CN103065501B - Automobile lane changing early-warning method and lane changing early-warning system - Google Patents
Automobile lane changing early-warning method and lane changing early-warning system Download PDFInfo
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Abstract
The invention relates to an automobile lane changing early-warning method and a lane changing early-warning system. The method comprises the steps of (1) arranging the lane changing early-warning system which comprises an information collecting unit, a system control unit and an early-warning execution unit, wherein a critical safety distance computing module and an early-warning decision module are arranged in the system control unit, and a computing formula for critical safety distance which is right suitable for lane changing and an early-warning decision condition are contained; (2) collecting information of distance between the closest target automobiles in a primary lane where a user automobile is located and a lane-changing target lane in a given front-back range and the user automobile and relative speed information and speed information of the user automobile; (3) computing the critical safety distance suitable for lane changing and comparing actual distance and computed critical safety distance and generating an early-warning control instruction; and (4) sending corresponding alarming information according to the early-warning control instruction. By means of the automobile lane changing early-warning method and the lane changing early-warning system, surrounding driving environment of the user automobile can be detected comprehensively, lane-changing safety under different working conditions can be judged, and collision accidents in the lane changing process can be effectively prevented.
Description
Technical field
The present invention relates to initiatively early warning technology of car steering, particularly change method for early warning Ji Huan road early warning system about a kind of automobile that can detect based on periphery driving environment.
Background technology
In multiple driving behavior, change driving higher because relating to change lane risk factor, larger on traffic flow impact because relating to from the coordinated movement of various economic factors of car and nearby vehicle again, therefore the security that successfully behavior of changing not only can support vehicles be driven, but also can guarantee the patency of traffic flow.If driver is inaccurate for relative position and the relative motion state estimation of vehicle before and after the vehicle on spacing target track or original track, the feasibility of most probably safety being changed is made false judgment, thereby easily causes corresponding traffic hazard.
At present, researchist both domestic and external has carried out correlative study for the danger judgement Ji Huan road early warning system in the process of changing, and most research is only carried out the analysis of Liao Huan road feasibility according to changing the relative motion relation between car and target track rear car in process.Most of as all adopting the analysis foundation of this simple Huan road motion as safety problem in the auxiliary Huan of safe driving road Design of warning, in analytic process, do not consider the relative motion relation between the rear car in the front truck in car and original track, original track and the front truck in target track and the potential risk bumping, therefore analytical factor is comprehensive not, can not carry out early warning for all contingent collision forms in the process of changing; In addition, a less part change in the design of early warning system can be simultaneously according to the front and back in original track and target track the relative motion relation of totally four cars change the safety analysis of process, it changes in the process of feasibility in judgement, adopted the limit collision avoidance that safe distance is comparatively little or the vehicle of different azimuth adopted to identical safe distance standard, these change feasibility analysis method and do not meet driver generally change custom and driver exchanges the demand of backup system.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the object of this invention is to provide a kind of automobile that can detect based on periphery driving environment and change method for early warning Ji Huan road early warning system, by the accurate information of environment vehicle before and after obtaining, adopt control module to carry out data processing and calculating, in the infeasible situation in Bing Huan road, send early warning to driver, change thereby reduce the possibility that traffic hazard occurs in process.
In order to reach above-mentioned technical purpose, the present invention will be by the following technical solutions: a kind of automobile changes method for early warning, it comprises the following steps: 1) Yi Huan road early warning system is set in the existing Ride Control System of automobile, the described early warning system of changing comprises information acquisition unit, system control unit and early warning performance element, critical safe distance computing module and early warning decision module are set in described system control unit, in described critical safe distance computing module, be preset with the computing formula of the critical safe distance that just can change, in described early warning decision module, be preset with early warning decision condition, 2) described information acquisition unit gathers environment information of vehicles and from garage's car status information simultaneously, and information exchange is crossed to system CAN bus and pass to described system control unit, 3) information of the critical safe distance computing module of described system control unit based on receiving and default computing formula are carried out the calculating of critical safe distance: calculate from car and target track front vehicle, from car and target track front vehicles, from car and original track front vehicles, critical safe distance between car and original track front vehicle, and the critical safe distance calculating and actual range are compared, described early warning decision module is according to default early warning decision condition, and the comparative result of critical safe distance and actual range, judges and changes feasibility, generates forewarn instruction and passes to described early warning performance element, 4) described early warning performance element, according to the forewarn instruction receiving, sends corresponding warning message.
