CN114030434B - Anti-rear-end collision system based on millimeter-wave radar - Google Patents
Anti-rear-end collision system based on millimeter-wave radar Download PDFInfo
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- CN114030434B CN114030434B CN202111445103.5A CN202111445103A CN114030434B CN 114030434 B CN114030434 B CN 114030434B CN 202111445103 A CN202111445103 A CN 202111445103A CN 114030434 B CN114030434 B CN 114030434B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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Abstract
本发明公开了一种基于毫米波雷达的防追尾系统。毫米波雷达布置在车身周围，探测获得车身周围车况信息；车身CAN网络接收车身周围车况信息发送到车辆系统主控；车辆系统主控结合车身周围车况信息和自身车辆信息判断出是否能够进行安全的紧急转向：能进行安全紧急转向则产生转向控制信号并发送到转向控制模块；转向控制模块根据车辆系统主控发过来的转向控制信号控制车辆的方向盘进行紧急转向，以防止防追尾。本发明针对目前智能驾驶安全系统忽视了后方车辆追尾撞击而造成处于中间位置的小型车被挤扁的事故，采用了报警和紧急转向的措施减轻或规避了此类风险。
The present invention discloses an anti-rear-end collision system based on millimeter-wave radar. The millimeter-wave radar is arranged around the vehicle body to detect and obtain vehicle condition information around the vehicle body; the vehicle body CAN network receives the vehicle condition information around the vehicle body and sends it to the vehicle system main control; the vehicle system main control determines whether safe emergency steering can be performed based on the vehicle condition information around the vehicle body and the vehicle information itself: if safe emergency steering can be performed, a steering control signal is generated and sent to the steering control module; the steering control module controls the steering wheel of the vehicle to perform emergency steering according to the steering control signal sent by the vehicle system main control to prevent rear-end collision. The present invention aims at the accident in which the small car in the middle position is crushed due to the current intelligent driving safety system ignoring the rear-end collision of the rear vehicle, and adopts the measures of alarm and emergency steering to reduce or avoid such risks.
Description
Technical Field
The invention relates to an automobile auxiliary control system, in particular to a rear-end collision prevention system and a rear-end collision prevention control method based on millimeter wave radar.
Background
By analyzing road traffic accident data, desolate accidents often occur, namely a cement mixer truck is in front of the vehicle, a heavy dump truck is behind the vehicle, a small car is clamped between the vehicle and the heavy dump truck, and the rear heavy dump truck is out of control and accelerated due to misoperation or fatigue driving of a driver, so that the car clamped in front and back is extruded and deformed, passengers on the vehicle are extruded and flattened, and the traffic accident is serious. At present, the AEB loading rate of the emergency braking system is gradually increased, so that the collision accident rate of the front vehicle is well controlled, but the emergency braking system is a blank field for preventing the active collision from the rear vehicle. Because the driver usually focuses attention on the road ahead and often ignores sudden impact from the rear vehicle, once the driver encounters impact of the rear high-speed running vehicle or impact of the rear heavy engineering vehicle, the driver is overwhelmed, and tragic dramas of vehicle destruction and death are easily generated.
Disclosure of Invention
In order to solve the problems in the background art, the rear-end collision prevention system and the control method based on the millimeter wave radar provided by the invention effectively reduce the occurrence of collision accidents and protect the safety of personnel and property.
The technical scheme adopted by the invention is as follows:
1. rear-end collision prevention system based on millimeter wave radar:
Comprises millimeter wave radar, which is arranged around a vehicle body, detecting and obtaining vehicle condition information around a vehicle body, and sending the vehicle condition information to a vehicle body CAN network;
Comprises a vehicle body CAN network, a millimeter wave radar, a vehicle body surrounding vehicle condition information receiving device, and transmitting to a vehicle system master control;
The method comprises the steps of a vehicle system main control, receiving vehicle condition information around a vehicle body of a millimeter wave radar through a CAN network, collecting vehicle information, judging whether safe emergency steering CAN be performed according to the vehicle condition information around the vehicle body and the vehicle information, if the safe emergency steering CAN be performed, processing to generate a safe steering obstacle avoidance path, generating a steering control signal according to the steering obstacle avoidance path conversion, and sending the steering control signal to a steering control module;
The steering control system comprises a steering control module which controls a steering wheel of a vehicle to carry out emergency steering according to a steering control signal sent by a main control of a vehicle system so as to prevent rear-end collision.
