CN115871659B - Rear-end collision prevention method and system for vehicle - Google Patents
Rear-end collision prevention method and system for vehicle Download PDFInfo
- Publication number
- CN115871659B CN115871659B CN202211720708.5A CN202211720708A CN115871659B CN 115871659 B CN115871659 B CN 115871659B CN 202211720708 A CN202211720708 A CN 202211720708A CN 115871659 B CN115871659 B CN 115871659B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- deceleration
- distance
- end collision
- limit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000002265 prevention Effects 0.000 title claims description 8
- 238000004364 calculation method Methods 0.000 claims description 22
- 230000007613 environmental effect Effects 0.000 abstract description 11
- 230000035484 reaction time Effects 0.000 description 8
- 238000013461 design Methods 0.000 description 5
- 230000006872 improvement Effects 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Landscapes
- Regulating Braking Force (AREA)
Abstract
本发明公开了一种车辆防追尾方法及系统。该方法包括：在本车制动时，实时获取本车的制动减速度和制动踏板行程，并实时获取后车的车型信息、相对本车的行驶速度和相对本车的距离；若后车相对本车的行驶速度小于零，则结束该方法，否则根据本车的车型信息、制动减速度和制动踏板行程，以及后车的车型信息，获取后车的极限制动减速度；根据后车相对本车的行驶速度，以及后车的极限制动减速度，计算后车与本车的极限安全距离；根据极限安全距离和后车相对本车的距离，判断是否面临追尾风险，若是则发出警报。能够考虑环境因素对后车制动的影响，较为准确的评估本车被追尾的风险，提高警报提醒的有效性。
The present invention discloses a method and system for preventing rear-end collision of a vehicle. The method comprises: when the vehicle brakes, the braking deceleration and brake pedal stroke of the vehicle are obtained in real time, and the vehicle model information, the driving speed relative to the vehicle and the distance relative to the vehicle of the rear vehicle are obtained in real time; if the driving speed of the rear vehicle relative to the vehicle is less than zero, the method is terminated, otherwise, according to the vehicle model information, braking deceleration and brake pedal stroke of the vehicle, and the vehicle model information of the rear vehicle, the limit braking deceleration of the rear vehicle is obtained; according to the driving speed of the rear vehicle relative to the vehicle, and the limit braking deceleration of the rear vehicle, the limit safety distance between the rear vehicle and the vehicle is calculated; according to the limit safety distance and the distance of the rear vehicle relative to the vehicle, it is judged whether there is a risk of rear-end collision, and if so, an alarm is issued. The influence of environmental factors on the braking of the rear vehicle can be considered, the risk of rear-end collision of the vehicle can be more accurately assessed, and the effectiveness of the alarm reminder can be improved.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a method and a system for preventing rear-end collision of a vehicle.
Background
Rear-end collision accidents often occur when front vehicles are braked, and may be caused by inaccurate judgment of distance between drivers due to untimely braking of rear vehicles. At present, some vehicle-mounted technologies for early warning of a rear vehicle exist on the market, for example, a specification of Chinese patent No. 110803160A discloses a method for preventing a rear collision of a vehicle, firstly, a safe distance between the vehicle and the rear vehicle is calculated, and reminding is carried out when the distance between the vehicle and the rear vehicle is smaller than the safe distance, wherein the safe distance is obtained by calculating the speed, the reaction time, the maximum braking deceleration of the rear vehicle and the like of the rear vehicle, and the design value is generally given under good environmental conditions such as road adhesion and the like when the maximum braking deceleration is, so that the difference between the actual braking of the rear vehicle and the theoretical maximum braking deceleration is not considered in the conventional rear-end collision possibility judgment. Because the actual deceleration of the rear vehicle is not only related to the braking performance of the rear vehicle, but also influenced by environmental factors such as actual road conditions, weather conditions and the like, the risk of rear-end collision of the rear vehicle is difficult to accurately evaluate in the prior art, for example, the road surface is slippery in rainy and snowy weather, the braking performance of the vehicle is limited, early warning and reminding lag can be caused, and the effect of effective reminding cannot be achieved.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a system for preventing rear-end collision of a vehicle, which can consider the influence of environmental factors on the braking of a rear vehicle, accurately evaluate the risk of the rear-end collision of the vehicle and improve the effectiveness of warning.
In order to solve the technical problems, the method for preventing rear-end collision of the vehicle comprises the following steps:
step one, when the vehicle brakes, acquiring braking deceleration and a brake pedal stroke of the vehicle in real time, and acquiring vehicle type information of the rear vehicle, running speed of the vehicle and distance of the vehicle;
If the running speed of the rear vehicle relative to the vehicle is less than zero, ending the method, otherwise, acquiring the limit braking deceleration of the rear vehicle according to the vehicle type information, the braking deceleration and the braking pedal stroke of the vehicle and the vehicle type information of the rear vehicle;
step three, calculating the limit safety distance between the rear vehicle and the host vehicle according to the running speed of the rear vehicle relative to the host vehicle and the limit braking deceleration of the rear vehicle;
And step four, judging whether the rear-end collision risk is faced or not according to the limit safety distance and the distance between the rear vehicle and the vehicle, and if so, giving an alarm.
