CN115167367B - Reversing collision avoidance system based on active safety and V2X technology - Google Patents
Reversing collision avoidance system based on active safety and V2X technology Download PDFInfo
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Abstract
The invention discloses a reversing collision avoidance system based on active safety and V2X technology, which combines traffic participant information such as vehicles, pedestrians and the like with road side perception result information by utilizing the V2X communication technology, realizes the mapping of target information in a reversing dangerous area mathematical model by establishing a vehicle reversing dangerous area mathematical model and combining target information detected by a vehicle detection unit through coordinate matrix conversion, and can more accurately analyze a dangerous time domain and timely take braking and steering measures by combining a vehicle steering control unit and a brake control unit so as to avoid dangerous accidents.
Description
Technical Field
The invention belongs to the technical field of vehicle safety management, and particularly relates to a reversing collision avoidance system based on active safety and V2X technology.
Background
With the rapid development of national economy and the rapid increase of the conservation quantity of motor vehicles, the conservation quantity of global motor vehicles reaches 12.9 hundred million (3.48 hundred million in China) by the end of 2019, and 125 ten thousand people (6.3 ten thousand in China) die of traffic accidents each year, so that the road traffic safety situation is very serious.
In the reversing process of the vehicle, the driver cannot effectively and timely notice the condition of the area behind the vehicle due to the limited view angle of the rearview mirror, so that traffic accidents can easily occur. Because the visual range of a driver sitting in a cab is limited, a large visual blind area can appear, and meanwhile, the reversing is an unavoidable driving behavior of the vehicle in the driving process. Therefore, if dangerous conditions occur in the areas which are difficult to observe during reversing, casualties and property loss are easily caused.
At present, the monitoring and alarming in the reversing area are mostly carried out by utilizing a sensor (such as an ultrasonic radar) of a vehicle and carrying out early warning on a driver, such as a reversing camera with a rear collision early warning function, with the bulletin number of CN212332518U, the reversing early warning in the reversing process of the vehicle is realized through adopting a CMOS sensor with a RCTA module, a combined lens, a flash module and a video buffer, and the reversing early warning accuracy is improved; for example, the invention discloses an automatic anti-collision system for automobile reversing, which is disclosed by the publication number CN111216627A, and the invention realizes the functions of detecting danger and performing emergency braking when a vehicle reverses through an induction module and a control module. However, due to the limitation of the sensing range of the sensor, the invention can not effectively detect the traffic participants outside the sensing range, and also can not timely deal with the traffic participants suddenly running in the sensing range; meanwhile, due to the limitation of the early warning range, the invention cannot effectively early warn other traffic participants in the dangerous area during reversing. In another example, the invention is disclosed as an 'active reversing brake auxiliary system and a control method' with publication number CN103569102A, the invention senses through a camera and a radar and takes active braking measures for rear danger during braking, but the invention does not model dangerous areas swept by a vehicle body during reversing, and is difficult to take targeted measures, and the invention has the defect of easy false alarm and false omission.
Disclosure of Invention
The invention discloses a reversing collision avoidance system based on active safety and V2X technology, which provides a reversing area danger early warning for a reversing process of a driver.
The technical scheme of the invention is as follows:
The invention discloses a reversing danger early warning system based on a reversing track model, which comprises a vehicle end system, a drive test system and a V2P mobile end system.
The vehicle end system comprises a reversing vehicle system and a detecting vehicle system; the reversing vehicle system comprises a vehicle running data unit, a vehicle early warning unit, a reversing vehicle calculating unit and a reversing vehicle-mounted OBU; the detection vehicle system comprises a vehicle detection unit, a detection vehicle calculation unit and a detection vehicle on-board OBU; the road test system comprises a road end detection unit, a road end calculation unit, a road end early warning unit and a road side RSU; the V2P mobile terminal system comprises a V2P data unit, a V2P early warning unit, a V2P calculating unit and a V2P mobile communication terminal.
The road end detection unit of the road test system detects traffic participants and obstacles in a perception range in real time, sends out detection results in real time through the road end RSU, and simultaneously sends out the detection results to the road end calculation unit; the vehicle detection unit of the detection vehicle system acquires information of other traffic participants and obstacles in a perception range in real time, and sends out the information in real time through the detection vehicle on-board OBU and simultaneously sends out the information to the detection vehicle calculation unit; the V2P data unit of the V2P mobile terminal system acquires information such as user type, speed, direction and the like of a V2P user in real time, and sends the information out through the V2P mobile communication terminal in real time and simultaneously sends the information to the V2P computing unit; the vehicle running data unit of the reversing vehicle system acquires basic information of the vehicle in real time, receives a road end RSU through the reversing vehicle OBU, detects information sent by the vehicle OBU and the V2P mobile communication terminal, and simultaneously sends the information to the reversing vehicle computing unit;
the detecting vehicle calculating unit, the reversing vehicle calculating unit, the road end calculating unit and the V2P calculating unit all utilize the received information to establish a reversing dangerous area model in a mathematical modeling mode, coordinate conversion is carried out on information such as a target set detected by the road end detecting unit and the position of a V2P user, the information is mapped into an established coordinate system, and then whether danger exists in the reversing time domain is judged through information such as the type, the speed and the direction of the target.