At the rear portion of the vehicle body, a millimeter wave radar detects a longitudinal distance between the host vehicle and the rear vehicle toward the rear.
Millimeter wave radars are respectively arranged around the vehicle body.
The vehicle system main control generates a steering control signal and simultaneously generates prompt alarm information which is displayed on the main control desk to remind and present to a driver.
2. A rear-end collision early warning method applied to a rear-end collision prevention system comprises the following steps:
In the vehicle system main control, the distance D and the relative speed between the current vehicle and the rear vehicle are obtained in real time through a millimeter wave radar, collision risk identification is judged according to the following mode, and whether the rear-end collision risk exists or not is judged:
Wherein D represents the longitudinal distance between the vehicle and the rear vehicle obtained by millimeter wave radar detection, V 1、Vrel is the speed and the relative speed of the rear vehicle respectively, a 1、a2 is the preset maximum braking deceleration of the rear vehicle and the vehicle respectively, t 1、t2 is the preset system delay time and the driver reaction time in the rear-end collision system respectively, D 0 is the kept safe vehicle distance;
If the formula is satisfied, judging that the rear-end collision event will not occur;
When the formula is not satisfied, judging that a rear-end collision event occurs, and controlling the operation of the rear-end collision prevention system.
In the vehicle system master control, if it is judged that there is a risk of rear-end collision, the safety emergency steering is performed in the following manner:
if no vehicle is detected in the preset distance d in the front direction of the current vehicle by the millimeter wave radar, accelerating the speed of the current vehicle to be equal to the speed V 1 of the rear vehicle, wherein the longitudinal acceleration a x meets the following formula:
if the millimeter wave radar detects that the vehicle exists in the preset distance d in the front direction of the current vehicle, the current vehicle performs lane change control:
When a vehicle is detected to exist in a preset distance d in the front direction of the current vehicle through the millimeter wave radar, path planning of lane change control is performed by adopting B spline curve simulation, a B spline curve consists of n+1 control points P i, i=0, 1, and n, and the parameterization expression of the B spline curve of the steering obstacle avoidance path is as follows:
Wherein k is the number of times of the B spline curve, N i,k () is a k times B spline curve basis function, i represents the ordinal number of the control point, P i represents the coordinate of the ith control point, C (u) represents the coordinate of the steering obstacle avoidance path;
selecting a cubic B spline curve, and planning a steering obstacle avoidance path by using the cubic B spline curve, wherein the coordinates P i of each control point are as follows:
Wherein L is the width of the lane, θ represents the turning curvature of the steering obstacle avoidance path, d 1、d2、d3、d4 represents the distance between the first pair of adjacent two control points along the running direction of the vehicle, the distance between the second pair of adjacent two control points along the running direction of the vehicle, the distance between the third pair of adjacent two control points along the running direction of the vehicle, and the distance between the fourth pair of adjacent two control points along the running direction of the vehicle, respectively;
meanwhile, in the process that the vehicle runs along the steering obstacle avoidance path, the curvature rho is calculated in real time according to the following formula:
Wherein, AndThe first derivatives of the coordinates C (u) of the steering obstacle avoidance path about the x-axis and the y-axis,AndSecond derivatives of coordinates C (u) about the x-axis, y-axis for the steering obstacle avoidance path;
And then the lateral acceleration a y when the automobile changes lanes is obtained through processing according to the curvature rho obtained in real time and is sent to a main control of a vehicle system for acceleration control:
where V 2 represents the current speed of the vehicle.