The environment information of vehicles of above-mentioned information acquisition unit collection and comprise from garage's car status information in the target track in the described Ji Huan road, original track from car place be in target vehicle nearest in the forward and backward side's given range of car and relative distance, relative velocity, braking or throttle operation information between car and from vehicle speed information.
In above-mentioned critical safe distance computing module, default computing formula is:
Δd
cloh=c
style·v
h·T
losafe
Δd
croh=c
style·v
ro·T
rosofe
In above formula, Δ d
crdh, Δ d
cldh, Δ d
cloh, Δ d
crohthe critical safe distance between car and target track front vehicle, target track front vehicles, original track front vehicles, original track front vehicle after driving style has been considered in representative respectively; c
stylefor driver's driving style coefficient, give assignment according to driver's driving style; T
reactionfor driver's brake reaction time, be taken as experience setting value; a
rdcon, a
h max, a
ld maxbe respectively target track rear car maximum braking deceleration, from car maximum braking deceleration, target vehicle front truck maximum braking deceleration, be taken as experience setting value; v
h, v
rd, v
ld, v
robe respectively the speed of a motor vehicle from car, target track rear car, target track front truck, original track rear car.T
rdsafe, T
ldsafe, T
losafe, T
rosafedistance during for safe between car and the recession of target track, front truck and original track front truck, rear car is experience setting value.
In above-mentioned early warning decision module, default early warning decision condition is:
The early warning of Zuo Huan road:
(TS_left＝1)&&((Δd
rdh≤Δd
crdh)||(Δd
ldh≤Δd
cldh)|(Δd
roh≤Δd
croh)|(Δd
loh≤Δd
cloh))
The early warning of You Huan road:
(TS_right=1) & & ((Δ d
rdh≤ Δ d
crdh) || (Δ d
ldh≤ Δ d
cldh) || (Δ d
roh≤ Δ d
croh) || (Δ d
loh≤ Δ d
cloh)) in above formula, TS_left and TS_right are respectively the opening from the left and right steering indicating light of car, 1 for opening, and 0 for closing; Δ d
rdh, Δ d
ldh, Δ d
loh, Δ d
rohrespectively representative change before distance between car and target track front vehicle, target track front vehicles, original track front vehicles, original track front vehicle; Δ d
crdh, Δ
dcldh, Δ d
cloh, Δ d
crohthe critical safe distance between car and target track front vehicle, target track front vehicles, original track front vehicles, original track front vehicle after driving style has been considered in representative respectively.
Implement the automobile that above-mentioned automobile changes method for early warning and change early warning system, it is characterized in that: it comprises information acquisition unit, system control unit and early warning performance element; Described information acquisition unit is for gather environment information of vehicles and the device from garage's car status information simultaneously, and it is connected with described system control unit data by system CAN bus; Described system control unit is the device of built-in critical safe distance computing module and early warning decision module, and it connects described early warning performance element by instruction bus; Described early warning performance element is the forewarn instruction sending according to described system control unit, sends the device of early warning.
Above-mentioned information acquisition unit comprises radar, information acquisition and processing module and wireless telecommunications system;
Above-mentioned radar is two, and one is arranged on from front side, and another is arranged on from car rear, for surveying the environment information of vehicles from front side and rear, obtains it with respect to the lateral separation from car, fore-and-aft distance and relative velocity;
Above-mentioned wireless telecommunications system one side to environment vehicle, receives the driving states information from environment vehicle by information broadcastings such as the speed of a motor vehicle from car, throttle, braking, wheel steering lamps on the other hand;
Above-mentioned information acquisition and processing module for constantly gather in former car CAN bus from garage's car status information, and receive the environment information of vehicles that described radar and described wireless telecommunications system provide, carry out information fusion, fusion results is sent in system CAN bus for other modules.