Further, the detecting vehicle calculating unit, the reversing vehicle calculating unit, the road end calculating unit and the V2P calculating unit analyze whether the reversing danger exists in the reversing danger time domain in the following manner:
judging whether a dangerous target exists in the reversing dangerous time domain, if so, informing the vehicle to take an early avoidance measure;
If the dangerous target does not exist in the reversing dangerous time domain, further analyzing whether the target is about to enter the reversing dangerous time domain of the vehicle or not according to the speed and direction information of the target, if so, judging whether the time for the target to enter the reversing dangerous time domain to collide is smaller than the set time, and if so, informing the vehicle to take an early avoidance measure.
Specifically, the reversing dangerous time domain is determined through two dimensions of a dangerous area and a safe time, and is represented by the time; the innermost side of the dangerous area is determined by the track line where the inner rear wheel track line C1 is located, the outermost side is determined by the track line where the vehicle outer most far end track line C5 is located, and the dangerous area is the area surrounded by the track lines located at C1 and C5; the safety time is a set time, and the reversing dangerous time domain refers to the minimum value of the following time:
1) The time required for the vehicle to reach the position of other traffic participants and obstacles according to the current speed and direction;
2) The time required for the collision to occur is reached in the case where the vehicle is based on the current speed and direction, and in the case where other traffic participants are based on the current speed and direction.
Specifically, the mathematical modeling of the reverse hazard zone is established as follows:
Coordinate system: establishing a coordinate system by taking the midpoint of a connecting line of a rear wheel of the vehicle as an origin, taking a direction perpendicular to the connecting line of the rear wheel and back to a headstock as an X-axis positive direction, and taking the direction of the origin to the rear wheel in steering as a Y-axis positive direction;
Body information: the vehicle body information storage module can obtain the connecting line length d1 of the rear wheels of the vehicle, the connecting line length d2 of the front wheels and the rear wheels of the vehicle and the distance d3 from the outer rear wheels of the vehicle to the farthest end of the vehicle body along the front wheel direction;
Reversing trajectory line: c1, C2, C3, C4 and C5 are 5 sections of circular arcs;
c0 represents the circle center of a track line of the vehicle body when the steering angle of the front wheel is theta and the vehicle body is in reverse; c1 is the inner rear wheel track; c2 is the inner front wheel track; c3 is the outer rear wheel track; c4 is the outer front wheel track; c5 is the vehicle outside most distal trajectory;
The circle center coordinates and the trajectory equation of each position of the vehicle body are shown as follows, and the initial position states of each position of the vehicle body at the moment of about T0 are as follows:
further, the system also comprises a vehicle early warning unit, a road end early warning unit and a V2P early warning unit, when the road end computing unit judges that danger exists, early warning information is sent to the road end early warning unit, the V2P mobile communication terminal and an OBU of a reversing vehicle through the RSU, and the road end early warning unit is used for early warning traffic participants in a reversing danger time domain; the V2P mobile communication terminal sends the early warning information to a V2P early warning unit for providing early warning for the V2P mobile user; the vehicle OBU processes the early warning information and issues corresponding instructions to the vehicle brake control unit and the vehicle steering control unit, and controls the vehicle to take braking and steering measures to avoid dangerous accidents to the greatest extent.
Further, the reversing vehicle system further comprises a vehicle brake control unit and a vehicle steering control unit; the vehicle computing unit analyzes whether a dangerous target exists in a reversing dangerous time domain, and if the dangerous target exists, the vehicle computing unit directly triggers the vehicle brake control unit to actively take braking measures; if not, further analyzing whether the target is about to enter a dangerous time domain of the vehicle reversing through the speed and direction information of the target, if so, judging whether the time of the target entering the dangerous time domain for collision is less than the set time, and if so, triggering a vehicle brake control unit for actively taking braking measures; the subsequent calculation unit continues to analyze and judge whether the collision in the vehicle reversing dangerous time domain can be relieved or avoided through steering of the steering wheel, if so, the vehicle steering control unit is triggered, and the vehicle is controlled to actively take steering in the direction of avoiding the target, so that dangerous accidents are avoided.