The present invention is primarily directed to avoiding difficulties in response to a driver not noticing a risk of a rear collision or awareness of a rear collision risk through a rear view mirror in the event of such an impending collision. The rear-end collision prevention system can give an alarm in time for the rear-end collision risk, and can change the road in time to avoid the extruded accident for the vehicle conditions of large vehicles and extrusion tendency in front of and behind the vehicle. The invention mainly combines the situations, and 4 millimeter wave radars are arranged around the vehicle for sensing the surrounding vehicle conditions. When a collision accident happens, the system CAN judge whether the collision CAN be effectively avoided and calculate a safe and stable steering path according to the vehicle condition information obtained by the millimeter wave radar, if the space at two sides of the vehicle meets the emergency steering requirement, the system CAN monitor whether a driver has the intention of steering, and if the intention is found, a control instruction is sent to a steering control module through a CAN network to control a steering wheel to perform effective collision avoidance action. Through effective collision avoidance behavior, the system can obviously avoid traffic accidents of the type, and reduce casualties and property loss.
The system mainly relies on millimeter wave radars arranged around the vehicle body to perform sensing monitoring on surrounding road condition information, when the millimeter wave radars recognize that vehicles exist behind and transmit the vehicle information to a system main control through a CAN network, and when the system main control judges that the rear vehicle is about to collide with the vehicle according to the information of the vehicle and the rear vehicle, the system calculates a safe and stable lane change track under the condition that the vehicle CAN safely turn to lane change according to the current surrounding vehicle condition and judges, and then sends a control command to a steering control module and sends prompt alarm information to prompt a driver to pay attention to steering safety. The steering control module controls the steering wheel to steer along the track calculated previously, so that the steering can be safely carried out before the original collision point to prevent collision, and the safety of passengers in the vehicle is protected. If the two sides have no avoidable space, an alarm prompt is sent out so that a driver can decide an avoidance measure by himself.
The beneficial effects of the invention are as follows:
The invention is an effective supplement to the active anti-collision technology, the system mainly solves the problem that the existing ADAS system pays attention to the risk of forward anti-collision and ignores the risk of rear-end collision from the rear, and particularly, if a large-sized vehicle is arranged in front of a rear-end collision vehicle and a large-sized vehicle is arranged at the rear for forward collision, if a space is arranged on the side edge, the system can avoid malignant traffic accidents flattened by rear-end collision.
The invention effectively improves the safety of the vehicle when the collision accident is about to happen, and further protects the safety of passengers in the vehicle.
Drawings
FIG. 1 is a system block diagram top view of a millimeter wave radar-based emergency steering system;
In the figure, 1-4 parts of millimeter wave radar, 5 parts of system main control, 6 parts of steering control module, 7 parts of CAN network.
FIG. 2 is a schematic view of a rear-end collision with no vehicle in front of the vehicle being rear-end collided;
In the figure, D is that the millimeter wave radar obtains the distance between the current car and the rear car in real time. V 1 is the speed of the coming vehicle, V 2 is the current speed of the vehicle, and a 1 is the acceleration automatically controlled by the system.
FIG. 3 is a schematic view of a rear-end collision when a vehicle is in front of a vehicle being rear-end impacted;
In the figure, D is the distance between the current car and the rear car obtained in real time by the millimeter wave radar, and D is the safety distance for judging whether the car changes lanes or not. V 1 is the speed of the coming vehicle, V 2 is the current speed of the host vehicle, and V 3 is the speed of the preceding vehicle.
FIG. 4 is a schematic diagram of a five-degree B-spline curve planning steering obstacle avoidance path.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
As shown in fig. 1, the system includes:
The millimeter wave radar system comprises millimeter wave radars 1-4 which are arranged around a vehicle body, detect and acquire vehicle condition information around the vehicle body, and send the vehicle condition information to a vehicle body CAN network 7;
The system comprises a vehicle body CAN network 7, wherein vehicle condition information around a vehicle body is received from millimeter wave radars 1-4 and is sent to a vehicle system master control;
The vehicle system main control 5 receives vehicle condition information around a vehicle body of a millimeter wave radar through a CAN network, collects vehicle information, combines the vehicle condition information around the vehicle body and the vehicle information to judge whether safe emergency steering CAN be performed or not, if the safe emergency steering CAN be performed, a safe steering obstacle avoidance path is generated through processing, a steering control signal is generated according to the steering obstacle avoidance path conversion, and the steering control signal is sent to the steering control module 6;
Comprises a steering control module 6 which controls the steering wheel of the vehicle to carry out emergency steering according to a steering control signal sent by a main control 5 of the vehicle system so as to prevent rear-end collision.
