WO2019197864A1 - 一种用于车辆的防撞方法和系统 - Google Patents

一种用于车辆的防撞方法和系统 Download PDF

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Publication number
WO2019197864A1
WO2019197864A1 PCT/IB2018/001595 IB2018001595W WO2019197864A1 WO 2019197864 A1 WO2019197864 A1 WO 2019197864A1 IB 2018001595 W IB2018001595 W IB 2018001595W WO 2019197864 A1 WO2019197864 A1 WO 2019197864A1
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Prior art keywords
vehicle
emergency braking
speed
automatic emergency
braking system
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PCT/IB2018/001595
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English (en)
French (fr)
Inventor
陈勇
陆芸
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Volkswagen AG
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Volkswagen AG
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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles

Definitions

  • the present invention relates to the field of automobiles, and more particularly to an anti-collision method and system for risk warning and evasion of vehicle rear-end collisions.
  • AEB Automatic Emergency Brake
  • the AEB system uses radar to measure the distance from the preceding vehicle or obstacles, and then uses the data analysis module to measure the distance and the distance between the police and the police. In comparison, when the alarm distance is less than the alarm distance, the alarm is displayed. When the driver is less than the safety distance, even if the driver does not have time to step on the brake pedal, the AEB system will be activated to automatically brake the vehicle, thus ensuring travel safety.
  • AEB systems are usually installed in small cars, while large cars (such as trucks, trucks, buses) are generally not equipped with AEB systems.
  • various vehicles equipped with AEB systems and without AEB systems will coexist for a long time.
  • the problem in reality is that if the car equipped with the AEB system is suddenly braked due to the road ahead, other vehicles that are not equipped with the AEB system are likely to react. It is not possible (especially when the car is overloaded and the brake system fails. , or driver fatigue / distracted driving), the resulting rear-end collision is more serious than without AEB technology.
  • the present invention provides a collision avoidance method and system for a vehicle, the purpose of which is to avoid the risk of the vehicle being rear-ended by the rear brake due to emergency braking due to the forward road conditions.
  • An anti-collision method for a vehicle includes: obtaining vehicle information of a front vehicle and a rear vehicle; and obtaining vehicle information of the front and rear vehicles obtained by the loss, issuing an early warning and limiting the vehicle Start its self-robbery emergency braking system.
  • the obtained vehicle information of the front and rear vehicles includes the speed of the preceding vehicle, the distance between the vehicle and the preceding vehicle, the speed of the rear vehicle, and the distance between the vehicle and the following vehicle.
  • the time required for the vehicle to touch the preceding vehicle is calculated; according to the speed of the handle
  • the obtained speed of the rear vehicle and the distance between the vehicle and the rear vehicle are calculated as the time required for the vehicle to touch the rear vehicle.
  • the time required for the vehicle to touch the rear vehicle is less than or equal to the time required for the annual vehicle to touch the preceding vehicle and the time required for the vehicle to touch the preceding vehicle is less than or equal to the vehicle starting its When the time of the automatic emergency braking system is automatic, there is a risk that the rear vehicle will hit the vehicle.
  • issuing an early warning includes issuing an early warning to the driver of the vehicle and issuing an early warning to other vehicles around the abundance vehicle.
  • restricting the vehicle from starting its automatic emergency braking system includes ramping up or stopping the activation of the automatic emergency braking system of the vehicle.
  • vehicle information of the front and rear vehicles is obtained by sensors and radars provided on the vehicle.
  • the method further comprises: when it is found that there is a risk that the vehicle will hit the vehicle after the presence, the vehicle finds a possible avoidance scheme according to the sensor and the radar disposed thereon and pushes the best avoidance to the driver.
  • An anti-collision system for a vehicle for performing the anti-collision method for a vehicle according to an embodiment of the present invention.
  • the solution of the embodiment of the present invention can make an early warning and limit the vehicle to start its automatic emergency braking system when the vehicle needs emergency braking while the vehicle is in emergency braking.
  • the rear vehicle (especially the vehicle without the automatic emergency braking system) failed to respond to the vehicle.
  • FIG. 1 is a schematic view of a vehicle traveling on a road in accordance with an embodiment of the present invention.
  • FIG. 2 is a flow chart of a collision avoidance method for a vehicle according to an embodiment of the present invention. detailed description
  • FIG. 1 is a schematic view of a vehicle traveling on a road in accordance with an embodiment of the present invention.
  • the vehicle 1 equipped with the Automatic Emergency Brake (ABB) system travels on the road, and the start time of the automatic emergency braking system of the vehicle 1 is preset at the factory.
  • the front vehicle 0 is traveling in front of the vehicle 1, for example, a small car, and the rear vehicle 2, such as a large truck, is driving behind the Zhuo 1 vehicle.
  • ABB Automatic Emergency Brake
  • the vehicle 1 will judge according to the vehicle information of the preceding vehicle 0 and the following vehicle 2, and the risk that the vehicle 2 will hit the vehicle 1 when it is found to exist. At the time, an alert is issued to the driver of the vehicle 1. Further, an early warning is issued to other vehicles around the vehicle 1, such as the rear vehicle 2 and/or the preceding vehicle 0, to alert the driver.
  • the sensors and radars provided on the vehicle 1 obtain vehicle information of the preceding vehicle 0 and the following vehicle 2.
  • the obtained vehicle information of the preceding vehicle 0 and the rear vehicle 2 includes the speed V 0 of the preceding vehicle 0, the distance ⁇ between the vehicle 1 and the preceding vehicle 0, the speed V 2 of the rear vehicle 2 , and the distance M between the vehicle 1 and the rear boom 2 2 .
  • the time required for the vehicle 1 to touch the preceding vehicle 0 is calculated, that is, Atp Ad, / (V, -V 0 ); according to the speed V of the vehicle 1, the obtained speed V 2 of the rear vehicle 2 and the distance Ad 2 between the vehicle 1 and the following vehicle, the required amount of the vehicle 1 to touch the rear vehicle 2 is calculated.
  • Time, ie At 2 Ad 2 /(V 2 -V,) o
  • the vehicle 1 When it is found that there is a risk that the rear vehicle 2 will hit the vehicle 1, the vehicle 1 will restrict the vehicle 1 from starting its automatic emergency braking system in addition to the warning as described above, for example, slowing down or stopping the automatic emergency system of the vehicle 1. Start the system.
  • the vehicle 1 can find a possible avoidance scheme or other lane change scheme based on the sensors and radars disposed thereon, and push the best to the driver.
  • the avoidance scheme, or the driver's own decision to drive the route can be found.
  • FIG. 2 is a flow chart of a collision avoidance method for a vehicle according to an embodiment of the present invention.
  • the vehicle obtains the vehicle information of the front and the rear vehicles during the driving process.
  • the current vehicle is in emergency braking and needs emergency braking at the same time, it is determined whether there is a risk that the rear vehicle will hit the vehicle. If there is such a risk, the vehicle issues an early warning and limits the activation of its own automatic emergency braking system.
  • the present invention enables the vehicle to issue an early warning when the vehicle is in emergency braking due to the emergency braking of the preceding vehicle, and if the vehicle is started, its automatic emergency braking system is activated to avoid the rear vehicle (especially without configuration). The vehicle with automatic emergency braking system crashed into the vehicle without responding. Further, according to the present invention, it is also possible to push the best avoidance scheme to the driver, or to directly determine the travel route by the driver.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