Said system control module comprises single-chip microcomputer and CAN transceiver, the built-in described critical safe distance computing module of described single-chip microcomputer and early warning decision module, the environment information of vehicles that described CAN transceiver receiving system CAN bus transmits and from car speed information.
Above-mentioned early warning performance element comprises the early warning pilot lamp that is arranged on respectively on vehicle right and left rearview mirror, hummer and for regulating the driving circuit of the brightness of early warning pilot lamp, hummer volume.
The present invention is owing to adopting above technical scheme, it has the following advantages: 1, the present invention is owing to adopting the mode based on the communication of car car to gather periphery driving-environment information, can obtain more stable, exactly comprehensive environment information of vehicles compared to traditional autonomous type information acquisition system, be real-time transmitted to calculating and early warning decision that system control unit carries out critical safe distance, generate forewarn instruction, improve the security of Liao Huan road process.2, the present invention is owing to adopting critical safe distance computing module, design different relative motion models for the target vehicle of periphery different azimuth, obtain respectively can ensureing to change the critical safe distance of process safety between car and four cars of periphery, improve the rationality of the distance threshold in Liao Huan road early warning system.3, the present invention is owing to having introduced driving style coefficient in critical safe distance computing module, can there is higher consistance from different drivers to dangerous subjective understanding to dangerous judgment mechanism by regulating the size of this coefficient to make to change early warning system, can improve the acceptance of driver to system.The present invention can be in real time, accurately, all sidedly to detecting from the driving environment of car periphery, judge the security in different operating mode Xia Huan road, effectively the generation of collision accident in process is changed in prevention.
Brief description of the drawings
Fig. 1 is the composition schematic diagram that the present invention changes early warning system;
Fig. 2 is the workflow diagram that the present invention changes method for early warning;
Fig. 3 is the composition schematic diagram that the present invention changes information acquisition unit in early warning system;
Fig. 4 is the circuit theory diagrams that the present invention changes system control unit in early warning system;
In Tu5Shi Huan road process from the motion process schematic diagram of car and target track rear car;
In Tu6Shi Huan road process from the motion process schematic diagram of car and target track front truck;
Fig. 7 is the circuit theory diagrams that the present invention changes early warning performance element in early warning system.
Embodiment
As shown in Figure 1, method for early warning of the present invention need to arrange Yi Huan road early warning system and realize in the existing Ride Control System of former car, and this system comprises information acquisition unit 1, system control unit 2 and early warning performance element 3.
Information acquisition unit 1 gathers being in target vehicle nearest in the forward and backward side's given range of car and relative distance, relative velocity, braking or throttle operation information between car and from garage's car status information, by system CAN bus 4, these information being passed to system control unit 2 in the target track in the Ji Huan road, original track at car place simultaneously.Wherein, wireless telecommunications system 13 can adopt DSRC (Dedicated Short RangeCommunication) mechanics of communication.
As shown in Figure 2, system control unit 2 is provided with critical safe distance computing module 21 and early warning decision module 22.The computing formula that is preset with the critical safe distance that just can change in critical safe distance computing module 21, is preset with early warning decision condition in early warning decision module 22.The environment information of vehicles of critical safe distance computing module 21 based on receiving and carry out the calculating of critical safe distance from garage's car status information, and the critical safe distance calculating and actual range are compared.Early warning decision module 22, according to the comparative result of critical safe distance and actual range, is judged and is changed feasibility, generates forewarn instruction and passes to early warning performance element 3.Wherein, critical safe distance is the distance that makes can ensure security in the lucky Huan of car road process, and its calculating can be divided into from car and target track front vehicle, from car and target track front vehicles, from car and original track front vehicles, four parts of critical safe distance between car and original track front vehicle.
Early warning performance element 3, according to the forewarn instruction receiving, sends corresponding warning message to driver, to remind driver to change danger potential in process.