In the method for preventing rear-end collision of the vehicle, when the vehicle starts to brake, if the rear vehicle gradually approaches the vehicle, the limit braking deceleration of the rear vehicle is obtained through the vehicle type information, the braking deceleration and the brake pedal stroke of the vehicle and the vehicle type information of the rear vehicle, and then the limit safety distance is calculated according to the limit braking deceleration of the rear vehicle, so as to judge whether the rear-end collision risk is encountered. Because the automobile and the rear automobile run under the same road conditions, weather and other environmental factors, the relation of the actual braking deceleration of the two automobiles is linked with the automobile types of the two automobiles, and the actual braking deceleration of the automobile synthesizes the factors such as braking force, road surface friction, wind resistance and the like, so that the acquired braking deceleration of the rear automobile is deduced, the influence of the environmental factors on the braking of the rear automobile can be considered, the risk of the automobile being rear-ended is accurately estimated, the effectiveness of warning is improved, and the whole thought is novel and ingenious.
As an improvement of the rear-end collision prevention method of the present invention, in the second step, the method for obtaining the limit braking deceleration of the rear vehicle includes:
Step a1, obtaining model coefficients according to model information of the vehicle and model information of a rear vehicle;
Step a2, acquiring a deceleration coefficient according to the travel of a brake pedal of the vehicle;
And a3, acquiring the limit braking deceleration of the rear vehicle according to the vehicle type coefficient, the deceleration coefficient and the braking deceleration of the vehicle.
Further, the step a1 includes obtaining model coefficients according to the model information of the own vehicle and the model information of the rear vehicle, wherein model coefficient information corresponding to all the models one by one is stored in the data set.
Further, the step a2 includes:
Acquiring a theoretical braking deceleration value of the vehicle according to the braking pedal travel of the vehicle and a pedal travel-deceleration relation curve of the vehicle;
The deceleration coefficient is obtained from the braking deceleration of the host vehicle and the theoretical braking deceleration value.
Further, the step a3 includes multiplying the vehicle model coefficient by the deceleration coefficient and multiplying the vehicle model coefficient by the deceleration of the own vehicle to obtain the limit braking deceleration of the rear vehicle.
Vehicle model refers to the class of vehicle. Preferably, all vehicle types are correspondingly divided into three types according to three regulations in the national vehicle braking distance standard. The model type is greatly simplified, a large amount of work for formulating a data set is reduced, manpower and material resources are saved, evaluation and calculation are also quick, and further quick response is achieved.
The third step comprises setting the initial speed of the uniform deceleration motion of the rear vehicle relative to the running speed of the vehicle from the current moment, decelerating the rear vehicle by the limit braking deceleration of the rear vehicle, and calculating the distance from the rear vehicle to zero, namely the limit safety distance.
As a further improvement of the method for preventing rear-end collision of the vehicle of the present invention, the fourth step includes:
step b1, calculating an optimal safety distance according to the limit safety distance and a reaction distance, wherein the reaction distance is the product of the driving distance of the rear vehicle and the reaction time;
Step b2, comparing the size relation between the optimal safety distance and the distance between the rear vehicle and the host vehicle;
And b3, if the optimal safety distance is not smaller than the distance between the rear vehicle and the host vehicle, judging that the rear-end collision risk is encountered, and sending out an alarm.
By combining the reaction distance with the calculated limit safety distance, the reaction time of the rear-end driver is taken into account, further increasing the reliability of the rear-end collision assessment.
As a further improvement of the rear-end collision prevention method of the vehicle, in the fourth step, the alarm is sent out, wherein the alarm is sent out to the rear-end vehicle and/or the driver of the vehicle is sent out to the alarm.
In order to solve the technical problems, the vehicle rear-end collision prevention system based on the vehicle rear-end collision prevention method comprises an image shooting device, a distance measuring device, a speed measuring device, an early warning module, a deceleration obtaining device, a brake pedal travel sensor and a controller, wherein the image shooting device is used for obtaining a rear vehicle image, the distance measuring device is used for obtaining the distance between the rear vehicle and a vehicle, the speed measuring device is used for obtaining the traveling speed of the rear vehicle and the vehicle, the early warning module is used for giving an alarm, the deceleration obtaining device is used for obtaining the braking deceleration of the vehicle, the brake pedal travel sensor is used for obtaining the brake pedal travel of the vehicle, and the controller is used for judging whether the rear-end collision risk is faced according to the rear vehicle image, the real-time traveling speed of the rear vehicle and the distance between the rear vehicle and the vehicle, the real-time braking deceleration and the real-time brake pedal travel, and judging whether the rear-end collision risk is faced or not, and if the rear-end collision risk is faced, the vehicle information is stored in the controller in advance.