The invention has the beneficial effects that:
Aiming at the major potential safety hazard in the reversing process of the vehicle, firstly, the road end detection unit is used for accurately detecting traffic participants and obstacles such as motor vehicles, pedestrians, non-motor vehicles and the like in the reversing area; secondly, collecting running state data and information of the vehicle in real time through a running data unit of the vehicle; thirdly, acquiring information such as user type, positioning and the like of the V2P mobile user in real time through the V2P data unit; fourthly, information interaction among the road end, the vehicle and the V2P mobile user is carried out through the OBU of the vehicle and the RSU and the V2P mobile communication terminal of the road end; modeling a dangerous area in real time through a calculation unit of a vehicle, a road end and a V2P user, combining detected target information, realizing the mapping of the target information in a mathematical model of a reversing dangerous area through coordinate matrix conversion, and then analyzing and judging whether a danger exists in a reversing time domain; when danger exists, the vehicle brake control unit and the steering control unit take braking and avoiding measures, the road end early warning unit carries out early warning on traffic participants in the reversing time, and the V2P early warning unit provides early warning for V2P mobile users, so that dangerous accidents are avoided. Above, utilize V2X communication technology to combine traffic participant information such as vehicle, pedestrian and roadside perception result information, through establishing the dangerous area mathematical model that backs a car of vehicle, combine the target information that detects by the vehicle detecting element, through coordinate matrix conversion, realize the mapping of target information in the dangerous area mathematical model that backs a car, combine vehicle steering control and brake control unit, can more accurately carry out analysis and in time take braking and steering measures to dangerous time domain, avoid dangerous accident's emergence.
Detailed Description
Fig. 1 is a schematic diagram of the configuration and data flow of a reverse collision avoidance system based on active safety and V2X technology as shown in embodiment 1;
fig. 2 is a schematic diagram of the configuration and data flow of the reverse collision avoidance system based on the V2X technology shown in embodiment 2;
FIG. 3 is a mathematical modeling schematic of a vehicle reverse hazard zone used in the present invention;
Wherein, d1: the length of the connecting line of the rear wheel of the vehicle; d2: the length of the connecting line of the front wheel and the rear wheel of the vehicle; d3: the outer rear wheel of the vehicle is far away from the vehicle body along the direction of the front wheel; c0 represents the circle center of a track line of the vehicle body when the steering angle of the front wheel is theta and the vehicle body is in reverse; c1 is the inner rear wheel track; c2 is the inner front wheel track; c3 is the outer rear wheel track; c4 is the outer front wheel track; c5 is the vehicle outside most distal trajectory;
Fig. 4 is a schematic diagram of a road-end fusion calculation early warning flow for the system described in embodiment 2;
Fig. 5 is a schematic diagram of a vehicle-end fusion calculation early warning flow for the system described in embodiment 2;
Fig. 6 is a schematic diagram of a V2P end fusion calculation early warning flow for the system described in embodiment 2.
Detailed Description
Example 1
The embodiment shows a specific structure of a back-up collision avoidance system based on active safety and V2X technology, and as shown in fig. 1, the system generally includes a vehicle end system, a drive test system and a V2P mobile end system. Further, the vehicle end system further comprises a reversing vehicle system and a detecting vehicle system.
The following is a specific constitution of each system:
The reversing vehicle system comprises a vehicle running data unit, a reversing vehicle calculating unit, a reversing vehicle-mounted OBU, a vehicle early warning unit, a vehicle brake control unit and a vehicle steering control unit. Specifically, the vehicle driving data unit comprises a CAN bus data module and a high-precision positioning module. The vehicle running data unit may acquire basic information of the vehicle body size, the vehicle running speed, the gear state, the brake state, the accelerator state data, and the like in real time, and send the information to the calculation processing unit. The vehicle early warning unit comprises an HMI interaction module (namely a vehicle machine display) and a loudspeaker medium and is used for early warning a vehicle driver when traffic participants and obstacles exist in a vehicle reversing area. The vehicle display is used for providing a UI interface and displaying early warning information. The vehicle steering control unit comprises a CAN bus data module, a steering wheel angle sensor and an electric power steering system. The vehicle brake control unit comprises an electronic stability system, an electronic gear shifting system, an engine control system, a CAN bus data module, an ESP system and a transmission control system. The CAN bus data module is used for acquiring basic information of the vehicle body size, vehicle running speed, gear state, brake state, accelerator state and other data in real time.
The detection vehicle system comprises a vehicle detection unit, a detection vehicle calculation unit and a detection vehicle-mounted OBU. Specifically, the vehicle detection unit includes a camera detection module and a radar detection module, and the radar detection module includes a laser radar and a millimeter wave radar. The vehicle detection unit may detect other traffic participants, obstacle target information including, but not limited to, a target type, a size, a position, a speed, a moving direction, etc. behind the vehicle and behind the left and right sides of the vehicle in real time, and transmit these target information to the calculation processing unit.