As shown in Figure 3, information acquisition unit 1 can comprise radar 11, information acquisition and processing module 12 and wireless telecommunications system 13.Wherein, radar 11 can be two, and one is arranged on from front side, and another is arranged on from car rear, is responsible for surveying the environment information of vehicles from front side and rear, obtains it with respect to the lateral separation from car, fore-and-aft distance and relative velocity.Wireless telecommunications system 13 exchanges driving states information in real time, and one side to environment vehicle, receives the driving states information from environment vehicle by information broadcastings such as the speed of a motor vehicle from car, throttle, braking, wheel steering lamps on the other hand.Information acquisition and processing module 12 constantly gather in former car CAN bus from garage's car status information, and the environment information of vehicles that provides of receiving radar 11 and wireless telecommunications system 13, carry out information fusion, fusion results is sent in system CAN bus 4 for other modules.
As shown in Figure 4, system control unit 2 can comprise single-chip microcomputer U1 and CAN transceiver U2, and critical safe distance computing module 21 is set in single-chip microcomputer U1.Wherein, single-chip microcomputer U1 can adopt Freescale (Freescale) company 16 single-chip microcomputers that produce, that model is MC9S12XEP100, and CAN transceiver U2 can adopt the SN65HVD1050 chip of TI company, but is all not limited to this.Pin CANH, CANL on CAN transceiver U2 is connected respectively pin CANH, the CANL in system CAN bus 4, connect in order to the physical medium between the CAN protocol controller as embedded in CAN bus and single-chip microcomputer U1, complete the conversion between the logic level signal in differential wave and the CAN protocol controller in CAN bus.Pin TXD, RXD on CAN transceiver U2 connects respectively the pin TXCAN0/RXCAN0 on single-chip microcomputer U1, by after CAN transceiver U2 transforms from car and nearby vehicle CAN information conveyance in single-chip microcomputer U1.
In the above-described embodiments, after capacitor C 1 and capacitor C 2 are in parallel, form a filtering circuit, this filtering circuit is connected between the power end VCC and location GND of CAN transceiver U2.Capacitor C 1 and capacitor C 2 are to mate with CAN transceiver U2, can select respectively 0.1 μ F and 10 μ F.
Critical safe distance computing module 21 calculates in the time of the critical safe distance of car and nearby vehicle, analyzes from collision avoidance with two angles of car, specifically comprises following four steps:
1) from the critical safe distance of car and target track rear car
For the safe distance from car and target track rear car, after desirable situation Shi Zichehuan road, keep safe following distance with the rear car on target track.In the process in Zi Chehuan road, after supposing to change initial target track, vehicle speed is greater than from vehicle speed, change in process and at the uniform velocity travel from car, target track rear car keeps the former speed of a motor vehicle to travel recognizing within the reaction time of the lane-changing intention of car, brake until speed equals from vehicle speed with certain retarded velocity afterwards, now two car spacing minimums, this distance should be not less than safe following distance.The calculation procedure of safe following distance is as follows:
As shown in Figure 5, changing is before v from vehicle speed
h, target track rear car speed is v
rd, vehicle headway is Δ d
rdh, this distance is safe distance between vehicles d
safewith buffer distance d
buffersum; After changing, be v from vehicle speed
h', target track rear car speed is v
rd', while reaching minimum spacing, be d from car operating range
h, target track rear car operating range is d
rd, two spacings are Δ d
rdh'.Rear car reaction time T
reactionfor time of driver's reaction T
driverwith brake system reaction time T
brakesum; Target track rear car speed is with certain constant retarded velocity a
rdconbeing reduced to from vehicle speed required time is t
brake.
The condition that process safety is changed in guarantee is that minimum spacing is not less than safe following distance, should meet following formula:
d
rd＜d
h+d
buffer（1）
Meet the critical safe distance Δ d of above-mentioned condition
mrdhfor:
In above formula, T
rdsafedistance during for safe between car and target track rear car is experience setting value.In the present embodiment, can get T
rdsafe=1s, other empirical values can be got respectively: T
reaction=T
driver+ T
brake=1.35s+0.15s=1.5s, a
rdcon=2m/s
2.