Further, the controller includes:
the vehicle type module is used for storing the vehicle type information of the vehicle and acquiring the vehicle type information of the rear vehicle according to the rear vehicle image;
The acquisition module is used for acquiring real-time limit braking deceleration of the rear vehicle according to the vehicle type information, braking deceleration and braking pedal travel of the vehicle and the vehicle type information of the rear vehicle;
The first calculation module is used for calculating the real-time limit safety distance between the rear vehicle and the host vehicle according to the running speed of the rear vehicle relative to the host vehicle and the limit braking deceleration of the rear vehicle;
The judging module is used for judging whether rear-end collision risk is faced according to the real-time limit safety distance and the distance between the rear vehicle and the vehicle;
And the instruction module is used for controlling the early warning module to give an alarm when the judging module judges that the rear-end collision risk exists.
In the rear-end collision preventing system for the vehicle, when the vehicle starts to brake, the image shooting device, the distance measuring device and the speed measuring device which are arranged on the vehicle tail, the deceleration acquisition device and the brake pedal stroke sensor which are arranged on the vehicle are used for acquiring the real-time braking deceleration and the brake pedal stroke of the vehicle and the vehicle type information of the rear vehicle in real time, so that the limit braking deceleration of the rear vehicle is acquired, and then the limit safety distance is calculated according to the limit braking deceleration of the rear vehicle, so as to judge whether the rear-end collision risk is faced. Because the vehicle and the rear vehicle run under the same road conditions, weather and other environmental factors, the relation of the actual braking deceleration of the two vehicles is linked with the vehicle types of the two vehicles, the actual braking deceleration of the rear vehicle is deduced and obtained by the actual braking deceleration of the vehicle, the influence of the environmental factors on the braking of the rear vehicle can be considered, the risk of the vehicle being knocked into rear is accurately estimated, and the effectiveness of warning and reminding is improved.
The obtaining module comprises a storage module, a query module, a second calculation module and a third calculation module, wherein the storage module stores model coefficient information corresponding to all the vehicles in a one-to-one mode, the query module is used for querying and obtaining the model coefficient in the storage module according to the model information of the vehicle and the model information of the rear vehicle, the second calculation module is used for obtaining the deceleration coefficient according to the travel of a brake pedal of the vehicle, and the third calculation module is used for obtaining the limit brake deceleration of the rear vehicle according to the model coefficient, the deceleration coefficient and the brake deceleration of the vehicle.
Further, the second calculation module obtains a deceleration coefficient according to a brake pedal stroke of the host vehicle.
Further, the third calculation module multiplies the vehicle model coefficient by the deceleration coefficient and then by the deceleration of the own vehicle to obtain the limit braking deceleration of the rear vehicle.
Further, the first calculation module sets the rear vehicle to perform uniform deceleration motion from the current moment, the running speed of the rear vehicle relative to the vehicle is the initial speed of the uniform deceleration motion, the limit braking deceleration of the rear vehicle is used for deceleration, and the distance when the rear vehicle is decelerated to zero is calculated to be the limit safety distance.
Further, the judging method of the judging module is as follows:
step c1, calculating an optimal safety distance according to the limit safety distance and the reaction distance;
step c2, comparing the size relation between the optimal safety distance and the distance between the rear vehicle and the host vehicle;
and step c3, judging that the rear-end collision risk is faced if the optimal safety distance is not smaller than the distance between the rear vehicle and the vehicle.
In summary, by adopting the method and the system for preventing rear-end collision of the vehicle, the ultimate braking deceleration of the rear vehicle is deduced and obtained according to the actual deceleration of the vehicle, the influence of environmental factors on the braking of the rear vehicle can be considered, the risk of the rear-end collision of the vehicle can be accurately estimated, and the effectiveness of warning and reminding can be improved.
Drawings
In the drawings:
Fig. 1 is a flowchart of a method for preventing rear-end collision of a vehicle according to the present invention.
Fig. 2 is a block diagram of the rear-end collision preventing system for a vehicle according to the present invention.
In the figure, 1, an image shooting device, 2, a distance measuring device, 3, a speed measuring device, 4, an early warning module, 5, a deceleration obtaining device, 6, a controller, 61, a vehicle model module, 62, an obtaining module, 621, a storage module, 622, a query module, 623, a second calculation module, 624, a third calculation module, 63, a first calculation module, 64, a judging module, 65, an instruction module and 7, a brake pedal stroke sensor.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings. The description of these embodiments is provided to assist understanding of the present invention, but is not intended to limit the present invention.
Fig. 1 shows a method of preventing rear-end collision of a vehicle according to the present invention. As shown in fig. 1, the method for preventing rear-end collision of a vehicle comprises the following steps:
And step S10, when the vehicle brakes, acquiring braking deceleration and a brake pedal stroke of the vehicle in real time, and acquiring vehicle type information of the rear vehicle, running speed of the vehicle and distance of the vehicle.
When the vehicle starts braking, the vehicle starts to acquire in real time, namely continuously acquires braking deceleration information and brake pedal travel information, acquires vehicle type information of the rear vehicle, running speed of the vehicle and distance of the vehicle, continuously stops braking until the vehicle stops braking, judges whether rear-end collision risk is faced according to corresponding data of each acquisition moment, and carries out dynamic and efficient warning. The period interval of the real-time acquisition may be 1-3s.