In the rear portion of the vehicle body, millimeter wave radars 1 to 4 detect the longitudinal distance between the host vehicle and the rear vehicle toward the rear. The rear-end collision prevention system is thus arranged on the host vehicle, and the longitudinal distance between the host vehicle and the rear vehicle is detected by the millimeter wave radar 1 arranged behind the host vehicle body.
In the specific implementation, the longitudinal distance and the transverse distance between the vehicle and the front vehicle can be detected by the millimeter wave radar arranged in front of the vehicle body. The longitudinal distance is the distance along the traveling direction, and the lateral distance is the distance along the direction perpendicular to the traveling direction.
The invention aims at the condition that the vehicle and the rear vehicle travel back and forth along the same route, and the rear vehicle approaches to the vehicle.
The vehicle condition information around the vehicle body comprises the distance and the relative speed between the current vehicle and the rear vehicle, and the vehicle information comprises the speed of the current vehicle.
Millimeter wave radars 1-4 are respectively arranged around the vehicle body. Specifically, one millimeter wave radar 1-4 is arranged on both the front and rear sides and the left and right sides of the vehicle body.
The millimeter wave radars 1-4 installed around the vehicle recognize pedestrians, vehicles or other obstacles, thereby monitoring surrounding vehicle conditions and transmitting obstacle information data to the vehicle system master control 5 through the CAN network 7 in real time.
The implementation working process of the invention is as follows:
If at some point the vehicle system master 5 finds that a collision accident will occur behind based on the vehicle condition data. In this emergency, if the driver does not take effective measures due to cognitive delay or improper operation, the vehicle system main control 5 will immediately determine whether the vehicle CAN safely avoid collision according to the surrounding vehicle condition information obtained by the millimeter wave radars 1-4 and calculate a safe and stable steering path (fig. 4), then remind the driver through a prompt warning signal, then the system starts to monitor the steering intention of the driver, and once the driver is detected to start steering, the vehicle starts to take over, and the system converts the path information into a steering control command according to the current vehicle speed and sends the steering control command to the steering control module 6 through the CAN network 7.
The steering control module 6 controls the steering wheel to turn according to a given control command, so that the vehicle can avoid collision along the calculated steering path before the original collision point, and meanwhile, the vehicle system main control 5 can also compare and correct the planned path according to the real-time vehicle path, so as to prevent other accidents caused by deviation from the given track. After the emergency steering collision avoidance action is completed, the vehicle system main control 5 can remind the driver to take over the steering wheel again to continue normal running.
The vehicle system main control 5 generates a steering control signal and also generates prompt alarm information which is displayed on the main control desk to remind and present to the driver.
In the vehicle system main control 5, the distance D and the relative speed between the current vehicle and the rear vehicle are obtained in real time through the millimeter wave radar 1, and collision risk identification is performed according to the following mode, so as to judge whether the rear-end collision risk exists or not:
Wherein, D represents the longitudinal distance between the vehicle and the rear vehicle detected by the millimeter wave radar 1, V 1、Vrel is the speed and the relative speed of the rear vehicle respectively, a 1、a2 is the preset maximum braking deceleration of the rear vehicle and the vehicle respectively, t 1、t2 is the preset system delay time and the driver reaction time in the rear-end collision system respectively, D 0 is the kept safe vehicle distance;
if the formula is satisfied, judging that the rear-end collision event will not occur;
When the formula is not satisfied, judging that a rear-end collision event occurs, and controlling the operation of the rear-end collision prevention system.