The road test system comprises a road end detection unit, a road end calculation unit, a road end early warning unit and a road side RSU. The road end detection unit is composed of a camera detection module and a laser radar detection module and a microwave radar detection module and is used for detecting obstacles and traffic participants in a perception range, such as traffic participants of automobiles, pedestrians, small-sized motor vehicles, small-sized non-motor vehicles and the like. The RSU is used for communicating and information exchanging with the OBU through a V2X technology. The road end calculation unit is used for establishing a mathematical model for a vehicle reversing area in real time by the road end and analyzing whether obstacles and traffic participants exist in the vehicle reversing area. The road end early warning unit is used for timely reminding the traffic participants in the vehicle reversing time domain under the condition that the traffic participants exist in the vehicle reversing time domain.
The V2P mobile terminal system comprises a V2P data unit, a V2P early warning unit, a V2P calculating unit and a V2P mobile communication terminal.
When the road end detection unit of the road test system works, traffic participants and obstacles in a perception range are detected in real time, and detection results are sent out in real time through the road end RSU and are sent to the road end calculation unit; the vehicle detection unit of the detection vehicle system acquires information of other traffic participants and obstacles in a perception range in real time, and sends out the information in real time through the detection vehicle on-board OBU and simultaneously sends out the information to the detection vehicle calculation unit; the V2P data unit of the V2P mobile terminal system acquires information such as user type, speed, direction and the like of a V2P user in real time, and sends the information out through the V2P mobile communication terminal in real time and simultaneously sends the information to the V2P computing unit; the vehicle running data unit of the reversing vehicle system acquires basic information of the vehicle in real time, receives the road end RSU through the reversing vehicle OBU, detects information sent by the vehicle OBU and the V2P mobile communication terminal, and simultaneously sends the information to the reversing vehicle computing unit.
The detecting vehicle calculating unit, the reversing vehicle calculating unit, the road end calculating unit and the V2P calculating unit all utilize the received information to establish a reversing dangerous area model in a mathematical modeling mode, coordinate conversion is carried out on information such as a target set detected by the road end detecting unit and the position of a V2P user, the information is mapped into an established coordinate system, and then whether danger exists in the reversing time domain is judged through information such as the type, the speed and the direction of the target.
The calculation processing unit analyzes whether the reversing danger exists in the reversing danger time domain or not by the following mode:
if a dangerous target exists in the reversing dangerous time domain, informing the vehicle to take an early avoidance measure. The avoidance measures are specifically as follows: and sending the dangerous information to a vehicle early warning unit for warning, and directly triggering a vehicle brake control unit to actively take braking measures.
If the dangerous target does not exist in the reversing dangerous time domain, further analyzing whether the target is about to enter the reversing dangerous time domain of the vehicle or not according to the speed and direction information of the target, if so, judging whether the time for the target to enter the reversing dangerous time domain to collide is smaller than the set time, and if so, informing the vehicle to take an early avoidance measure. The avoidance measures are specifically as follows: the dangerous information is sent to a vehicle early warning unit for warning; the vehicle brake control unit is triggered to actively take braking measures, a subsequent calculation unit continues to analyze and judge whether the collision in the vehicle reversing dangerous time domain can be relieved or avoided through steering of the steering wheel, and if so, the vehicle steering control unit is triggered to control the vehicle to actively take steering in the direction of avoiding the target, so that dangerous accidents are avoided.
The reverse hazard time domain refers to the minimum of the following times:
1) The time required for the vehicle to reach the position of other traffic participants and obstacles according to the current speed and direction;
2) The time required for the collision to occur is reached in the case where the vehicle is based on the current speed and direction, and in the case where other traffic participants are based on the current speed and direction.