The braking deceleration of the host vehicle is a composite braking factor including road friction, windage, and the like. The vehicle braking performance of the same vehicle is different in sunny days and rainy and snowy days, and the same vehicle braking performance is also different in the same weather environment and on different roads due to different adhesion force of the roads. Therefore, the actual deceleration value of the host vehicle has a reference meaning for calculating the actual deceleration value of the following vehicle with respect to the host vehicle and the following vehicle under the same weather and road environment.
And step S20, ending the method if the running speed of the rear vehicle relative to the vehicle is smaller than zero, otherwise, acquiring the limit braking deceleration of the rear vehicle according to the vehicle type information of the vehicle, the real-time braking deceleration and the braking pedal stroke and the vehicle type information of the rear vehicle.
When the real-time speed of the rear vehicle is equal to that of the front vehicle, although the rear vehicle does not face the risk of rear collision if the two vehicles keep the current running speed, the present moment also has a certain risk because the present moment is in a braking state, and the present moment also has a certain risk, the present moment is the same as the real-time speed of the rear vehicle is larger than that of the front vehicle, and the subsequent judgment is continued.
Optionally, the method for acquiring the limit braking deceleration of the rear vehicle comprises the following steps:
And a1, acquiring model coefficients according to the model information of the vehicle and the model information of the rear vehicle. The specific method comprises the steps of consulting a data set according to the model information of the vehicle and the model information of the rear vehicle to obtain model coefficients, wherein model coefficient information corresponding to all the vehicles one by one is stored in the data set. The model coefficients are related to the models of the front vehicle and the rear vehicle, and after the model recognition of the rear vehicle is completed, the corresponding model coefficients can be extracted from the preset and stored model coefficient data set.
Optionally, the model coefficient can be obtained according to calibration, various models are calibrated under the same road and weather environment conditions, the relation between the actual braking deceleration of the model coefficient and the actual braking deceleration of the model coefficient is obtained, and the relation is stored in the vehicle for later use.
The vehicle type is the type of the vehicle, and the method is more complicated in test and is more time-consuming and labor-consuming because of more types of vehicles in the market. Because the vehicles need to meet national automobile braking distance standards when being on the road, the design braking deceleration of the vehicles of various vehicle types can be considered to be not smaller than a set value, namely the minimum design braking deceleration. However, due to the restrictions of cost, vehicle own structure and other factors, each vehicle manufacturer will not deviate the design of the designed braking deceleration from the set value too much, so that the vehicle type can be divided according to the vehicle braking distance specified by the national standard.
The specified automobile braking distance standard of the national standard GB12676 and GB/T13594 is (1) not more than nine passenger automobiles, and not more than 19m when the initial speed is 50 Km/h;
(2) Other automobiles with total mass not exceeding 4.5t have initial speed not exceeding 21m at 50 Km/h;
(3) Other automobiles have an initial speed of 30Km/h of not more than 9m.
All vehicle types are correspondingly divided into three types according to three regulations in national vehicle braking distance standards, namely a first type vehicle, a second type vehicle and a third type vehicle, and the corresponding relations are as follows:
The first class of vehicles is passenger vehicles with no more than nine seats, and the braking distance is no more than 19m when the initial speed is 50 Km/h;
The second class of vehicles is vehicles with total mass not exceeding 4.5t except the first class of vehicles, and the braking distance is not exceeding 21m when the initial speed is 50 Km/h;
and the third class of vehicles is vehicles except the first class of vehicles and the second class of vehicles, and the braking distance is not more than 9m when the initial speed is 30 Km/h.
The braking distance is one of the key parameters for measuring the braking performance of a vehicle, and means that a person can travel from the time of starting braking to the time of completely stopping the vehicle under the condition that the vehicle is at a certain speed.
According to the above-mentioned first class vehicle, second class vehicle and third class vehicle, then make simulation to obtain correspondent vehicle model coefficient, and give recommended value of vehicle model coefficient in table 1, when in actual use, can self-set specific value.
TABLE 1 model coefficient data set
And a step a2, obtaining a deceleration coefficient according to the stroke of a brake pedal of the vehicle. The method specifically comprises the following steps:
① And obtaining the theoretical braking deceleration value of the vehicle according to the braking pedal travel of the vehicle and the pedal travel-deceleration relation curve of the vehicle. The pedal travel-deceleration relation curve of the vehicle can be directly obtained according to the parameter information of the vehicle, and then the deceleration corresponding to the current real-time brake pedal travel is searched on the curve to obtain the real-time theoretical brake deceleration value.
② The maximum braking deceleration value of the vehicle is obtained, and the maximum braking deceleration is a design parameter of the vehicle, and can be directly obtained according to the parameter information of the vehicle, or can be obtained on a pedal travel-deceleration relation curve.
③ And acquiring the deceleration coefficient according to the real-time theoretical braking deceleration value of the vehicle. The quotient of the maximum braking deceleration value divided by the real-time theoretical braking deceleration value may be used as the real-time deceleration coefficient.