In the vehicle system master control 5, if it is determined that there is a risk of rear-end collision, the following safe emergency steering is performed:
If no vehicle is detected by the millimeter wave radar 1 within the preset distance d in the front direction of the current vehicle, accelerating the speed of the vehicle to be equal to the speed V 1 of the rear vehicle, as shown in fig. 2, and the longitudinal acceleration a x satisfies the following formula:
If a vehicle is detected in the preset distance d in the front direction of the current vehicle by the millimeter wave radar 1, the current vehicle performs lane change control, as shown in fig. 3:
When detecting that a vehicle exists in a preset distance d in the front direction of the current vehicle through the millimeter wave radar 1, performing path planning of lane change control by adopting B spline curve simulation, wherein the B spline curve consists of n+1 control points P i, i=0, 1, and n, and parameterizing and expressing the B spline curve of a steering obstacle avoidance path is as follows:
Wherein k is the number of times of the B spline curve, namely the control point number minus 1;N i,k () is a k times of the B spline curve basis function, i represents the ordinal number of the control point, P i represents the coordinate of the ith control point, C (u) represents the coordinate of the steering obstacle avoidance path;
Finally, a quintic B-spline curve with six control points shown in fig. 4 is specifically selected to plan a steering obstacle avoidance path, and the quintic B-spline curve is adopted, wherein the parameters are all parameters to be optimized and are used for setting the positions of the control points. Planning a steering obstacle avoidance path by using a cubic B spline curve, wherein the coordinates P i of each control point are as follows:
Wherein L is the width of a lane, θ represents the turning curvature of a steering obstacle avoidance path, d 1、d2、d3、d4 represents the distance between a first pair of adjacent two control points along the running direction of the vehicle, the distance between a second pair of adjacent two control points along the running direction of the vehicle, the distance between a third pair of adjacent two control points along the running direction of the vehicle, and the distance between a fourth pair of adjacent two control points along the running direction of the vehicle, respectively, in the specific implementation, d 1、d2、d3、d4 is more than or equal to 0, and the angle θ is more than 0 and less than 90 degrees;
meanwhile, in the process that the vehicle runs along the steering obstacle avoidance path, the curvature rho is calculated in real time according to the following formula:
Wherein, AndThe first derivatives of the coordinates C (u) of the steering obstacle avoidance path about the x-axis and the y-axis,AndFor the second derivative of the coordinates C (u) of the steering obstacle avoidance path about the x-axis, the y-axis, the continuity of the path curvature requires that the B-spline curve be second order continuous;
And then the lateral acceleration a y when the automobile changes lanes is obtained through processing according to the curvature rho obtained in real time and is sent to the main control 5 of the vehicle system for acceleration control:
where V 2 represents the current speed of the vehicle.
If the vehicle speed of the vehicle accelerates to be equal to the speed V 1 of the rear vehicle and the rear-end collision risk still exists, the route planning of the lane change control is also performed through the mode.
Therefore, the intelligent driving safety system solves the problem that the rear-end collision risk from the rear vehicle is neglected in the existing intelligent driving safety system, avoids the accident that the small vehicle in the middle position is flattened due to the violent collision of the rear vehicle when the small vehicle is in front and behind, and adopts the measures of alarming and emergency steering to reduce or avoid the risk.
Claims (5)
1. A rear-end collision early warning method is characterized in that:
The method adopts a rear-end collision prevention system:
Comprises millimeter wave radar, which is arranged around a vehicle body, detecting and obtaining vehicle condition information around a vehicle body, and sending the vehicle condition information to a vehicle body CAN (controller area network) network (7);
The system comprises a vehicle body CAN network (7), wherein vehicle condition information around a vehicle body is received from a millimeter wave radar and is sent to a vehicle system master control;
The vehicle system main control system comprises a vehicle system main control (5) which receives vehicle condition information around a vehicle body of a millimeter wave radar through a CAN network, collects vehicle information, and judges whether safe emergency steering CAN be performed according to the vehicle condition information around the vehicle body and the vehicle information, if the safe emergency steering CAN be performed, a safe steering obstacle avoidance path is generated through processing, a steering control signal is generated according to the steering obstacle avoidance path conversion, and the steering control signal is sent to a steering control module (6);