The mathematical modeling of the reverse hazard zone of the present invention is shown with reference to fig. 2. Taking the steering angle of the front wheel of the vehicle as an example to the right, the inner rear wheel is appointed to be a right rear wheel; the outer rear wheel is a left rear wheel; the inner front wheel is a right front wheel; the outer front wheel is the left front wheel. The vehicle body information storage module can obtain d1, d2 and d3, d1 is the connecting line length of the rear wheels of the vehicle, d2 is the connecting line length of the front wheels and the rear wheels of the vehicle, and d3 is the distance from the outer rear wheels of the vehicle to the farthest end of the vehicle body along the direction of the front wheels. The midpoint of the connecting line of the rear wheels of the vehicle is taken as an origin, the connecting line perpendicular to the rear wheels and pointing to the headstock is taken as an X-axis positive direction, and the direction of the right rear wheel of the origin is taken as a Y-axis positive direction, so that a plane rectangular coordinate system shown in figure 3 is established. In the figure, 5 sections of circular arcs including C1, C2, C3, C4 and C5 are seen, wherein C0 represents the circle center of a track line of the vehicle body when the steering angle of the front wheel is theta and the vehicle is reversed; c1 is an inner rear wheel track line and is also the innermost track line of the vehicle body track; c2 is the inner front wheel track; c3 is the outer rear wheel track; c4 is the outer front wheel track; c5 is the vehicle outboard most distal trajectory and is also the vehicle body trajectory outermost trajectory. The circle center coordinates and the trajectory equation of each position of the vehicle body are shown as follows, and the initial position states of each position of the vehicle body at the moment of about T0 are as follows:
In the case of example 2,
Embodiment 2 shows a reverse collision avoidance system based on V2X technology, see fig. 2, which differs from the system of embodiment 1 in that there is no active safety part, i.e. no vehicle brake control unit and no vehicle steering control unit are provided in the reverse vehicle system. The system provides only an alarm and does not provide brake control and further steering control of the vehicle.
Example 3
The embodiment is used for explaining a road end fusion calculation early warning process of the present invention, and refer to fig. 4.
First, the road-end detection unit detects traffic participants and obstacles such as cars, pedestrians, small-sized motor vehicles, small-sized non-motor vehicles, etc. within a perception range in real time, and transmits detection results including, but not limited to, a target type, a real-time position, and a speed and a movement direction of the traffic participants or the obstacles to the road-end RSU in real time.
Meanwhile, the vehicle running data unit collects basic information of the automobile in real time, including but not limited to a speed, a gear state, an accelerator state, a brake state, high-precision positioning data and the like, and when the automobile is in a reversing state, the collected vehicle running data information is sent out through communication of a PC5 and a UU port through an OBU of the reversing automobile.
The vehicle detection unit with the system is arranged around the vehicle detection unit, information of other traffic participants and obstacles in a perception range is also collected in real time, and the information is sent out through communication of the PC5 and a UU port by an OBU of the detected vehicle.
Meanwhile, the V2P data unit acquires information such as user type, speed and direction of the V2P user in real time, and sends the information to the V2P mobile communication terminal in real time, and the V2P mobile communication terminal sends the user information out through communication between the PC5 and the UU port in real time.
The road-end RSU receives the data related to the reversing vehicle OBU, the detecting vehicle OBU and the V2P mobile communication terminal, and sends the data to the road-end computing unit.
And then, the road end computing unit processes the information received by the RSU in real time, and establishes a reversing dangerous area model by using the basic information and the real-time running state information of the vehicle in a mathematical modeling mode. A mathematical modeling schematic diagram of the vehicle reversing hazard area is shown in FIG. 2.
Further, the road side computing unit performs coordinate transformation on the target set and the information of the V2P mobile user sent by the road side detecting unit, and maps the target set and the information into an established coordinate system. And judging whether danger exists in a reversing time domain or not through information such as the type, the speed, the direction and the like of the target, such as whether barriers exist in the reversing time domain of the vehicle and dangerous situations such as other traffic participants which are already or are about to appear.
Further, whether a target is about to enter a dangerous time domain of the vehicle reversing is analyzed, whether the time for the target to enter the dangerous time domain and collide is smaller than the set time is analyzed, and whether the collision in the dangerous time domain of the vehicle reversing can be reduced or avoided through steering of a steering wheel is analyzed and judged.
When the danger exists, the early warning information is sent to a road end early warning unit, a V2P mobile communication terminal and an OBU of a reversing vehicle through an RSU, and the road end early warning unit is used for early warning traffic participants in a reversing danger time domain; the V2P mobile communication terminal sends the early warning information to a V2P early warning unit for providing early warning for the V2P mobile user; the vehicle OBU can process the early warning information and issue corresponding instructions to the vehicle brake control unit and the vehicle steering control unit, and control the vehicle to take braking and steering measures to avoid dangerous accidents to the greatest extent.
Example 4:
the embodiment is used for explaining a vehicle end fusion calculation early warning process of the invention, and refer to fig. 5.
Firstly, a road-end detection unit detects traffic participants and obstacles in a perception range, such as automobiles, pedestrians, small motor vehicles, small non-motor vehicles and the like, and sends detection results to a road-end RSU in real time, wherein the RSU sends detection results of the detection unit in real time through communication between a PC5 and a UU port, and the detection results comprise, but are not limited to, target types, real-time positions, speeds and movement directions of the traffic participants or the obstacles.
The vehicle detection unit with the system is arranged around the vehicle detection unit to collect information of other traffic participants and obstacles in a perception range in real time, and the information is transmitted out through communication between the PC5 and a UU port by detecting the OBU of the vehicle.