And a3, acquiring the limit braking deceleration of the rear vehicle according to the vehicle type coefficient, the deceleration coefficient and the braking deceleration of the vehicle. Optionally, multiplying the vehicle model coefficient by the deceleration coefficient and then multiplying the vehicle model coefficient by the deceleration of the host vehicle to obtain the limit braking deceleration of the rear vehicle:
Let the model coefficient be beta, the deceleration coefficient be mu, the real-time deceleration of the own vehicle be b, the real-time braking deceleration a of the rear vehicle be a=mu beta.b.
And step S30, calculating the limit safety distance between the rear vehicle and the host vehicle according to the running speed of the rear vehicle relative to the host vehicle and the limit braking deceleration of the rear vehicle.
Optionally, setting the rear vehicle to perform uniform deceleration motion from the current moment according to a uniform deceleration formula, setting the running speed of the rear vehicle relative to the vehicle as the initial speed of the uniform deceleration motion, performing deceleration by the limit braking deceleration of the rear vehicle, and calculating the distance when the rear vehicle is decelerated to zero to be the limit safety distance.
And S40, judging whether the rear-end collision risk is faced or not according to the limit safety distance and the distance between the rear vehicle and the vehicle, and if so, giving an alarm. The specific process can be as follows:
And b1, calculating the optimal safety distance according to the limit safety distance and the reaction distance. Alternatively, the optimal safety distance is set to be L, the reaction distance is set to be D, and the limit safety distance is set to be S, and then l=s+d. The reaction distance is the distance that the vehicle travels in the reaction time of the driver, and theoretically, the value of D is the product of the speed of the rear vehicle and the reaction time. The speed of the vehicle can be obtained according to the relative speed of the rear vehicle and the speed measurement calculation of the vehicle, and the reaction time range can be [0, n ], but the safety is ensured by taking the maximum value n. The setting mode of the reaction time n can be uniformly set to a fixed value, for example, 4s, the value of n is not easy to be too large, excessive early warning is easy to be caused by too large, the value of n is not easy to be too small, early warning lag is easy to be caused by too small, or the damage caused by rear-end collision accident can not be sufficiently reduced. The dynamic numerical value can be designed by combining the rear vehicle type, and when the rear vehicles are the first type of vehicles, the second type of vehicles and the third type of vehicles in sequence, the value of the reaction time is increased in sequence. For example, when the rear vehicle is of the first type, n=2s, and when the rear vehicle is of the third type, n=4s.
And b2, comparing the size relation between the optimal safety distance and the distance between the rear vehicle and the host vehicle.
And b3, if the optimal safety distance is not smaller than the distance between the rear vehicle and the host vehicle, judging that the rear-end collision risk exists, and sending out an alarm. When the distance between the rear vehicle and the front vehicle is smaller than the optimal safety distance L, the vehicle gives an alarm.
Optionally, the alarm can be sent to the vehicle to give out an alarm prompt, such as a mode of sending out light backwards and whistling, and/or can be sent to the driver of the vehicle to give out an alarm prompt, such as an image, a text display or a voice alarm prompt on a central control screen of the vehicle.
Fig. 2 shows a rear-end collision avoidance system for a vehicle of the present invention. As shown in fig. 2, the system comprises an image shooting device 1, a distance measuring device 2, a speed measuring device 3, an early warning module 4, a deceleration acquisition device 5, a controller 6 and a brake pedal stroke sensor 7.
An image capturing device 1 for capturing an image of a rear vehicle. The camera can be arranged at the tail of the vehicle to take a picture.
And the distance measuring device 2 is used for acquiring the distance between the rear vehicle and the vehicle. The laser radar ranging can be adopted, and the binocular camera can be also adopted and installed at the tail of the vehicle for ranging. Alternatively, the image capturing device 1 and the ranging device 2 may be implemented by using the same image capturing module, so as to reduce cost.
And the speed measuring device 3 is used for acquiring the running speed of the rear vehicle relative to the vehicle. The speed device is also arranged at the tail part of the vehicle, and the speed of the rear vehicle is measured, namely the running speed of the rear vehicle relative to the vehicle. A radar velocimeter or the like may be used, or one radar system may be shared with the distance measuring device 2.
And the early warning module 4 is used for giving an alarm. The execution part can send out an alarm to the rear vehicle in a mode of sending out light, whistling and the like, and/or send out an alarm to the driver of the vehicle in a mode of displaying images and characters on a central control screen of the vehicle or giving out a voice alarm.
And a deceleration obtaining device 5 for obtaining the braking deceleration of the vehicle. The deceleration sensor can be directly installed on the vehicle to obtain the real-time deceleration value of the vehicle.
A brake pedal stroke sensor 7 for acquiring a brake pedal stroke of the vehicle.
And the controller 6 is used for judging whether the vehicle is at rear-end collision risk or not according to the rear vehicle image, the real-time running speed of the rear vehicle relative to the vehicle and the real-time distance between the rear vehicle and the vehicle, the vehicle type information of the vehicle, the real-time braking deceleration and the real-time brake pedal travel, and sending an alarm if the vehicle is at rear-end collision risk, wherein the vehicle type information of the vehicle is stored in the controller 6 in advance.
