CN106956677A - A kind of automotive safety method for early warning and system - Google Patents
A kind of automotive safety method for early warning and system Download PDFInfo
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- CN106956677A CN106956677A CN201710230518.8A CN201710230518A CN106956677A CN 106956677 A CN106956677 A CN 106956677A CN 201710230518 A CN201710230518 A CN 201710230518A CN 106956677 A CN106956677 A CN 106956677A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 208000027418 Wounds and injury Diseases 0.000 claims abstract description 45
- 230000006378 damage Effects 0.000 claims abstract description 45
- 208000014674 injury Diseases 0.000 claims abstract description 45
- 230000004888 barrier function Effects 0.000 claims description 16
- 231100001261 hazardous Toxicity 0.000 claims description 9
- 230000004927 fusion Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000004134 energy conservation Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of automotive safety method for early warning and system, belong to automotive safety auxiliary driving field.A kind of automotive safety method for early warning that the present invention is provided, by gathering vehicle condition information and environment surrounding automobile information, based on lane departure warning, frontal collisions early warning and blind area early warning come the danger of comprehensive descision automobile, when the danger for judging to occur as it is multiple when, each dangerous collision injury degree occurred of estimation；And the maximum danger early warning of collision injury degree is exported by early warning output module.A kind of automotive safety method for early warning and system that the present invention is provided, in multiple risks of collision the maximum danger of driver's injury degree can be accurately reminded in the presence of simultaneously, driver's priority treatment can be made to be likely to result in the maximum collision of injury degree, so as to reach that warning function comprehensively, accurately, improves the security of car steering.
Description
Technical field
The present invention relates to automotive safety auxiliary driving field, more particularly to a kind of automotive safety method for early warning and system.
Background technology
With the increase year by year of China's car ownership, traffic pressure also sharp increase of going on a journey, in vehicle traveling process
Security facing increasingly stern challenge, threat of the road traffic accident to people life property safety progressively expands.Therefore,
Importance of the automobile active safety early warning system in protection driver, occupant, pedestrian and other vehicles is self-evident.
The automobile active safety early warning systems such as Lane Departure Warning System, frontal collisions early warning system, blind area early warning system
Vehicle periphery precarious position can be monitored in real time when driver tired driving, notice are not enough, once there is collision
Danger will occur, and can shift to an earlier date and remind driver with modes such as voice signal, light signal, vibration of steering wheel, seat vibrations,
So that driver timely carries out collision avoidance operation, imminent various risks of collision are effectively avoided.Current domestic major vapour
All there was only single warning function in the automobile active safety early warning system that depot releases mostly, a small number of vehicles have multiple early warning work(
Can, but multiple warning functions carry out integrated and consider multiple dangerous while priority dangerous when occurring is asked by rarer product
Topic.Reduction with automobile active safety early warning system cost and its importance to traffic safety, various active safeties are pre-
Alert system will be popularized, therefore it is also general trend of events institute to carry out data fusion and the system integration to multiple active safety early warning systems
Become.However, to the integrated of multiple active safety warning functions, to consider multiple dangerous while various dangerous preferential when occurring
Level, and priority scheduling is carried out to danger from rational method.
The content of the invention
In view of this, it is an object of the invention to provide a kind of automotive safety method for early warning and system, this method is based on touching
Harmful degree of wounding sends danger early warning, can accurately remind driver's injury degree maximum in the presence of simultaneously in multiple risks of collision
It is dangerous.
To reach above-mentioned purpose, the present invention provides following technical scheme：
A kind of automotive safety method for early warning, comprises the following steps：
S1：Vehicle condition information and environment surrounding automobile information are gathered, the possibility that risk of collision occurs is determined whether；
S2：The each dangerous collision injury degree occurred of estimation；
S3：The maximum danger early warning of output collision injury degree.
Further, the S2 also includes judging that the danger occurred is single dangerous or multiple danger, if single danger
Occur then directly to export danger early warning.