Meanwhile, the V2P data unit acquires information such as user type, speed and direction of the V2P user in real time, and sends the information to the V2P mobile communication terminal in real time, and the V2P mobile communication terminal sends the user information out through communication between the PC5 and the UU port in real time.
The vehicle driving data unit collects basic information of the vehicle in real time, including but not limited to vehicle speed, gear state, accelerator state, brake state, high-precision positioning data and the like, when the vehicle is in a reversing state, the reversing vehicle is triggered to carry out fusion early warning, and an OBU of the reversing vehicle can receive RSU, detect message content sent by the vehicle OBU and the V2P mobile communication terminal and send the information to the computing unit for detecting the vehicle.
The vehicle computing unit establishes a reversing dangerous area model by using basic information and real-time running state information of the vehicle through a mathematical modeling mode. A mathematical modeling schematic diagram of the vehicle reversing hazard area is shown in FIG. 2.
Further, the vehicle computing unit performs coordinate transformation on the information such as the target set detected by the road-end detecting unit and the position of the V2P user received by the OBU, and maps the information into an established coordinate system.
Next, by analyzing whether a dangerous object exists in the reversing dangerous time domain, if so:
(1) Sending early warning information to a V2P mobile communication terminal and a road-end RSU through an OBU of a reversing vehicle; the V2P mobile communication terminal can send the early warning information to the V2P early warning unit for providing danger early warning for the V2P user; the RSU sends the early warning information to a road end early warning unit for early warning traffic participants in a reversing dangerous time domain;
(2) And directly triggering a vehicle brake control unit to actively take braking measures; if not, further analyzing whether the target is about to enter a dangerous time domain of the vehicle reversing through the speed and direction information of the target, if so, judging whether the time of the target entering the dangerous time domain for collision is less than the set time, and if so, triggering a vehicle brake control unit for actively taking braking measures; further, whether collision in the vehicle reversing dangerous time domain can be relieved or avoided through steering of a steering wheel is analyzed and judged, if yes, a steering control unit of the vehicle is triggered, and the vehicle is controlled to actively take steering measures in the direction of avoiding targets so as to avoid dangerous accidents to the greatest extent.
Example 5:
The embodiment is used for explaining the V2P mobile terminal fusion calculation early warning flow of the present invention, and refer to fig. 6.
Firstly, a road-end detection unit detects traffic participants and obstacles in a perception range, such as automobiles, pedestrians, small motor vehicles, small non-motor vehicles and the like, and sends detection results to a road-end RSU in real time, wherein the RSU sends detection results of the detection unit in real time through communication between a PC5 and a UU port, and the detection results comprise, but are not limited to, target types, real-time positions, speeds and movement directions of the traffic participants or the obstacles.
The vehicle running data unit collects basic information of the automobile in real time, including but not limited to speed, gear state, accelerator state, brake state, high-precision positioning data and the like, and when the automobile is in a reversing state, the information collected by the vehicle running data unit is sent out through communication of the PC5 and the UU port through the reversing vehicle OBU.
The vehicle detection unit with the system is arranged around the vehicle detection unit to collect information of other traffic participants and obstacles in a perception range in real time, and the information is transmitted out through communication between the PC5 and a UU port by detecting the OBU of the vehicle.
Meanwhile, the V2P data unit acquires information such as user type, speed, direction and the like of the V2P user in real time and sends the information to the V2P mobile communication terminal in real time; the V2P mobile communication terminal receives the RSU, detects the message content of the vehicle OBU and the reverse vehicle OBU, and sends the information to the V2P computing unit.
The V2P calculation unit establishes a reversing dangerous area model by using the received basic information and real-time driving state information of the reversing vehicle in a mathematical modeling mode. A mathematical modeling schematic diagram of the vehicle reversing hazard area is shown in FIG. 2.
Further, the V2P computing unit performs coordinate transformation on the information such as the road end detection unit, the target set detected by the vehicle and the position of the V2P user received by the V2P mobile communication terminal, and maps the information to an established coordinate system. And judging whether the danger exists in the reversing time domain through information such as the type, the speed and the direction of the target, further analyzing whether the target is about to enter the reversing dangerous time domain of the vehicle, analyzing whether the time for the target to enter the dangerous time domain to collide is smaller than the set time, and analyzing whether the collision in the reversing dangerous time domain of the vehicle can be lightened or avoided through steering of a steering wheel.
When the danger exists, the early warning information is sent to the V2P early warning unit, the road end RSU and the OBU of the reversing vehicle through the V2P mobile communication terminal, and the V2P early warning unit is used for early warning of the V2P user in the reversing danger time domain; the RSU sends the early warning information to a road end early warning unit for early warning traffic participants in a reversing dangerous time domain; the vehicle OBU can process the early warning information and issue corresponding instructions to the vehicle brake control unit and the vehicle steering control unit, and control the vehicle to take braking and steering measures to avoid dangerous accidents to the greatest extent.