本发明涉及一种用于车辆的防撞方法和系统，该方法包括：获得前车和后车的车辆信息；以及根据所获得的前车和后车的车辆信息，发出预警并限制所述车辆启动其自动紧急制动系统。该方法和系统可避免车辆由于因前方路况而紧急刹车导致被后车追尾的风险。

Description

一种用于车辆的防撞方法和系统 技术领域
本发明涉及汽车领域，尤其涉及一种用于车辆追尾碰撞的风险预 警和规避的防撞方法和系统。 技术背景
自动紧急制动 （AEB）是一种汽车驾驶辅助技术， AEB 系统采 用雷达测出与前车或者障碍物的距离，然后利用数据分析模块将测出 的距离与警招 J巨离、安全距离进行比较， 小于警报距离时就进行贅报 提示，而小于安全距离时即使在驾驶员没有来得及踩制动踏板的情况 下， AEB系统也会启动， 使汽车自动制动， 从而保障出行安全。
目前在中国， AEB系统通常安装在小轿车， 而大车 （例如卡车， 货车， 大巴车）普遍不安装 AEB系统。 事实上， 在很长一段时间内， 安装有 AEB系统以及没有安装 AEB系统的各种车辆将长期共存。这 在现实中所带来的问题是， 配置有 AEB系统的小轿车如果因前方路 况而紧急刹车， 其他没有配置 AEB系统的车辆很可能反应 .不及（特 别是当大车超载， 出现刹车系统故障， 或司机疲劳 /分心驾驶时）， 由 此所造成的追尾事故比没有采用 AEB技术下更为严重。 发明内容
为了解决上述问题，本发明提供了一种用于车辆的防撞方法和系 统， 目的在于避免车辆由于因前方路况而紧急刹车导致被后车追尾的 风险。
按照本发明实施例的一种用于车辆的防撞方法， 包括： 获得前车 和后车的车辆信息； 以及损据所获得的前丰和后车的车辆信息， 发出 预警并限制所述车辆启动其自劫紧急制动系统。
其中， 根据所获得的前车和后车的车辆信息， 当发现存在后车会 撞上所述车辆的风险时，发出预警并限制所述车辆启动其自动紧急制 劫系统。
其中， 所获得的前车和后车的车辆信息包括前车的速度， 所述车 辆与前车的距离， 后车的速度， 以及所述车辆与后车的距离。
其中， 根据所述车辆的速度， 所获得的前车的速度以及所述车辆 与前车的距离， 计算出所述车辆触碰到前车所需的时间； 根据所述牟 柄的速度， 所获得的后车的速度以及所述车辆与后车的距离， 计算出 所述车辆触碰到后车所需的时间。
其中， 当所述车辆触碰到后车所需的时间小于等于所述年辆触碰 到前车所需的时间且所述车辆触碰到前车所需的时间小于等于所述 车辆启动其自动紧急制动系统的时间时，存在后车会撞上所述车辆的 风险。
其中， 发出预警包括向所述车辆的驾驶员发出预警， 以及向所述 丰辆周围的其他车辆发出预警。
其中，限制所述车辆启动其自动紧急制动系统包括咸缓或停止所 述车辆的自动紧急制动系统的启动。
其中，通过设置在所述车辆上的传感器和雷达来获得前车和后车 的车辆信息。
其中， 所述方法还包括： 当发现存在后车会撞上所述车辆的风险 时， 所述车辆根据设置在其上的传感器和雷达， 发现可能的避让方案 并向驾驶员推送最佳的避让方案，或者直接由驾驶员自行决定行驶路 线。
按照本发明实施例的一种用于车辆的防撞系统，用于执行所述的 用于车辆的防撞方法。
从以上的描述可以看出，本发明实施例的方案可使车辆在行驶过 程中因前车紧急刹车而同时需要紧急刹车时，发出预警并限制该车辆 启动其自动紧急制动系统， 以.免后车（尤其是没有配置自动紧急制动 系统的车辆）反应不及而撞上该车辆。 进一步地， 还可向驾驶员推送 _ 最佳的避让方案， 或者直接由驾驶员自行决定行驶路线。 附图说明 f