Further, each dangerous collision injury degree occurred of the estimation comprises the following steps：
S201：Calculate the automobile speed after each hazardous collision and barrier speed；
S202：Calculate the kinetic energy rejection before and after each hazardous collision；
S203：Calculate each dangerous collision injury degree.
Further, the collision injury degree is with colliding front and rear total kinetic energy rejection amount and risk of collision time threshold values into just
Than being inversely proportional with collision time.
Further, the environment surrounding automobile information includes lane line information, automobile with track front obstacle information, vapour
Car blind area obstacle information.
A kind of automobile safety early-warning system, including information fusion module, vehicle condition information and automobile are gathered for automobile
Ambient condition information；Pre-warning algorithm module is to contain having lane departure warning, frontal collisions early warning and blind area early warning, for sentencing
Whether car of cutting steam has risk of collision；Early warning output module, the danger early warning maximum for exporting injury degree.
Further, the warning module judges that the danger occurred is single dangerous or multiple danger, if single danger
Occur then directly to export danger early warning.
Further, the warning module judges that the danger occurred is single dangerous or multiple danger, if multiple danger
Occur, each dangerous collision injury degree occurred of pre-warning algorithm module estimation.
The beneficial effects of the present invention are：A kind of automotive safety method for early warning and system that the present invention is provided, based on track
Deviate early warning, frontal collisions early warning and blind area early warning and carry out the danger of comprehensive descision automobile, can multiple risks of collision deposit simultaneously
When accurately remind the maximum danger of driver's injury degree, driver's priority treatment can be made to be likely to result in injury degree maximum
Collision, so as to reach that warning function comprehensively, accurately, improves the security of car steering.
Brief description of the drawings
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below and carried out
Explanation：
Fig. 1 is automotive safety method for early warning structural representation；
Fig. 2 is multiple dangerous simultaneous traffic scene schematic diagrames；
Fig. 3 is the injury degree curve synoptic diagram in the presence of multiple danger simultaneously in embodiment；
Fig. 4 is the integrated form early warning priority scheduling output result schematic diagram in the presence of multiple danger simultaneously in embodiment；
Fig. 5 is automotive safety method for early warning schematic flow sheet of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
A kind of automotive safety method for early warning that the present invention is provided, based on lane departure warning, frontal collisions early warning and blind area
Early warning carrys out the danger of comprehensive descision automobile, the danger early warning of finally output collision injury degree maximum, as shown in figure 1, including with
Lower step：
S1：Vehicle condition information and environment surrounding automobile information are gathered, the possibility that risk of collision occurs is determined whether；
The environment surrounding automobile information includes lane line information, automobile with track front obstacle information, vehicle blind zone
Obstacle information.
S2：The each dangerous collision injury degree occurred of estimation；
Judge that the danger occurred is single dangerous or multiple danger, if single dangerous generation then directly exports dangerous pre-
It is alert, if multiple dangerous generations, then estimate each dangerous collision injury degree occurred；Estimated especially by following methods：
S201：Calculate the automobile speed after each hazardous collision and barrier speed；Touched according to automobile before collision with target
Thing speed and car mass and collision target quality are hit, the speed of automobile and object collision rift is sought with principle of conservation of momentum
Degree.
S202：Calculate the kinetic energy rejection before and after each hazardous collision；According to the speed of automobile and object collision rift and
Car mass and collision target quality, the kinetic energy rejection of automobile and object before and after collision is sought with kinetic energy conservation theorem.
S203：Each dangerous collision injury degree is calculated, according to the kinetic energy rejection of automobile and object, automobile before and after collision
Quality and collision target quality, laterally (or longitudinal direction) risk of collision time threshold values and collision time ask total collision to injure
Degree.The collision injury degree is directly proportional to kinetic energy rejection amount total before and after collision and risk of collision time threshold values, with collision time
It is inversely proportional.
S3：The maximum danger early warning of output collision injury degree.