2) from the critical safe distance of car and target track front truck
For the motion process from car and target track rear car, if when target vehicle front truck runs into emergency condition Brake stop, should be able to make braking action from car through certain reaction time, and finally can emergency and unlikely knocking into the back.The calculation procedure of safe following distance is as follows:
As shown in Figure 6, changing is before v from vehicle speed
h, target track front truck speed is v
ld, two spacings are Δ d
ldh; After changing, be v from vehicle speed
h', target track front truck speed is v
ld', after Brake stop, two spacings are Δ d
ldh', target track front truck operating range is d
ld, from the operating range d of car
hfor reaction distance d
hreactwith braking distance d
hbrakesum.From the reaction time of car T
reactionfor time of driver's reaction T
driverwith brake system reaction time T
brakesum.
The condition that process safety is changed in guarantee is, Δ d
ldh' should be greater than 0, and meet the critical safe distance Δ d of this condition
mrdhfor:
In above formula, T
ldsafedistance during for safe between car and target track front truck is experience setting value.In the present embodiment, can get T
ldsafe=1s, other empirical values can be got respectively: T
reaction=T
driver+ T
brake=1.35s+0.15s=1.5s, the maximum braking deceleration a that can produce from car
h maxthe maximum braking deceleration a that can produce with target track front truck
ld maxcan all get 2m/s
2.
3) from the critical safe distance of the forward and backward car of car and original track
The impact of the front vehicles of Zi Chehuan road on original track and front vehicle is relatively little, change feasible need be between the forward and backward car of car and original track distance, delta d
loh, Δ d
rohmeet safe following distance, meet the critical safe distance Δ d of this condition
mloh, Δ d
mrohfor:
Δd
mloh=v
h·T
losafe
Δd
mroh＝v
ro·T
rosafe（4）
In above formula, v
rofor the original track rear car speed of a motor vehicle, T
losafe, T
rosafedistance during for safe between car and original track front truck, rear car, is experience setting value, in the present embodiment, can all get 1s.
4) the critical safe distance correction based on driver's style
Wei Shihuan road early warning system has higher consistance from different drivers to dangerous subjective understanding to dangerous judgment mechanism, and the present embodiment also can be introduced driving style coefficient c in final critical safe distance calculates
style, calculate the critical safe distance from car and nearby vehicle, computing formula is as follows:
Δd
crdh＝c
style·Δd
mrdh
Δd
cldh=c
style·Δd
mldh
Δd
cloh=c
style·Δd
mloh（5）
Δd
croh=c
style·Δd
mroh
In above formula, Δ d
crdh, Δ d
cldh, Δ d
cloh, Δ d
crohrespectively representative considered after driving style from the critical safe distance between car and target track front vehicle, target track front vehicles, original track front vehicles, original track front vehicle, its expression formula is distinguished as follows:
Δd
loch=c
style·v
h·T
losafe
Δd
croh=c
style·v
ro·T
rosafe
The function of the early warning decision module 22 actual relative distance that to be critical safe distances that critical safe distance computing module 21 is calculated provide as threshold value and signal acquisition module 1 compares, in conjunction with driver's steering operation behavior, determine whether make corresponding early warning, specific rules is as follows:
The early warning of Zuo Huan road:
(TS_left＝1)&&((Δd
rdh≤Δd
crdh)||(Δd
ldh≤Δd
cldh)||(Δd
roh≤Δd
croh)||(Δd
loh≤Δd
cloh)) （7）
The early warning of You Huan road:
(TS_right=1) & & ((Δ d
rdh≤ Δ d
crdh) || (Δ d
ldh≤ Δ d
cldh) || (Δ d
roh≤ Δ d
croh) || (Δ d
loh≤ Δ d
doh)) in above formula, TS_left and TS_right are respectively the opening from the left and right steering indicating light of car, 1 for opening, and 0 for closing.