本发明的特点、特征、优点和益处通过以下结合附图的详细描述 将变得更加显而易见。 其中：
图 1是根据本发明实施例的车辆在道路上行驶的示意图。
图 2是根据本发明实施例的用于车辆的防撞方法的流程图。 具体实施方式
下面， 将结合附图详细描述本发明实施例。
图 1是根据本发明实施例的车辆在道路上行驶的示意图。 如图 1 所示， 安装有自动紧急制动 ( AEB ) 系统的车辆 1在道路上行驶， 车 辆 1的自动紧急制动系统的启动时间 MAEB是出厂时所预设的。从图 1 可以看出， 在车辆 1的前方正行驶着前车 0， 例如小轿车， 在卓辆 1 的后方正行驶着后车 2, 例如大货车。
在行驶过程中， 当前车 0紧急减速或刹丰时， 车辆 1会根据其所 获得的前车 0和后车 2的车辆信息进行判断，.当发现存在后车 2会撞 上车辆 1的风险时， 向车辆 1的驾驶员发出预警。 进一步地， 向车辆 1周围的其他车辆 (例如后车 2和 /或前车 0 )发出预警， 以提醒驾驶 员进行注意。
具体而言， 设置在车辆 1上的传感器和雷达获得前车 0和后车 2 的车辆信息。所获得的前车 0和后车 2的车辆信息包括前车 0的速度 V0, 车辆 1与前车 0的距离△ , 后车 2的速度 V2, 以及车辆 1与后 丰 2的距离 M2。
根据丰辆 1的速度 VP 所获得的前车 0的速度 VQ以及车辆 1与 前车 0的距离 Ad,，计算出车辆 1触碰到前车 0所需的时间，即 Atp Ad, /(V,-V0)；根据车辆 1的速度 V,， 所获得的后车 2的速度 V2以及车辆 1与后车的距离 Ad2, 计算出车辆 1触碰到后车 2所需的时间， 即 At2= Ad2/(V2-V,)o
当车辆 1触碰到后车 2所需的时间 At2小于等于车辆 1触蘿到前 丰 0所需的时间 At,且车辆 1触碰到前车 0所需的时间 At,小于等于车 辆 1启动其自动紧急制动系统的时间 AtAEB时，即当 At2< At, < AtAEB时， 便存在 车 2会撞上年辆 1的风险。
当发现存在上述后车 2会撞上车辆 1的风险时，车辆 1除了如上 所述发出预警之外， 还会限制车辆 1启动其自动紧急制动系统， 例如 减缓或停止车辆 1的自动紧急制动系统的启动。
可选择地， 当发现存在后车 2会撞上车辆 1的风险时， 车辆 1可 以根据设置在其上的传感器和雷达，发现可能的避让方案或其他变道 方案， 并向驾驶员推送最佳的避让方案， 或者直接由驾驶员自行决定 行驶路线。
图 2是根据本发明实施例的用于车辆的防撞方法的流程图。如图 2所示， 车辆 （本车）在行驶过程中， 获得前车和后车的车辆信息， 当前车紧急刹车而同时需要紧急刹车时，判断是否存在后车会撞上本 车的风险, 如果存在这种风险， 那么本车发出预警并限制启动其自身 的自动紧急制动系统。
由此可以看出，本发明能使车辆在行驶过程中因前车紧急刹车而 同时需要紧急刹车时， 发出预警并 If制本车启动其自动紧急制动系 统， 以免后车（尤其是没有配置自动紧急制动系纟 的车辆）反应不及 而撞上本车。 进一步地， 根据本发明， 还可向驾驶员推送最佳的避让 方案， 或考直接由驾驶员自行决定行驶路线。
本领域技术人员应当理解，以上公开的各个实施例可以在不偏离 发明实质的情况下做出各种修改和变形，这些修改和变形都应当落入 本发明的保护范围之内， 并且， 本发明的保护范围应当由权利要求书 来限定。