Present invention also offers a kind of automobile safety early-warning system, including information fusion module, pre-warning algorithm module and pre-
Alert output module.
Described information Fusion Module is used to gather vehicle condition information and environment surrounding automobile information, the motor vehicle environment ring
Environment information includes lane line information, automobile with track front obstacle information, vehicle blind zone obstacle information.
The pre-warning algorithm module is to contain having lane departure warning, frontal collisions early warning and blind area early warning, for sentencing
Whether car of cutting steam has risk of collision；
Warning module judges that the danger occurred is single dangerous or multiple danger, if single dangerous generation is then directly defeated
Go out danger early warning, if multiple dangerous generations, each dangerous collision injury degree occurred of pre-warning algorithm module estimation.
Early warning output module, the danger early warning maximum for exporting injury degree.
Embodiment
Automotive safety method for early warning, comprises the following steps：
1) automobile information Fusion Module collection ambient condition information, including lane line information, automobile are with track preceding object
Thing information, vehicle blind zone obstacle information, and ambient condition information is transmitted to pre-warning algorithm module.
2) pre-warning algorithm module judges whether automobile has according to lane departure warning, frontal collisions early warning and blind area early warning
Risk of collision occurs, and next step is jumped to if having, step 1 is jumped to if not)；
3) judge that the danger occurred is single dangerous or multiple danger, if single dangerous generation, early warning output module
Directly export danger early warning；If multiple dangerous generations, jump to next step；
4) each dangerous collision injury degree occurred is estimated；And collision injury degree maximum is exported by early warning output module
Danger early warning.
Calculate the automobile speed after each hazardous collision and barrier speed；
According to automobile before collision and target collision thing speed and car mass and collision target quality, with the conservation of momentum
Theorem seeks the speed of automobile and object collision rift.
Calculate the kinetic energy rejection before and after each hazardous collision；
It is fixed with kinetic energy conservation according to the speed and car mass and collision target quality of automobile and object collision rift
Manage to seek the kinetic energy rejection of the front and rear automobile of collision and object.
Kinetic energy total losses amount is before and after can obtaining automobile and object collision by principle of conservation of momentum, kinetic energy conservation theorem：
OrderIt can obtain：
So the kinetic energy rejection of automobile and target carriage collision rift is maximum when meeting following condition：
Wherein m1For car mass, m2For collision target quality, v1、v2To collide preceding automobile and target collision thing speed,
v1′、v2' for the speed of collision rift automobile and target collision thing.
Calculate each dangerous collision injury degree；
According to collision before and after automobile and object kinetic energy rejection, car mass and collision target quality, laterally (or indulge
To) risk of collision time threshold values and collision time seek total collision injury degree, the collision injury degree with it is total before and after collision
Kinetic energy rejection amount and risk of collision time threshold values are directly proportional, and are inversely proportional with collision time.
The kinetic energy rejection amount before and after each hazardous collision is calculated according to kinetic energy conservation theorem.Automobile and object collision are front and rear
Kinetic energy change computing formula be：
Wherein m1For car mass, m2For collision target quality, v1、v2To collide preceding automobile and target collision thing speed,
v1′、v2' for the speed of collision rift automobile and target collision thing, Q1、Q2The respectively kinetic energy change amount of automobile and target collision thing.
Each dangerous collision injury degree is calculated according to the variable quantity of kinetic energy, wherein injury degree and kinetic energy total before and after collision
Loss amount and risk of collision time threshold values TthrIt is directly proportional, is inversely proportional with collision time T.Colliding injury degree computing formula is：
Wherein m1For car mass, m2For collision target quality, v1、v2To collide preceding automobile and target collision thing speed,
v1′、v2' for the speed of collision rift automobile and target collision thing, T is the time TLC or collision time TTC of run-off-road line,
TthrFor transverse direction (deviation) or the time threshold values of longitudinal impact dangerous (frontal collisions, blind area are dangerous), the present embodiment is chosen
Horizontal critical time threshold values TLCthr1=1.2s, longitudinal impact critical time threshold values TTCthr2=4s, d are automobile and barrier
Fore-and-aft distance, | | V1-V2| | for automobile and the longitudinally opposed speed of barrier, C is collision injury degree.