Optionally, the controller 6 includes a vehicle model module 61, an acquisition module 62, a first calculation module 63, a judgment module 64, and an instruction module 65.
The vehicle model module 61 is used for storing the vehicle model information of the vehicle and acquiring the vehicle model information of the rear vehicle according to the rear vehicle image. The vehicle type is not changed, the vehicle type module 61 is built in or is manually input once, the vehicle type module 61 applies an image recognition technology, a rear vehicle image shot in real time is input into a pre-trained neural network model, and the type of the rear vehicle is distinguished according to three pre-designed vehicle type conditions.
The acquiring module 62 is configured to acquire the limit brake deceleration of the rear vehicle according to the vehicle type information, the brake deceleration and the brake pedal stroke of the own vehicle, and the vehicle type information of the rear vehicle. Optionally, the acquisition module 62 includes a storage module 621, a query module 622, a second calculation module 623, and a third calculation module 624.
The storage module 621 stores model coefficient information of the own vehicle corresponding to all the models of the rear vehicle one by one. Similar to the above description of the method for preventing rear-end collision of vehicles, all the vehicles can be correspondingly divided into three types according to three regulations in the national vehicle braking distance standard, and then the simulation test is utilized to obtain a vehicle model coefficient data set as shown in table 1, and the vehicle model coefficient data set is stored in the storage module 621 for reference. The model coefficient can be obtained according to simulation and test.
The query module 622 is configured to query and obtain a model coefficient in the storage module 621 according to the model information of the host vehicle and the model information of the rear vehicle.
The second calculation module 623 is configured to obtain a deceleration factor based on the brake pedal travel of the host vehicle. Alternatively, the theoretical braking deceleration value of the vehicle is obtained according to the travel of the brake pedal of the vehicle and the pedal travel-deceleration relation curve of the vehicle, and then the deceleration coefficient is obtained according to the braking deceleration of the vehicle and the theoretical braking deceleration value.
The third calculation module 624 is configured to obtain a limit braking deceleration of the rear vehicle according to the vehicle model coefficient, the deceleration coefficient and the braking deceleration of the vehicle. Alternatively, if the vehicle type coefficient is beta, the deceleration coefficient is mu, and the real-time deceleration of the vehicle is b, the calculation formula of the real-time braking deceleration a of the rear vehicle is a=mu beta.
The first calculation module 63 is configured to calculate a limit safe distance between the rear vehicle and the host vehicle according to a traveling speed of the rear vehicle relative to the host vehicle and a limit braking deceleration of the rear vehicle.
Optionally, setting the rear vehicle to perform uniform deceleration motion from the current moment, setting the running speed of the rear vehicle relative to the vehicle to be the initial speed of the uniform deceleration motion, decelerating the rear vehicle by the limit braking deceleration, and calculating the distance from the rear vehicle to zero to be the limit safety distance.
The judging module 64 is configured to judge whether a rear-end collision risk is faced according to the limit safety distance and the distance between the rear vehicle and the host vehicle. Optionally, the judging method of the judging module 64 is:
And step c1, calculating an optimal safety distance according to the limit safety distance and the reaction distance, wherein the optimal safety distance is L, the reaction distance is D, and the limit safety distance is S, and L=S+D. The setting of the reaction distance is the same as that in the above-described method for preventing rear-end collision of a vehicle, and will not be described in detail.
Step c2, comparing the size relation between the optimal safety distance and the distance between the rear vehicle and the host vehicle;
And step c3, judging that the rear-end collision risk is faced if the optimal safety distance is not smaller than the distance between the rear vehicle and the vehicle. When the distance between the rear vehicle and the front vehicle is smaller than the optimal safety distance L, the vehicle gives an alarm.
The instruction module 65 is configured to control the early warning module 4 to issue an alarm and issue an action instruction to the early warning module 4 when the judgment module 64 judges that the rear-end collision risk is encountered.
When the automobile is braked, the real-time braking deceleration and the braking pedal stroke of the automobile and the real-time automobile type information of the rear automobile are acquired through the image shooting device 1, the distance measuring device 2, the speed measuring device 3 and the deceleration acquisition device 5 and the braking pedal stroke sensor 7 which are arranged on the automobile, so that the limit braking deceleration of the rear automobile is acquired, the limit safety distance is calculated according to the limit braking deceleration of the rear automobile, and whether the rear-end collision risk is encountered is judged. Because the automobile and the rear automobile run under the same road conditions, weather and other environmental factors, the relation of the actual braking deceleration of the two automobiles is linked with the automobile types of the two automobiles, and the actual braking deceleration of the automobile synthesizes the factors such as braking force, road surface friction, wind resistance and the like, so that the actual braking deceleration of the rear automobile is obtained by deduction, the influence of the environmental factors on the braking of the rear automobile can be considered, the risk of the automobile being knocked into rear is accurately estimated, and the effectiveness of warning reminding is improved.
It should be finally understood that the foregoing embodiments are merely illustrative of the technical solutions of the present invention and not limiting the scope of protection thereof, and although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that various changes, modifications or equivalents may be made to the specific embodiments of the invention, and these changes, modifications or equivalents are within the scope of protection of the claims appended hereto.