Claims

权利要求书
1、 一种用于车辆的防撞方法， 包括：
获得前车和后车的车辆信息； 以及
根据所获得的前车和后车的车辆信息，发出预警并限制所述车辆 启动其自动紧急制动系统。
2、 如权利要求 1所述的方法， 其中， 根据所获得的前车和后车 的车钙信息， 当发现存在后车会撞上所述车辆的凤险时， 发出预警并 限制所述车辆启动其自动紧急制动系统。
3、 如权利要求 2所述的方法， 其中， 所获得的前车和后车的车 辆信息包括前车的速度， 所述车辆与前车的距离， 后牟的速度， 以及 所述车辆与后车的距离。
4、 如权利要求 3所述的方法， 其中， 根据所述车辆的速度， 所 获得的前车的速度以及所述车辆与前车的距离，计算出所述车辆触碰 到前车所需的时间； 根据所述车辆的速度， 所获得的后车的速度以及 ^ 所述车辆与后车的距离， 计算出所述车辆触經到后车所需的时间。
5、 如权利要求 4所述的方法， 其中， 当所述丰辆触碰到后车所 需的时间小于等于所述车辆触碰到前车所需的时间且所述车辆触碰 到前车所需的时间小子等于所述车辆启动其自动紧急制动系统的时 间时， 存在后车会撞上所述车辆的风险。
6、 如权利要求 1所述的方法， 其中， 发出预警包括向所述车辆 的驾驶员发出预警， 以及向所述车辆周围的其他车辆发出预警。
7、 如权利要求 1所述的方法， 其中， 限制所述车辆启动其自动 紧急制动系统包括减缓或停止所述车辆的自动紧急制动系统的启动。
8、 如权利要求 1所述的方法， 其中， 通过设置在所述车辆上的 传感器和雷达来获得前牟和后车的车辆信息。
9、 如权利要求 8所述的方法， 还包括：
当发现存在后车会撞上所述车辆的风险时，所述车辆根据设置在 其上的传感器和雷达，发现可能的避让方案并向驾驶员推送最佳的避 让方案， 或者直接由驾驶员自行决定行驶路线。
10、 一种用于车辆的防撞系统， 其特征在于， 用于执行权利要求 1至 9中任一项所述的方法。
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