Target obstacle is divided into three classes by the present invention：Vehicle, pedestrian, fixed object, make respectively according to the difference of barrier
It is rational to assume to obtain collision injury degree.
When collision target is vehicle, collision injury degree computing formula is：
Wherein m1For car mass, m2For barrier vehicle mass, v1、v2To collide preceding automobile and barrier car speed,
v1′、v2' for the speed of collision rift automobile and barrier vehicle, TTCthrFor the limit of automobile and barrier vehicle collision time TTC
Value, | | V1-V2| | longitudinally opposed speed during for automobile with front or behind barrier automobile crash, d is automobile and barrier vehicle
Fore-and-aft distance.
Fig. 2 is multiple dangerous simultaneous traffic scene schematic diagrames, and middle car is automobile, wherein car mass m1=
1530kg, longitudinal speed v1=25m/s, automobile lateral run-out track speed is vy=0.8m/s, front obstacle vehicle mass m2
=1760kg, speed v2=15m/s straight-line travellings, left side rear blind area barrier vehicle mass m3=1640kg, speed v3=
30m/s straight-line travellings, when deviation is dangerous, frontal collisions are dangerous and blind area risk of collision simultaneously in the presence of, Fig. 3 is embodiment
In it is multiple it is dangerous simultaneously in the presence of injury degree curve synoptic diagram, Fig. 4 be in embodiment it is multiple it is dangerous simultaneously in the presence of it is integrated
Formula early warning priority scheduling output result schematic diagram, early warning output is exported according to the more big then early warning of dangerous bigger or injury degree
Signal value is bigger (being 3 to the maximum).
When collision target is pedestrian, it is assumed that speed is 0 before pedestrian impact, the collision injury degree computing formula is：
Wherein m1For car mass, m2For pedestrian's mass, v1For car speed, TTC before collisionthrFor Vehicle-pedestrian impact
Time TTC limit value, d is automobile and the fore-and-aft distance of pedestrian.
When collision target is fixed object (isolation strip or building etc.), speed is 0 before fixed object collision, it is assumed that fixed
Mass of object is infinitely great, then automobile and fixed object speed are all 0 after must being collided according to principle of conservation of momentum, then bumper injury
Evil degree computing formula is：
v1For car speed, TTC before collisionthrFor automobile and barrier vehicle collision time TTC limit value, d be automobile with
The fore-and-aft distance of barrier vehicle.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
Cross above preferred embodiment the present invention is described in detail, it is to be understood by those skilled in the art that can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (8)
1. a kind of automotive safety method for early warning, it is characterised in that：Comprise the following steps：
S1：Vehicle condition information and environment surrounding automobile information are gathered, the possibility that risk of collision occurs is determined whether；
S2：The each dangerous collision injury degree occurred of estimation；
S3：The maximum danger early warning of output collision injury degree.
2. according to a kind of automotive safety method for early warning of claim 1, it is characterised in that：The S2 also includes the danger for judging to occur
It is single dangerous or multiple danger, if single dangerous generation then directly exports danger early warning.
3. according to a kind of automotive safety method for early warning of claim 1, it is characterised in that：The each dangerous collision occurred of estimation
Injury degree comprises the following steps：
S201：Calculate the automobile speed after each hazardous collision and barrier speed；
S202：Calculate the kinetic energy rejection before and after each hazardous collision；
S203：Calculate each dangerous collision injury degree.
4. according to a kind of automotive safety method for early warning of claim 3, it is characterised in that：The collision injury degree is front and rear total with collision
Kinetic energy rejection amount and risk of collision time threshold values be directly proportional, be inversely proportional with collision time.