The steering control system comprises a steering control module (6) which controls a steering wheel of a vehicle to carry out emergency steering according to a steering control signal sent by a vehicle system main control (5) so as to prevent rear-end collision;
in the vehicle system main control (5), the distance D and the relative speed between the current vehicle and the rear vehicle are obtained in real time through a millimeter wave radar, collision risk identification is judged according to the following mode, and whether the rear-end collision risk exists or not is judged:
Wherein D represents the longitudinal distance between the vehicle and the rear vehicle obtained by millimeter wave radar detection, V 1、Vrel is the speed and the relative speed of the rear vehicle respectively, a 1、a2 is the preset maximum braking deceleration of the rear vehicle and the vehicle respectively, t 1、t2 is the preset system delay time and the driver reaction time in the rear-end collision prevention system respectively, D 0 is the kept safe vehicle distance;
If the formula is satisfied, judging that the rear-end collision event will not occur;
When the formula is not satisfied, judging that a rear-end collision event occurs, and controlling the operation of the rear-end collision prevention system;
In the vehicle system master control (5), if it is judged that there is a risk of rear-end collision, a safe emergency steering is performed in the following manner:
if no vehicle is detected in the preset distance d in the front direction of the current vehicle by the millimeter wave radar, accelerating the speed of the current vehicle to be equal to the speed V 1 of the rear vehicle, wherein the longitudinal acceleration a x meets the following formula:
if the millimeter wave radar detects that the vehicle exists in the preset distance d in the front direction of the current vehicle, the current vehicle performs lane change control:
And if the millimeter wave radar detects that the vehicle exists in the preset distance d in the front direction of the current vehicle, adopting B spline curve simulation to carry out path planning of lane change control.
2. The rear-end collision early warning method according to claim 1, characterized in that:
the B-spline curve consists of n+1 control points P i, i=0, 1, n, B spline curve parameterization expression of the steering obstacle avoidance path is as follows:
Wherein k is the number of times of the B spline curve, N i,k () is a k times B spline curve basis function, i represents the ordinal number of the control point, P i represents the coordinate of the ith control point, C (u) represents the coordinate of the steering obstacle avoidance path;
selecting a cubic B spline curve, and planning a steering obstacle avoidance path by using the cubic B spline curve, wherein the coordinates P i of each control point are as follows:
Wherein L is the width of the lane, θ represents the turning curvature of the steering obstacle avoidance path, d 1、d2、d3、d4 represents the distance between the first pair of adjacent two control points along the running direction of the vehicle, the distance between the second pair of adjacent two control points along the running direction of the vehicle, the distance between the third pair of adjacent two control points along the running direction of the vehicle, and the distance between the fourth pair of adjacent two control points along the running direction of the vehicle, respectively;
meanwhile, in the process that the vehicle runs along the steering obstacle avoidance path, the curvature rho is calculated in real time according to the following formula:
Wherein, AndThe first derivatives of the coordinates C (u) of the steering obstacle avoidance path about the x-axis and the y-axis,AndSecond derivatives of coordinates C (u) about the x-axis, y-axis for the steering obstacle avoidance path;
And then the lateral acceleration a y when the automobile changes lanes is obtained through processing according to the curvature rho obtained in real time and is sent to the main control (5) of the vehicle system for acceleration control:
where V 2 represents the current speed of the vehicle.
3. The rear-end collision early warning method according to claim 1, characterized in that:
At the rear portion of the vehicle body, a millimeter wave radar detects a longitudinal distance between the host vehicle and the rear vehicle toward the rear.
4. The rear-end collision early warning method according to claim 1, characterized in that:
millimeter wave radars are respectively arranged around the vehicle body.
5. The rear-end collision early warning method according to claim 1, characterized in that:
The vehicle system main control (5) generates a steering control signal and simultaneously generates prompt alarm information which is displayed on the main control desk to remind and present to a driver.
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| CN115171414B (en) * | 2022-06-10 | 2023-07-14 | 哈尔滨工业大学重庆研究院 | A CACC car-following control system based on Frenet coordinate system |
| CN115431964A (en) * | 2022-10-14 | 2022-12-06 | 创客天下(北京)科技发展有限公司 | Obstacle avoidance system and method for automatic driving vehicle |
| CN119037405B (en) * | 2024-10-28 | 2024-12-31 | 锌韵智能科技(上海)有限公司 | A freight vehicle with an anti-rear-end collision system |
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