Claims (7)
1. The method for preventing the rear-end collision of the vehicle is characterized by comprising the following steps of:
step one, when the vehicle brakes, acquiring braking deceleration and a brake pedal stroke of the vehicle in real time, and acquiring vehicle type information of the rear vehicle, running speed of the vehicle and distance of the vehicle;
If the running speed of the rear vehicle relative to the vehicle is less than zero, ending the method, otherwise, acquiring the limit braking deceleration of the rear vehicle according to the vehicle type information, the braking deceleration and the braking pedal stroke of the vehicle and the vehicle type information of the rear vehicle;
step three, calculating the limit safety distance between the rear vehicle and the host vehicle according to the running speed of the rear vehicle relative to the host vehicle and the limit braking deceleration of the rear vehicle;
judging whether the rear-end collision risk is faced or not according to the limit safety distance and the distance between the rear vehicle and the vehicle, and if so, giving an alarm;
in the second step, the method for acquiring the limit braking deceleration of the rear vehicle comprises the following steps:
Step a1, obtaining model coefficients according to model information of the vehicle and model information of a rear vehicle;
Step a2, acquiring a deceleration coefficient according to the travel of a brake pedal of the vehicle;
step a3, obtaining the limit braking deceleration of the rear vehicle according to the vehicle model coefficient, the deceleration coefficient and the braking deceleration of the vehicle;
The step a2 includes:
Acquiring a theoretical braking deceleration value of the vehicle according to the braking pedal travel of the vehicle and a pedal travel-deceleration relation curve of the vehicle;
acquiring a deceleration coefficient according to a theoretical braking deceleration value of the vehicle;
The step a3 includes multiplying the vehicle type coefficient by the deceleration coefficient and multiplying the vehicle type coefficient by the deceleration of the vehicle to obtain the limit braking deceleration of the rear vehicle, wherein the vehicle type coefficient is beta, the deceleration coefficient is mu, the real-time deceleration of the vehicle is b, and the calculation formula of the limit braking deceleration a of the rear vehicle is a=mu beta.
2. The method for preventing rear-end collision of a vehicle according to claim 1, wherein the step a1 includes obtaining model coefficients by referring to a data set according to model information of the vehicle and model information of a rear vehicle, wherein model coefficient information corresponding to all models one by one is stored in the data set.
3. The method for preventing rear-end collision of a vehicle according to claim 1, wherein the third step comprises setting a uniform deceleration motion of the rear vehicle from the current moment, setting the running speed of the rear vehicle relative to the running speed of the vehicle to be an initial speed of the uniform deceleration motion, decelerating the rear vehicle by a limit braking deceleration, and calculating the distance from the rear vehicle to zero to be a limit safety distance.
4. The method for preventing rear-end collision of a vehicle according to claim 1, wherein said step four comprises:
step b1, calculating an optimal safety distance according to the limit safety distance and the reaction distance;
Step b2, comparing the size relation between the optimal safety distance and the distance between the rear vehicle and the host vehicle;
and b3, if the optimal safety distance is not smaller than the distance between the rear vehicle and the host vehicle, judging that the rear-end collision risk exists, and sending out an alarm.
5. A method for preventing rear-end collision of a vehicle according to claim 1 or 4, wherein in the fourth step, the issuing of the alarm comprises issuing an alarm prompt to the rear vehicle and/or issuing an alarm prompt to the driver of the vehicle.
6. A rear-end collision prevention system for a vehicle, based on the rear-end collision prevention method for a vehicle according to claim 1, comprising:
An image capturing device (1) for acquiring a rear vehicle image;
The distance measuring device (2) is used for acquiring the distance between the rear vehicle and the vehicle;
the speed measuring device (3) is used for acquiring the running speed of the rear vehicle relative to the vehicle;
The early warning module (4) is used for giving an alarm;
a deceleration acquisition device (5) for acquiring a braking deceleration of the host vehicle;
a brake pedal travel sensor (7) for acquiring a brake pedal travel of the host vehicle;
And the controller (6) is used for judging whether the vehicle is at rear-end collision risk or not according to the rear vehicle image, the real-time running speed of the rear vehicle relative to the vehicle and the real-time distance between the rear vehicle and the vehicle, the vehicle type information of the vehicle, the real-time braking deceleration and the real-time brake pedal travel, and sending an alarm if the vehicle is at rear-end collision risk, wherein the vehicle type information of the vehicle is prestored in the controller (6).