5. according to a kind of automotive safety method for early warning of claim 1, it is characterised in that：The environment surrounding automobile information includes car
Diatom information, automobile are with track front obstacle information, vehicle blind zone obstacle information.
6. a kind of automobile safety early-warning system, it is characterised in that：Including information fusion module, for gather vehicle condition information and
Environment surrounding automobile information；Pre-warning algorithm module is used to contain having lane departure warning, frontal collisions early warning and blind area early warning
In judging whether automobile has risk of collision；Early warning output module, the danger early warning maximum for exporting injury degree.
7. according to a kind of automobile safety early-warning system of claim 6, it is characterised in that：The warning module judges the danger occurred
It is single dangerous or multiple danger, if single dangerous generation then directly exports danger early warning.
8. according to a kind of automobile safety early-warning system of claim 6, it is characterised in that：The warning module judges the danger occurred
It is single dangerous or multiple danger, if multiple dangerous generations, each dangerous bumper injury occurred of pre-warning algorithm module estimation
Evil degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710230518.8A CN106956677B (en) | 2017-04-10 | 2017-04-10 | A kind of automotive safety method for early warning and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710230518.8A CN106956677B (en) | 2017-04-10 | 2017-04-10 | A kind of automotive safety method for early warning and system |
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| CN106956677A true CN106956677A (en) | 2017-07-18 |
| CN106956677B CN106956677B (en) | 2019-06-07 |
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| CN201710230518.8A Expired - Fee Related CN106956677B (en) | 2017-04-10 | 2017-04-10 | A kind of automotive safety method for early warning and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108932870A (en) * | 2018-07-16 | 2018-12-04 | 安徽江淮汽车集团股份有限公司 | A kind of vehicle early warning method and device |
| CN111114340A (en) * | 2018-10-31 | 2020-05-08 | 宝沃汽车（中国）有限公司 | Safety control method and device for vehicle and vehicle |
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| US20090192683A1 (en) * | 2007-11-16 | 2009-07-30 | Aisin Aw Co., Ltd. | Vehicle control device, vehicle control method and computer program |
| CN102189933A (en) * | 2010-03-09 | 2011-09-21 | 三菱自动车工业株式会社 | Side collision determination apparatus for vehicle and high voltage power supply shut-off apparatus |
| CN102568056A (en) * | 2010-12-10 | 2012-07-11 | 通用汽车有限责任公司 | Method of processing vehicle crash data |
| CN104699084A (en) * | 2015-02-09 | 2015-06-10 | 浙江吉利汽车研究院有限公司 | Car active safety system alarm method and system |
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2017
- 2017-04-10 CN CN201710230518.8A patent/CN106956677B/en not_active Expired - Fee Related
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| EP2060464A2 (en) * | 2007-11-16 | 2009-05-20 | Hitachi Ltd. | Forward collision avoidance assistance system |
| US20090192683A1 (en) * | 2007-11-16 | 2009-07-30 | Aisin Aw Co., Ltd. | Vehicle control device, vehicle control method and computer program |
| CN102189933A (en) * | 2010-03-09 | 2011-09-21 | 三菱自动车工业株式会社 | Side collision determination apparatus for vehicle and high voltage power supply shut-off apparatus |
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| CN104699084A (en) * | 2015-02-09 | 2015-06-10 | 浙江吉利汽车研究院有限公司 | Car active safety system alarm method and system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108932870A (en) * | 2018-07-16 | 2018-12-04 | 安徽江淮汽车集团股份有限公司 | A kind of vehicle early warning method and device |
| CN111114340A (en) * | 2018-10-31 | 2020-05-08 | 宝沃汽车（中国）有限公司 | Safety control method and device for vehicle and vehicle |
| CN111114340B (en) * | 2018-10-31 | 2021-11-02 | 宝沃汽车（中国）有限公司 | Safety control method and device for vehicle and vehicle |
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| CN106956677B (en) | 2019-06-07 |
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