As shown in Figure 7, early warning performance element 3 can comprise driving circuit 31, and is arranged on respectively L_LED and R_LED early warning pilot lamp 32 and hummer (BUZZER) 33 on vehicle right and left rearview mirror.Corresponding to different early warning demands, early warning performance element 3 should be carried out corresponding forewarn, and in the present embodiment, early warning performance element 3 can send light and buzzing early warning to driver simultaneously, and early warning demand and forewarn can be as shown in the table:
Table 1 early warning demand and forewarn mapping table
When the single-chip microcomputer U1 in system control unit 2 determines the current left/right of need to carrying out while changing early warning, single-chip microcomputer U1 exports the control signal to hummer 33 from its I/O signal output port IOC0/PT0, exports respectively the control signal to L_LED or R_LED early warning pilot lamp 32 from its I/O signal output port IOC1/PT1 or IOC2/PT2 simultaneously.In the present embodiment, the flicker frequency of early warning pilot lamp and hummer ring frequency can all be made as 2Hz, correspondingly, the time that is provided with 500ms in system control unit interrupts, and in interrupt function, will be set to and current state inverse value according to alarm command control signal.
As shown in Figure 7, in the present embodiment, driving circuit 31 can include some current-limiting resistances and triode.Wherein the collector of triode connects direct supply, guarantees that triode is operated in magnifying state; Contact resistance R1 between the I/O signal output port IOC0/PT0 of single-chip microcomputer U1 and the base stage of triode Q1 in system control unit 2, be by the several times of resistance R 1 electric current by the electric current of resistance R 2, can realize the control to collector current by base current control; Being connected between VCC direct supply and hummer 33 of resistance R 2, is used to hummer 33 dividing potential drops, can change the volume of hummer by the size of regulating resistance R2.In like manner, L_LED is by the output signal control of IOC1/PT1 port, and its brightness is regulated by resistance R 3 and R4; R_LED is by the output signal control of IOC2/PT2 port, and its brightness is regulated by resistance R 5 and R6.In the present embodiment, R1, R2 can use respectively 4.7k, the resistance of 100 ohm; R3, R4 can use respectively the resistance of 5.1k, 1k ohm; R5, R6 can use respectively the resistance of 5.1k, 1k ohm.Q1, Q2, Q3 can all use electric current amplifying triode 8050.
In the various embodiments described above, the structure of each parts, setting position and connection thereof all can change to some extent, and on the basis of technical solution of the present invention, the improvement that indivedual parts are carried out and equivalents, should not get rid of outside protection scope of the present invention.
Claims (8)
1. automobile changes a method for early warning, and it comprises the following steps:
1) Yi Huan road early warning system is set in the existing Ride Control System of automobile, the described early warning system of changing comprises information acquisition unit, system control unit and early warning performance element, critical safe distance computing module and early warning decision module are set in described system control unit, in described critical safe distance computing module, be preset with the computing formula of the critical safe distance that just can change, in described early warning decision module, be preset with early warning decision condition;
In described critical safe distance computing module, default computing formula is:
Δd
cloh＝c
style·v
h·τ
losafe
Δd
croh＝c
style·v
ro·τ
rosafe
In above formula, Δ d
crdh, Δ d
cldh, Δ d
cloh, Δ d
crohthe critical safe distance between car and target track front vehicle, target track front vehicles, original track front vehicles, original track front vehicle after driving style has been considered in representative respectively; c
stylefor driver's driving style coefficient, give assignment according to driver's driving style; τ
reactionfor driver's brake reaction time, be taken as experience setting value; a
rdcon, a
hmax, a
ldmaxbe respectively target track rear car maximum braking deceleration, from car maximum braking deceleration, target vehicle front truck maximum braking deceleration, be taken as experience setting value; v
h, v
rd, v
ld, v
robe respectively the speed of a motor vehicle from car, target track rear car, target track front truck, original track rear car; τ
rdsafe, τ
ldsafe, τ
losafe, τ
rosafedistance during for safe between car and target track rear car, front truck and original track front truck, rear car is experience setting value;
2) described information acquisition unit gathers environment information of vehicles and from garage's car status information simultaneously, and information exchange is crossed to system CAN bus and pass to described system control unit;
3) information of the critical safe distance computing module of described system control unit based on receiving and default computing formula are carried out the calculating of critical safe distance: calculate from car and target track front vehicle, from car and target track front vehicles, from car and original track front vehicles, critical safe distance between car and original track front vehicle, and the critical safe distance calculating and actual range are compared; Described early warning decision module is according to default early warning decision condition, and the comparative result of critical safe distance and actual range, judges and changes feasibility, generates forewarn instruction and passes to described early warning performance element;
4) described early warning performance element, according to the forewarn instruction receiving, sends corresponding warning message.