According to the method, the system and the device, the reverse dangerous area mathematical model of the vehicle is built, meanwhile, the target information detected by the vehicle detection unit is combined, and the mapping of the target information in the reverse dangerous area mathematical model is realized through coordinate matrix conversion, so that the dangerous time domain can be analyzed and early-warned more accurately. The space dangerous area is established through the reversing track, the dangerous time domain is established through measuring and calculating the collision time of the vehicle and the obstacle, the space domain is crossed with the time domain, the early warning or the treatment measure for judging the collision risk is advanced only through the time domain, the rule of jointly determining the space domain and the time domain is followed in advance, and the collision prediction accuracy is improved. Meanwhile, the invention can also send the early warning information to the vehicle automatic driving perception processing terminal to provide information for vehicle automatic driving perception.
Claims (8)
1. The utility model provides a back a car collision avoidance system based on initiative safety and V2X technique which characterized in that: the system comprises a vehicle end system, a drive test system and a V2P mobile end system;
The vehicle end system comprises a reversing vehicle system and a detecting vehicle system; the reversing vehicle system comprises a vehicle running data unit, a reversing vehicle calculating unit and a reversing vehicle-mounted OBU; the detection vehicle system comprises a vehicle detection unit, a detection vehicle calculation unit and a detection vehicle on-board OBU; the road test system comprises a road end detection unit, a road end calculation unit and a road side RSU; the V2P mobile terminal system comprises a V2P data unit, a V2P calculation unit and a V2P mobile communication terminal;
The road end detection unit of the road test system detects traffic participants and obstacles in a perception range in real time, sends out detection results in real time through the road end RSU, and simultaneously sends out the detection results to the road end calculation unit; the vehicle detection unit of the detection vehicle system acquires information of other traffic participants and obstacles in a perception range in real time, and sends out the information in real time through the detection vehicle on-board OBU and simultaneously sends out the information to the detection vehicle calculation unit; the V2P data unit of the V2P mobile terminal system acquires information such as user type, speed, direction and the like of a V2P user in real time, and sends the information out through the V2P mobile communication terminal in real time and simultaneously sends the information to the V2P computing unit; the vehicle running data unit of the reversing vehicle system acquires basic information of the vehicle in real time, receives a road end RSU through the reversing vehicle OBU, detects information sent by the vehicle OBU and the V2P mobile communication terminal, and simultaneously sends the information to the reversing vehicle computing unit;
the detecting vehicle computing unit, the reversing vehicle computing unit, the road end computing unit and the V2P computing unit all utilize the received information to establish a reversing dangerous area model in a mathematical modeling mode, coordinate conversion is carried out on information such as a target set detected by the road end detecting unit and the position of a V2P user, the information is mapped into an established coordinate system, and then whether danger exists in a reversing time domain is judged through information such as the type, the speed and the direction of the target;
the mathematical modeling of the reversing dangerous area is established as follows:
Coordinate system: establishing a coordinate system by taking the midpoint of a connecting line of a rear wheel of the vehicle as an origin, taking a direction perpendicular to the connecting line of the rear wheel and back to a headstock as an X-axis positive direction, and taking the direction of the origin to the rear wheel in steering as a Y-axis positive direction;
Body information: the vehicle body information storage module can obtain the connecting line length d1 of the rear wheels of the vehicle, the connecting line length d2 of the front wheels and the rear wheels of the vehicle and the distance d3 from the outer rear wheels of the vehicle to the farthest end of the vehicle body along the front wheel direction;
Reversing trajectory line: c1, C2, C3, C4 and C5 are 5 sections of circular arcs;
c0 represents the circle center of a track line of the vehicle body when the steering angle of the front wheel is theta and the vehicle body is in reverse; c1 is the inner rear wheel track; c2 is the inner front wheel track; c3 is the outer rear wheel track; c4 is the outer front wheel track; c5 is the vehicle outside most distal trajectory;
The circle center coordinates and the trajectory equation of each position of the vehicle body are shown as follows, and the initial position states of each position of the vehicle body at the moment of about T0 are as follows:
2. The reverse collision avoidance system based on active safety and V2X technology of claim 1 wherein: the detecting vehicle calculating unit, the reversing vehicle calculating unit, the road end calculating unit and the V2P calculating unit analyze whether the reversing danger exists in the reversing danger time domain or not in the following mode:
if a dangerous target exists in the reversing dangerous time domain, informing the vehicle to take an early avoidance measure;
if the dangerous target does not exist in the reversing dangerous time domain, whether the target is about to enter the reversing dangerous time domain of the vehicle is further analyzed through the speed and direction information of the target, if so, whether the time for the target to enter the reversing dangerous time domain to collide is smaller than the set time or not is judged, and if so, the vehicle is informed to take an early avoidance measure.
