking distance when the front vehicle is braked emergently, S 2 And the braking distance when the rear vehicle is braked emergently is represented.
Optionally, the apparatus 300 further includes:
and the fourth adjusting module is used for carrying out lane change adjustment on the vehicle under the condition that the first vehicle distance is smaller than the first early warning distance and the second vehicle distance is smaller than the second early warning distance.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The embodiment of the application also provides electronic equipment. Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 4, the electronic device 400 includes:
a processor 401;
a memory 402 for storing the processor-executable instructions;
wherein the processor 401 is configured to execute to implement a vehicle collision avoidance method according to an embodiment of the present application.
The electronic device may be, for example, a central control system of a vehicle, or other devices having a vehicle control function mounted on the vehicle.
The embodiment of the application also provides a non-transitory computer readable storage medium, which enables the electronic device to execute the method for preventing the vehicle from collision when the instructions in the storage medium are executed by the processor of the electronic device.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 processor, 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. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A vehicle collision avoidance method for use with a host vehicle, the method comprising:
Collecting a first vehicle distance between the vehicle and a front vehicle which is ahead in the running direction and a second vehicle distance between the vehicle and a rear vehicle which is behind in the running direction;
when the first vehicle distance and the second vehicle distance meet the set safe distance condition, acquiring the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle;
and adjusting the speed of the vehicle according to the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle.
2. The method of claim 1, wherein the safe distance condition is that the first distance is less than a first warning distance and the second distance is not less than a second warning distance; the adjusting the vehicle speed according to the vehicle speed of the vehicle, the vehicle speed of the front vehicle and the vehicle speed of the rear vehicle comprises the following steps:
when the vehicle speed of the host vehicle is greater than the vehicle speed of the front vehicle and the vehicle speed of the front vehicle is not less than the vehicle speed of the rear vehicle, the vehicle speed of the host vehicle is adjusted to be a first speed which is not less than the vehicle speed of the rear vehicle and not greater than the vehicle speed of the front vehicle;
and when the vehicle speed of the vehicle is greater than the vehicle speed of the front vehicle and the vehicle speed of the front vehicle is less than the vehicle speed of the rear vehicle, adjusting the vehicle speed of the vehicle to a second speed, wherein the second speed is the vehicle speed of the front vehicle.
3. The method according to claim 2, wherein after said adjusting the host vehicle speed to a second speed, the method further comprises:
determining collision reaction time according to the second vehicle distance, the second speed and the rear vehicle speed;
and under the condition that the collision reaction time is smaller than a preset time threshold, controlling the host vehicle to flash a brake lamp so as to prompt the rear vehicle to decelerate.
4. The method of claim 1, wherein the safe distance condition is that the first headway is not less than the first warning distance and the second headway is less than the second warning distance; the adjusting the vehicle speed according to the vehicle speed of the vehicle, the vehicle speed of the front vehicle and the vehicle speed of the rear vehicle comprises the following steps:
when the vehicle speed of the host vehicle is smaller than the vehicle speed of the rear vehicle and the vehicle speed of the rear vehicle is not larger than the vehicle speed of the front vehicle, the vehicle speed of the host vehicle is adjusted to be a third speed which is not smaller than the vehicle speed of the rear vehicle and not larger than the vehicle speed of the front vehicle;
when the host vehicle speed is smaller than the rear vehicle speed and the rear vehicle speed is larger than the front vehicle speed, the host vehicle speed is adjusted to a fourth speed, and the fourth speed is determined by the following formula (1):
V＝(S 10 V 2 + S 02 V 1 )/(S 10 + S 02 ) (1)
Wherein V represents the fourth speed, V 1 Representing the speed of the front vehicle, V 2 Represents the speed of the rear vehicle S 10 Representing the first distance S 02 Representing the second distance.
5. The method according to claim 4, wherein in a case where the host vehicle speed is less than the rear vehicle speed and the rear vehicle speed is greater than the front vehicle speed, the method further comprises:
controlling the host vehicle to flash a brake lamp so as to prompt the rear vehicle to decelerate; or alternatively
And carrying out lane change adjustment on the vehicle.
6. The method of any one of claims 2-5, wherein the first warning distance is determined by the following formula (2) and the second warning distance is determined by the following formula (3):
R w1 ＝D 10 +S 0 -S 1 (2)
R w2 ＝D 02 +S 2 -S 0 (3)
wherein R is w1 Representing the first early warning distance, R w2 Representing the second early warning distance D 10 Representing the relative distance between the vehicle and the front vehicle when the emergency brake is stopped, D 02 Representing the relative distance between the vehicle and the rear vehicle when the emergency brake is stopped, S 0 Represents the braking distance when the vehicle is braked emergently, S 1 Represents the braking distance when the front vehicle is braked emergently, S 2 And the braking distance when the rear vehicle is braked emergently is represented.
7. The method according to any one of claims 2-5, further comprising:
and under the condition that the first vehicle distance is smaller than the first early warning distance and the second vehicle distance is smaller than the second early warning distance, lane changing adjustment is carried out on the vehicle.
8. A vehicle collision preventing apparatus, characterized by comprising:
the acquisition module is used for acquiring a first vehicle distance between the vehicle and a front vehicle which is ahead in the running direction and a second vehicle distance between the vehicle and a rear vehicle which is behind in the running direction;
the acquisition module is used for acquiring the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle when the first vehicle distance and the second vehicle distance meet the set safe distance condition;
the first adjusting module is used for adjusting the speed of the vehicle according to the speed of the vehicle, the speed of the front vehicle and the speed of the rear vehicle.
9. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute to implement the vehicle collision avoidance method of any of claims 1 to 7.
10. A non-transitory computer readable storage medium, which when executed by a processor of an electronic device, causes the electronic device to perform implementing the vehicle collision avoidance method of any of claims 1 to 7.
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| CN202311714401.9A CN117485331A (en) | 2023-12-12 | 2023-12-12 | Anti-collision method and device for vehicle, electronic equipment and storage medium |
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| CN202311714401.9A CN117485331A (en) | 2023-12-12 | 2023-12-12 | Anti-collision method and device for vehicle, electronic equipment and storage medium |
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