2. a kind of automobile as claimed in claim 1 changes method for early warning, it is characterized in that: the environment information of vehicles of described information acquisition unit collection and comprise from garage's car status information in the target track in the described Ji Huan road, original track from car place be in target vehicle nearest in the forward and backward side's given range of car and relative distance, relative velocity, braking or throttle operation information between car and from vehicle speed information.
3. a kind of automobile as claimed in claim 1 or 2 changes method for early warning, it is characterized in that: in described early warning decision module, default early warning decision condition is:
The early warning of Zuo Huan road:
(TS_left＝1)&&((Δd
rdh≤Δd
crdh)||(Δd
ldh≤Δd
cldh)||(Δd
roh≤Δd
croh)||(Δd
loh≤Δd
cloh))
The early warning of You Huan road:
(TS_right＝1)&&((Δd
rdh≤Δd
crdh)||(Δd
ldh≤Δd
cldh)||(Δd
roh≤Δd
croh)||(Δd
loh≤Δd
cloh))
In above formula, TS_left and TS_ri
ght is respectively the opening from the left and right steering indicating light of car, and 1 for opening, and 0 for closing; Δ d
rdh, Δ d
ldh, Δ d
loh, Δ d
rohrespectively representative change before distance between car and target track front vehicle, target track front vehicles, original track front vehicles, original track front vehicle; Δ d
crdh, Δ d
cldh, Δ d
cloh, Δ d
crohthe critical safe distance between car and target track front vehicle, target track front vehicles, original track front vehicles, original track front vehicle after driving style has been considered in representative respectively.
4. the automobile that enforcement automobile as described in claim 1～3 any one changes method for early warning changes an early warning system, it is characterized in that: it comprises information acquisition unit, system control unit and early warning performance element;
Described information acquisition unit is for gather environment information of vehicles and the device from garage's car status information simultaneously, and it is connected with described system control unit data by system CAN bus;
Described system control unit is the device of built-in critical safe distance computing module and early warning decision module, and it connects described early warning performance element by instruction bus;
Described early warning performance element is the forewarn instruction sending according to described system control unit, sends the device of early warning.
5. automobile as claimed in claim 4 changes an early warning system, it is characterized in that: described information acquisition unit comprises radar, information acquisition and processing module and wireless telecommunications system;
Described radar is two, and one is arranged on from front side, and another is arranged on from car rear, for surveying the environment information of vehicles from front side and rear, obtains it with respect to the lateral separation from car, fore-and-aft distance and relative velocity;
Described wireless telecommunications system one side to environment vehicle, receives the driving states information from environment vehicle by information broadcastings such as the speed of a motor vehicle from car, throttle, braking, wheel steering lamps on the other hand;
Described information acquisition and processing module for constantly gather in former car CAN bus from garage's car status information, and receive the environment information of vehicles that described radar and described wireless telecommunications system provide, carry out information fusion, fusion results is sent in system CAN bus for other modules.
6. the automobile as described in claim 4 or 5 changes early warning system, it is characterized in that: described system control unit comprises single-chip microcomputer and CAN transceiver, the built-in described critical safe distance computing module of described single-chip microcomputer and early warning decision module, the environment information of vehicles that described CAN transceiver receiving system CAN bus transmits and from car speed information.
7. the automobile as described in claim 4 or 5 changes an early warning system, it is characterized in that: described early warning performance element comprises the early warning pilot lamp that is arranged on respectively on vehicle right and left rearview mirror, hummer and for regulating the driving circuit of the brightness of early warning pilot lamp, hummer volume.
8. automobile as claimed in claim 6 changes an early warning system, it is characterized in that: described early warning performance element comprises the early warning pilot lamp that is arranged on respectively on vehicle right and left rearview mirror, hummer and for regulating the driving circuit of the brightness of early warning pilot lamp, hummer volume.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210543893.5A CN103065501B (en) | 2012-12-14 | 2012-12-14 | Automobile lane changing early-warning method and lane changing early-warning system |
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