3. The reverse collision avoidance system based on active safety and V2X technology of claim 2, wherein: the reversing dangerous time domain is determined through two dimensions of a dangerous area and a safe time, and is represented by the time; the innermost side of the dangerous area is determined by the track line where the inner rear wheel track line C1 is located, the outermost side is determined by the track line where the vehicle outer most far end track line C5 is located, and the dangerous area is the area surrounded by the track lines located at C1 and C5; the safety time is a set time, and the reversing dangerous time domain refers to the minimum value of the following time:
1) The time required for the vehicle to reach the position of other traffic participants and obstacles according to the current speed and direction;
2) The time required for the collision to occur is reached in the case where the vehicle is based on the current speed and direction, and in the case where other traffic participants are based on the current speed and direction.
4. The reverse collision avoidance system based on active safety and V2X technology of claim 1 wherein: the vehicle warning system comprises a road end computing unit, a vehicle warning unit, a road end warning unit and a V2P warning unit, wherein when the road end computing unit judges that danger exists, warning information is sent to the road end warning unit, a V2P mobile communication terminal and an OBU of a reversing vehicle through an RSU, and the road end warning unit is used for warning traffic participants in a reversing danger time domain; the V2P mobile communication terminal sends the early warning information to a V2P early warning unit for providing early warning for the V2P mobile user; the vehicle OBU processes the early warning information and issues corresponding instructions to the vehicle brake control unit and the vehicle steering control unit, and controls the vehicle to take braking and steering measures to avoid dangerous accidents to the greatest extent.
5. The back-up collision avoidance system based on active safety and V2X technology of claim 4 wherein: the reversing vehicle system also comprises a vehicle brake control unit and a vehicle steering control unit; the vehicle computing unit analyzes whether a dangerous target exists in a reversing dangerous time domain, and if the dangerous target exists, the vehicle computing unit directly triggers the vehicle brake control unit to actively take braking measures; if not, further analyzing whether the target is about to enter a dangerous time domain of the vehicle reversing through the speed and direction information of the target, if so, judging whether the time of the target entering the dangerous time domain for collision is less than the set time, and if so, triggering a vehicle brake control unit for actively taking braking measures; the subsequent calculation unit continues to analyze and judge whether the collision in the vehicle reversing dangerous time domain can be relieved or avoided through steering of the steering wheel, if so, the vehicle steering control unit is triggered, and the vehicle is controlled to actively take steering in the direction of avoiding the target, so that dangerous accidents are avoided.
6. The reverse collision avoidance system based on active safety and V2X technology according to any of claims 1-4, wherein: the vehicle driving data unit acquires basic information of the automobile in real time, including but not limited to speed, gear state, accelerator state, brake state, high-precision positioning data and the like.
7. The reverse collision avoidance system based on active safety and V2X technology according to any of claims 1-4, wherein: the vehicle detection unit detects in real time other traffic participant and/or obstacle target information behind the vehicle and behind the left and right sides of the vehicle, the target information including a target type and/or size and/or position and/or speed and/or direction of movement.
8. The reverse collision avoidance system based on active safety and V2X technology according to any of claims 1-4, wherein: the road-end detection unit detects traffic participants and obstacles in a perception range such as automobiles, pedestrians, small motor vehicles, small non-motor vehicles and the like in real time, and detection results include, but are not limited to, target types, real-time positions, speeds and movement directions of the traffic participants or the obstacles.
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| CN111674465A (en) * | 2020-05-25 | 2020-09-18 | 长城汽车股份有限公司 | Reversing control method and system and vehicle |
| WO2022095814A1 (en) * | 2020-11-05 | 2022-05-12 | 长沙智能驾驶研究院有限公司 | Automatic vehicle reversing control method and apparatus, vehicle and storage medium |
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| DE102011117297A1 (en) * | 2011-11-01 | 2013-05-02 | Volkswagen Aktiengesellschaft | Method for operating a driver assistance system and associated driver assistance system |
| KR20210128537A (en) * | 2020-04-16 | 2021-10-27 | 현대모비스 주식회사 | Reverse driving assistance device and reverse driving method using the same |
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| CN111674465A (en) * | 2020-05-25 | 2020-09-18 | 长城汽车股份有限公司 | Reversing control method and system and vehicle |
| WO2022095814A1 (en) * | 2020-11-05 | 2022-05-12 | 长沙智能驾驶研究院有限公司 | Automatic vehicle reversing control method and apparatus, vehicle and storage medium |
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