7. The rear-end collision avoidance system of claim 6, characterized by comprising that the controller (6) comprises:
the vehicle model module (61) is used for storing the vehicle model information of the vehicle and acquiring the vehicle model information of the rear vehicle according to the rear vehicle image;
An acquisition module (62) for acquiring the limit brake deceleration of the rear vehicle based on the vehicle type information, brake deceleration and brake pedal stroke of the own vehicle, and the vehicle type information of the rear vehicle;
A first calculation module (63) for calculating the limit safety distance between the rear vehicle and the host vehicle according to the running speed of the rear vehicle relative to the host vehicle and the limit braking deceleration of the rear vehicle;
The judging module (64) is used for judging whether rear-end collision risk is faced according to the limit safety distance and the distance between the rear vehicle and the host vehicle;
And the instruction module (65) is used for controlling the early warning module (4) to give an alarm when the judging module (64) judges that the rear-end collision risk exists.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211720708.5A CN115871659B (en) | 2022-12-30 | 2022-12-30 | Rear-end collision prevention method and system for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211720708.5A CN115871659B (en) | 2022-12-30 | 2022-12-30 | Rear-end collision prevention method and system for vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115871659A CN115871659A (en) | 2023-03-31 |
| CN115871659B true CN115871659B (en) | 2025-01-07 |
Family
ID=85757467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211720708.5A Active CN115871659B (en) | 2022-12-30 | 2022-12-30 | Rear-end collision prevention method and system for vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115871659B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118618363B (en) * | 2024-08-06 | 2025-03-11 | 比亚迪股份有限公司 | Vehicle control method, control device, electronic device, vehicle and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101827739A (en) * | 2007-10-17 | 2010-09-08 | 丰田自动车株式会社 | Travel control device and vehicle |
| CN108891350A (en) * | 2018-07-27 | 2018-11-27 | 武汉理工大学 | A kind of rear-end collision prevention early warning system and method based on front truck operator brake habit |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19806687A1 (en) * | 1998-02-18 | 1999-08-26 | Daimler Chrysler Ag | Method of preventing collision of vehicle with obstruction |
| DE102010064277B4 (en) * | 2010-12-28 | 2024-03-14 | Robert Bosch Gmbh | Safety feature in a driver assistance system with a rear view camera |
| CN109050538B (en) * | 2018-06-20 | 2019-05-07 | 湘潭大学 | Apparatus and method for estimating safe vehicle distance |
| CN111361413A (en) * | 2020-02-20 | 2020-07-03 | 南京工程学院 | A vehicle driving detection control system and method |
| CN112550262B (en) * | 2020-12-11 | 2022-06-10 | 奇瑞汽车股份有限公司 | Health state diagnosis method and system for automobile brake system |
| CN114987462A (en) * | 2022-05-31 | 2022-09-02 | 小马易行科技(上海)有限公司 | Method, apparatus, device and medium for avoiding vehicle collision for manual driving |
| CN114802137B (en) * | 2022-05-31 | 2023-01-31 | 东风越野车有限公司 | Brake fade compensation method, device, electronic equipment and computer storage medium |
-
2022
- 2022-12-30 CN CN202211720708.5A patent/CN115871659B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101827739A (en) * | 2007-10-17 | 2010-09-08 | 丰田自动车株式会社 | Travel control device and vehicle |
| CN108891350A (en) * | 2018-07-27 | 2018-11-27 | 武汉理工大学 | A kind of rear-end collision prevention early warning system and method based on front truck operator brake habit |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115871659A (en) | 2023-03-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102745194B (en) | Self-adaption alarming method for preventing tailgating with front car on expressway | |
| CN108891350B (en) | A rear-end collision warning system and method based on the braking habits of the driver in front | |
| CN105667506B (en) | A kind of urgent collision avoidance control method of automobile dynamic | |
| CN106274483A (en) | The Vehicular automatic driving switching device differentiated based on driving behavior of diverting one's attention and method | |
| CN107031621B (en) | A kind of automobile anti-collision method | |
| CN110803160B (en) | Automobile backward anti-collision control system and control method | |
| Nakaoka et al. | Study on forward collision warning system adapted to driver characteristics and road environment | |
| CN108189763A (en) | A kind of analysis method of driver's driving behavior and special intelligent vehicular rear mirror | |
| CN102849006B (en) | Vehicular intelligent safety warning system | |
| CN103434505B (en) | Automobile braking safety reminding method and system | |
| CN109455183B (en) | Vehicle collision pre-judging method and system | |
| CN106816020B (en) | Traffic accident information processing method based on data analysis | |
| CN112046455B (en) | Automatic emergency braking method based on vehicle quality identification | |
| US10814874B2 (en) | Apparatus and method for controlling creep torque in environmentally-friendly vehicle | |
| US20080183360A1 (en) | Vehicle collision avoidance and warning | |
| CN117864121B (en) | Distance dynamic monitoring method, system, equipment and storage medium | |
| CN113962011A (en) | Electric automobile braking system model and establishing method thereof | |
| CN115871659B (en) | Rear-end collision prevention method and system for vehicle | |
| CN111595597A (en) | A Test Method for AEB VRU Performance in Complex Environment | |
| CN106383918A (en) | System for distinguishing reasonability of emergency braking behavior and distinguishing method | |
| CN110033617A (en) | A kind of train tracing model assessment system and method towards natural driving data | |
| CN105984374A (en) | Vehicle brake lamp control system and control method | |
| CN108956156A (en) | The performance test methods and its device of the seized system of vehicle | |
| CN106494398A (en) | Prompting method for preventing vehicle rear-end collision based on mobile terminal and mobile terminal | |
| CN111833610A (en) | A detection method for improving road traffic safety |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |