CN109353343B

CN109353343B - Auxiliary driving system based on vehicle-vehicle interaction

Info

Publication number: CN109353343B
Application number: CN201811476026.8A
Authority: CN
Inventors: 郑宏宇; 武建君; 张鹏程; 潘凯强
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2018-12-04
Filing date: 2018-12-04
Publication date: 2023-06-23
Anticipated expiration: 2038-12-04
Also published as: CN109353343A

Abstract

The invention discloses an auxiliary driving system based on vehicle-vehicle interaction, and belongs to the technical field of traffic equipment; the system is divided into an information transmission system, a risk assessment system, an automatic driving correction system and a driver assessment system; the invention aims to prevent safety problems of vehicles during overtaking and doubling and prevent rear-end collision and collision of the vehicles with other vehicles; when the automobile runs, the information transmission system obtains a series of information of the automobile and a series of information of surrounding vehicles, wherein the information comprises the following components: speed, steering wheel angle, license plate information, whole vehicle preparation quality, wheel tread average value and distance between surrounding vehicles and the vehicle; the risk assessment system assesses the automobile under different scenes according to the information obtained by the information transmission system; the automatic driving correction system is used for automatically operating the automobile to prevent danger when a problem occurs in the driving process of a driver; the driver assessment system will assess based on driver driving behavior, driver language and driver expression.

Description

Auxiliary driving system based on vehicle-vehicle interaction

Technical Field

The invention relates to an automobile auxiliary driving system, and belongs to the technical field of traffic equipment.

Background

With the rapid development of economy and science and technology, more and more people drive automobiles to drive automobiles, so that traffic is crowded, and the traffic has great potential safety hazard; in recent years, due to the increase of vehicles, the number of accidents and the number of casualties are obviously increased; therefore, traffic safety problems are becoming more and more a problem we need to solve; in the running process of the vehicle, common driving operations include overtaking and doubling, and the like, particularly, a household vehicle runs behind a commercial vehicle, and because the two vehicle types have large volume differences, a driver of the commercial vehicle can have a visual blind area and can not see a rear vehicle at a certain time, when the rear vehicle overtakes, the commercial vehicle does not see the overtaking vehicle but performs doubling operation, and traffic accidents are greatly caused; meanwhile, how to prevent the rear-end collision of the vehicle, the collision of the vehicle with other vehicles and the fatigue driving of the driver is also urgently needed to be solved; the traffic accident rate is reduced only by the driver, and the driving level and the quality of the driver are uneven although the traffic accident rate can be reduced to a certain extent, so that the development of an auxiliary driving system is promoted; although there are many driving assistance systems, the above-mentioned problems are not well solved.

Therefore, there is a need to develop a vehicle-interaction-based auxiliary driving system that can better solve the above problems, thereby reducing the traffic accident rate.

Disclosure of Invention

The invention aims to provide an auxiliary driving system based on vehicle-vehicle interaction, which reduces traffic accident rate and improves vehicle driving safety through the mutual coordination of modules among the systems.

In order to achieve the above purpose, the invention adopts the following technical scheme: the auxiliary driving system based on vehicle-vehicle interaction is divided into an information transmission system, a danger assessment system, an automatic driving correction system and a driver assessment system; the information transmission system is divided into a wireless transmission module, a voice module, a sound module, a camera module and a radar module; the danger assessment system comprises a vehicle parallel danger assessment module, a vehicle overtaking danger assessment module, a vehicle rear-end collision danger assessment module and a vehicle collision avoidance assessment module; the automatic driving correction system is divided into a vehicle parallel behavior stopping module, a vehicle overtaking stopping module, a vehicle rear-end collision preventing module and a fatigue driving preventing module; the driver evaluation system is divided into a driver driving behavior evaluation module, a driver language evaluation module and a driver expression evaluation module; the vehicle runs on a highway, and speed sensor signals, steering wheel corner signals, license plate information, whole vehicle preparation quality and wheel tread average values of the vehicle are stored in a wireless transmission module in an information transmission system and used for carrying out information interaction with other vehicles; the radar module is used for detecting the positions of surrounding vehicles, the distance between the surrounding vehicles and the vehicle and judging dangerous vehicles, and meanwhile, the radar installation positions are different according to different engine arrangement forms; the camera module is used for detecting the expression of the driver and is used for a fatigue driving prevention module in the automatic driving correction system and a driver expression evaluation module in the driver evaluation system; the auxiliary driving system based on the vehicle-vehicle interaction is provided with an intelligent voice assistant; after driving is completed, the auxiliary driving system automatically uploads the driver evaluation information; and in the running process of the automobile, the auxiliary driving system is connected with the Internet at any time.

The auxiliary driving system based on the vehicle-vehicle interaction is suitable for all driving vehicles on a road to be provided with the vehicle group of the auxiliary driving system; the wireless transmission module in the information transmission system performs information interaction with the vehicle in the area with the radius R by taking the vehicle as the center of a circle, and transmits information stored in the wireless transmission module and receives information stored in the wireless transmission module transmitted by the other vehicle at the moment;

wherein:

R＝40×arctan(m/v)

r in the above expression is in meters; m is the whole car preparation quality of the car, and the unit kilogram; v is the speed of the vehicle in km/h.

The camera module is arranged in the vehicle, fixed at the upper edge of the front windshield of the vehicle and positioned on the symmetry plane of the driver seat; the voice module comprises voice input and voice communication; the voice input is that a driver wakes up an intelligent voice assistant through voice, and performs voice input through a microphone arranged on the vehicle, so as to inquire the intelligent voice assistant about the positions, the speeds and the possible potential dangerous vehicles of other vehicles around the vehicle; the voice call is a voice call made by the driver with a potentially dangerous vehicle driver; the sound module comprises automatic voice prompt and sound warning; when the radar detects three different conditions of the distance between the surrounding vehicle and the host vehicle, namely, the distance between the surrounding vehicle and the host vehicle is between S1 and S2, the distance between the surrounding vehicle and the host vehicle is between S2 and S and within S, the automatic voice prompt and the voice warning can respond differently;

Wherein:

S1＝100×arctan(m/vL)

S2＝40×arctan(m/v)

S＝10×arcsin(5×v×L/m)

in the expression, the units of S1, S2 and S are all meters; m is the whole car preparation quality of the car, and the unit is kg; v is the speed of the vehicle, and the unit is km/h; l is the average value of the wheel track of the automobile, and the unit meter.

The automatic voice prompt and the sound warning are all finished by an intelligent voice assistant equipped with the auxiliary driving system through the sound on the vehicle.

For an engine front-mounted automobile, the radar is arranged on the roof of the automobile at a position K1 m away from the forefront end of the automobile and is positioned on the longitudinal symmetry plane of the automobile; for an engine rear-mounted automobile, the radar is arranged on a roof at a position K2 meters away from the forefront end of the automobile and is positioned on the longitudinal symmetry plane of the automobile;

wherein:

K1＝1.5/qk

K2＝1.8/qk

in the expression, the unit of K1 and K2 is meter; q is the length of the lower edge of the front windshield of the automobile, and the unit is meter; k is the height of the forefront end of the automobile, and the unit is meter.

When the radar of the vehicle A detects that a vehicle B is arranged on the left side or the right side of the front of the vehicle A and the distance between the vehicles is within L1, the information received by the wireless transmission module of the vehicle A is matched with the vehicle B; if the B car is on the left side in front of the A car, when the A car wireless transmission module detects that the steering wheel angle signal of the B car exceeds the threshold value e and is a steering wheel angle signal for enabling the B car to turn right, or the B car is on the right side in front of the A car, when the A car wireless transmission module detects that the steering wheel angle signal of the B car exceeds the threshold value e and is a steering wheel angle signal for enabling the B car to turn left, the auxiliary driving system judges that the B car wants to travel in parallel with the A car, and the B car is a dangerous car; when the radar of the A vehicle detects that a vehicle C is arranged at the left rear or the right rear of the A vehicle and the distance between the two vehicles is within L1, the information received by the wireless transmission module of the A vehicle is matched with the vehicle C; when the A vehicle wireless transmission module detects that the steering wheel angle signal of the C vehicle does not exceed the threshold value f, the auxiliary driving system judges that the rear vehicle is a dangerous vehicle; the radar module displays dangerous vehicles on a touch screen in the vehicle, and the information received by the wireless transmission module displays license plate information of the corresponding dangerous vehicles on the touch screen;

Wherein:

L1＝10×arcsin(5×v1×L/m1)

e＝100×v2/m2

f＝110×v3/m3

in the above expression, L1 is in meters; v1 is the speed of the vehicle A, and the unit is km/h; l is the average value of the wheel distance of A, and the unit meter; m1 is the whole car preparation quality of the car A, and the unit is kg; e is the angle; v2 is the speed of the B vehicle, and the unit is km/h; m2 is the whole car preparation quality of the B car, and the unit is kg; f is the angle; v3 is the speed of the C vehicle, and the unit is km/h; m3 is the whole car preparation quality of the C car, and the unit is kg.

The distance between the surrounding vehicles and the vehicle is between S2 and S1, and the automatic voice prompt is as follows: no vehicles are around, and only one time is prompted; the distance between the surrounding vehicles and the vehicle is between S1 and S, and the automatic voice prompt is as follows: vehicles are found around, and only one time is prompted; the distance between the surrounding vehicles and the vehicle is within S, and the automatic voice prompt is as follows: the surrounding vehicles are found to enter the dangerous distance area and are prompted for a second time, and simultaneously, the sound warning in the sound module can warn once.

The vehicle is overtaking or doubling, dangerous vehicles appear around the vehicle, and the intelligent voice assistant can inquire whether the driver needs to carry out voice communication with the driver of the dangerous vehicles; if the driver wants to reject the language containing the reject meaning or does not answer; if the driver agrees to call, the voice module calls a dangerous vehicle nearest to the vehicle, the information received by the wireless transmission module is matched with the called dangerous vehicle to obtain the license plate number of the dangerous vehicle, and the intelligent voice assistant prompts the driver to call the dangerous vehicle and reports the license plate number of the dangerous vehicle; the driver may also make a manual call to the displayed dangerous vehicle on the in-vehicle touch screen.

When a certain A car receives a call of a B car, the information received by the wireless transmission module of the A car is matched with the information of the B car to obtain the license plate number of the B car, and an intelligent voice assistant of the A car prompts a driver to receive a call invitation and reports the license plate number of the B car; the driver of the car A can hang up the call of the car B without answering or containing the language of refusal meaning; if the drivers of the A car agree to make a call, the drivers of the A car and the B car carry out voice communication so as to coordinate the speed and the position of the respective vehicles and avoid traffic accidents; the call content will be recorded by the driver assistance system.

The vehicle parallel-line risk assessment module is used for safety assessment of vehicle parallel-line behaviors; the steering wheel angle signal in a certain A vehicle wireless transmission module exceeds a threshold value r, and the radar detects that a dangerous vehicle B is found behind one side of the direction in which the A vehicle turns, and then the auxiliary driving system judges that the A vehicle needs to perform the doubling operation;

wherein:

r＝100×v1/m1

r units in the above expression are angles; v1 is the speed of the vehicle A, and the unit is km/h; m1 is the whole car preparation quality of the car A, and the unit is kg;

the vehicle parallel danger assessment module is used for giving different assessments by comparing the speed of the two vehicles and the distance between the two vehicles; the specific evaluation logic is as follows: if the speed of the vehicle A is greater than or equal to that of the vehicle B, the vehicle parallel-line danger assessment module gives safety, and the intelligent voice assistant prompts the driver to continue to keep the original speed or complete parallel-line acceleration; if the speed of the vehicle A is smaller than that of the vehicle B, the vehicle A is divided into (1) the speed difference is not more than 8km/h, and the distance between the two vehicles is within B1 and B2, the vehicle parallel connection danger assessment module gives safety, and the intelligent voice assistant prompts the driver to continuously keep the original speed or finish parallel connection after acceleration; (2) The speed difference value is not more than 8km/h, the distance between two vehicles is within B2, the vehicle parallel operation danger assessment module gives danger, and the intelligent voice assistant prompts the driver to decelerate or the steering wheel to return to give up the parallel operation; (3) The speed difference is greater than 8km/h, the distance between two vehicles is within B3, the vehicle parallel operation danger assessment module gives danger, and the intelligent voice assistant prompts the driver to decelerate or the steering wheel to return to give up the parallel operation;

Wherein:

B1＝(v2-v1)×arctan(v2)

B2＝0.8×(v2-v1)×arctan(v2)

B3＝0.6×(v2-v1)×arctan(v2)

in the above expression, the units of B1, B2 and B3 are meters; v2 and v1 are the speeds of the B car and the A car, respectively, in km/h.

The vehicle overtaking danger assessment module is used for assessing the safety of the overtaking behaviors of the vehicle; the speed signal of a wireless transmission module of a certain vehicle A is gradually increased, and the radar detects that a vehicle B is arranged on the left side or the right side of the front of the vehicle A, and the auxiliary driving system judges that the vehicle A needs to overtake; the A car wireless transmission module obtains the speed of the B car, and the vehicle overtaking danger assessment module gives different assessments by comparing the speed of the two cars and the distance between the two cars; the specific evaluation logic is as follows: if the B car is detected to have no line-merging behavior, the car overtaking danger assessment module gives safety, and the intelligent voice assistant prompts the driver to continue to keep the original speed or accelerate to finish overtaking; if the parallel behavior of the B vehicle is detected, the B vehicle is a dangerous vehicle, and if the speed of the A vehicle is less than or equal to that of the B vehicle, the vehicle overtaking danger assessment module gives out safety, but the A vehicle cannot finish overtaking; if the speed of the vehicle A is greater than that of the vehicle B, the vehicle A is divided into: (1) The speed difference value is not more than 8km/h, the distance between two vehicles is within D1-D2, the vehicle overtaking danger assessment module gives danger, and the intelligent voice assistant prompts the driver to decelerate and give up overtaking; (2) The speed difference value is not more than 8km/h, the distance between two vehicles is within D2, the vehicle overtaking danger assessment module gives out safety, and the intelligent voice assistant prompts the driver to continue accelerating to finish overtaking; (3) The speed difference is greater than 8km/h, the distance between two vehicles is within D3, the vehicle overtaking danger assessment module gives out safety, and the intelligent voice assistant prompts the driver to continue accelerating to finish overtaking;

Wherein:

D1＝(v1-v2)×arctan(v1)

D2＝0.7×(v1-v2)×arctan(v1)

D3＝0.5×(v1-v2)×arctan(v1)

in the above expression, the units of D1, D2 and D3 are meters; v1 and v2 are the speeds of the A car and the B car, respectively, in km/h.

The vehicle rear-end collision risk assessment module is used for providing different assessments by comparing the speed of the two vehicles with the distance between the two vehicles when the radar detects that a vehicle B is arranged right in front of the vehicle A and the vehicle A wireless transmission module obtains the speed of the vehicle B; the specific evaluation logic is as follows: if the speed of the vehicle A is smaller than or equal to that of the vehicle B, the vehicle rear-end collision risk assessment module gives safety, and the intelligent voice assistant prompts the driver to continue to keep running at the original speed; if the speed of the vehicle A is greater than the speed of the vehicle B, the vehicle A is divided into: (1) When the distance between the two vehicles is greater than or equal to K, the vehicle rear-end collision risk assessment module gives safety, and the intelligent voice assistant prompts the driver to continue to keep running at the original speed; (2) When the distance between the two vehicles is smaller than K, the vehicle rear-end collision risk assessment module gives out a risk, and the intelligent voice assistant prompts the driver to decelerate;

wherein:

K＝0.7×(v1-v2)×arctan(v1)

k units in the expression are meters; v1 and v2 are the speeds of the A car and the B car, respectively, in km/h.

The vehicle collision avoidance evaluation module is used for giving safety if the radar detects that the vehicle is used as a circle center and no vehicle collision avoidance evaluation module of the vehicle exists in the area with the radius of R1 when the vehicle A runs; if the radar detects that the vehicle exists in the area with the radius of R1 by taking the vehicle as the center of a circle, the vehicle collision avoidance evaluation module gives danger, and the intelligent voice assistant reminds a driver to prevent collision with surrounding vehicles;

Wherein:

R1＝5×arcsin(5×v×L/m)

in the expression, R1 units are meters; v is the speed of the vehicle, and the unit is km/h; l is the average value of the wheel track of the automobile, and the unit meter; m is the whole car preparation quality, and the unit is kg.

The automatic driving correction system needs to combine the danger assessment system and the camera module to carry out driving correction on the vehicle; the vehicle parallel operation stopping module is used for performing parallel operation on the vehicle, if the vehicle parallel danger assessment module gives danger, a driver does not decelerate the vehicle or return the steering wheel within a second, and the automatic driving correction system can automatically decelerate the vehicle or return the steering wheel to stop the vehicle parallel operation;

wherein:

a＝120/v

in the above expression, a is in seconds, v is the speed of the car, and km/h is the unit.

The vehicle overtaking stopping behavior is that the vehicle overtakes, if the vehicle overtaking danger assessment module gives danger, the driver does not decelerate the vehicle within b seconds, and the automatic driving correction system automatically decelerates the vehicle to stop the vehicle overtaking behavior;

wherein:

b＝100/v

in the above expression, b is in seconds, v is the speed of the car, and km/h is the unit.

The vehicle rear-end collision prevention module gives danger to the vehicle rear-end collision risk assessment module, a driver does not decelerate the vehicle within c seconds, and the automatic driving correction system automatically decelerates the vehicle;

Wherein:

c＝95/v

in the above expression, c is in seconds, v is the speed of the car, and km/h is the unit.

The anti-fatigue driving module is that the camera module detects that the eye-closing time of the driver exceeds d seconds, the automatic driving correction system can automatically slow down or even stop the automobile, and the intelligent voice assistant can wake the driver;

wherein:

d＝0.2m/vL

d in the above expression is in units of angular seconds; m is the whole car preparation quality of the car, and the unit is kg; v is the speed of the automobile, in km/h; l is the average value of the wheel track of the automobile, and the unit meter.

The driver evaluation system needs to be evaluated by combining an automatic driving correction system, a camera module and call content; the driving behavior evaluation module of the driver evaluates according to the automatic driving correction system, if the automatic driving correction system is triggered, the driving behavior of the driver is judged to be bad, and the number of times of triggering the automatic driving correction system is recorded; the driver language evaluation module is used for evaluating the language content of the voice call between the driver and the driver, judging that the driver is improperly speaking and recording the word number of the abusive words of the driver if the driver language evaluation module detects the abusive words of the driver; the driver expression evaluation module is used for evaluating the driver expression according to the detection of the camera module, and if the driver expression has the drowsiness and even the eye closing time exceeds s seconds, the driver fatigue driving is judged; after driving is completed, the evaluation information of the driver is automatically uploaded;

Wherein:

s＝0.2m/vL

s in the above expression is in units of angular seconds; m is the whole car preparation quality of the car, and the unit is kg; v is the speed of the automobile, in km/h; l is the average value of the wheel track of the automobile, and the unit meter.

Drawings

FIG. 1 is a block diagram of a driving assistance system based on vehicle-to-vehicle interaction.

Fig. 2 is a schematic view of camera module installation.

Fig. 3 is a schematic view of radar installation.

Fig. 4 is a schematic diagram of a dangerous vehicle.

FIG. 5 is a block diagram of risk assessment system assessment logic.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

The auxiliary driving system based on the vehicle-vehicle interaction is divided into an information transmission system, a danger assessment system, an automatic driving correction system and a driver assessment system as shown in fig. 1; the information transmission system is divided into a wireless transmission module, a voice module, a sound module, a camera module and a radar module; the danger assessment system comprises a vehicle parallel danger assessment module, a vehicle overtaking danger assessment module, a vehicle rear-end collision danger assessment module and a vehicle collision avoidance assessment module; the automatic driving correction system is divided into a vehicle parallel behavior stopping module, a vehicle overtaking stopping module, a vehicle rear-end collision preventing module and a fatigue driving preventing module; the driver evaluation system is divided into a driver driving behavior evaluation module, a driver language evaluation module and a driver expression evaluation module; the vehicle runs on a highway, and speed sensor signals, steering wheel corner signals, license plate information, whole vehicle preparation quality and wheel tread average values of the vehicle are stored in a wireless transmission module in an information transmission system and used for carrying out information interaction with other vehicles; the radar module is used for detecting the positions of surrounding vehicles, the distance between the surrounding vehicles and the vehicle and judging dangerous vehicles, and meanwhile, the radar installation positions are different according to different engine arrangement forms; the camera module is used for detecting the expression of the driver and is used for a fatigue driving prevention module in the automatic driving correction system and a driver expression evaluation module in the driver evaluation system; the auxiliary driving system based on the vehicle-vehicle interaction is provided with an intelligent voice assistant; after driving is completed, the auxiliary driving system automatically uploads the driver evaluation information; and in the running process of the automobile, the auxiliary driving system is connected with the Internet at any time.

wherein:

R＝40×arctan(m/v)

As shown in fig. 2, a schematic view of the camera module is installed. The camera module is arranged in the vehicle, fixed at the upper edge of the front windshield of the vehicle and positioned on the symmetry plane of the driver seat; the voice module comprises voice input and voice communication; the voice input is that a driver wakes up an intelligent voice assistant through voice, and performs voice input through a microphone arranged on the vehicle, so as to inquire the intelligent voice assistant about the positions, the speeds and the possible potential dangerous vehicles of other vehicles around the vehicle; the voice call is a voice call made by the driver with a potentially dangerous vehicle driver; the sound module comprises automatic voice prompt and sound warning; when the radar detects three different conditions of the distance between the surrounding vehicle and the host vehicle, namely, the distance between the surrounding vehicle and the host vehicle is between S1 and S2, the distance between the surrounding vehicle and the host vehicle is between S2 and S and within S, the automatic voice prompt and the voice warning can respond differently;

Wherein:

S1＝100×arctan(m/vL)

S2＝40×arctan(m/v)

S＝10×arcsin(5×v×L/m)

For an engine front-mounted automobile, the radar is arranged on the roof of the automobile at a position K1 m away from the forefront end of the automobile and is positioned on the longitudinal symmetry plane of the automobile; for an engine rear-mounted automobile, the radar is arranged on a roof at a position K2 meters away from the forefront end of the automobile and is positioned on the longitudinal symmetry plane of the automobile; as shown in fig. 3, a radar installation schematic diagram is shown;

wherein:

K1＝1.5/qk

K2＝1.8/qk

When the radar of the vehicle A detects that a vehicle B is arranged on the left side or the right side of the front of the vehicle A and the distance between the vehicles is within L1, the information received by the wireless transmission module of the vehicle A is matched with the vehicle B; if the B car is on the left side in front of the A car, when the A car wireless transmission module detects that the steering wheel angle signal of the B car exceeds the threshold value e and is a steering wheel angle signal for enabling the B car to turn right, or the B car is on the right side in front of the A car, when the A car wireless transmission module detects that the steering wheel angle signal of the B car exceeds the threshold value e and is a steering wheel angle signal for enabling the B car to turn left, the auxiliary driving system judges that the B car wants to travel in parallel with the A car, and the B car is a dangerous car; when the radar of the A vehicle detects that a vehicle C is arranged at the left rear or the right rear of the A vehicle and the distance between the two vehicles is within L1, the information received by the wireless transmission module of the A vehicle is matched with the vehicle C; when the A vehicle wireless transmission module detects that the steering wheel angle signal of the C vehicle does not exceed the threshold value f, the auxiliary driving system judges that the rear vehicle is a dangerous vehicle; the radar module displays dangerous vehicles on a touch screen in the vehicle, and the information received by the wireless transmission module displays license plate information of the corresponding dangerous vehicles on the touch screen; as shown in fig. 4, a schematic view of a dangerous vehicle is shown;

Wherein:

L1＝10×arcsin(5×v1×L/m1)

e＝100×v2/m2

f＝110×v3/m3

As shown in FIG. 5, for a risk assessment system evaluation logic block, the evaluation logic of each module will be described below in terms of a logic block; the vehicle parallel-line risk assessment module is used for safety assessment of vehicle parallel-line behaviors; the steering wheel angle signal in a certain A vehicle wireless transmission module exceeds a threshold value r, and the radar detects that a dangerous vehicle B is found behind one side of the direction in which the A vehicle turns, and then the auxiliary driving system judges that the A vehicle needs to perform the doubling operation;

wherein:

r＝100×v1/m1

wherein:

B1＝(v2-v1)×arctan(v2)

B2＝0.8×(v2-v1)×arctan(v2)

B3＝0.6×(v2-v1)×arctan(v2)

Wherein:

D1＝(v1-v2)×arctan(v1)

D2＝0.7×(v1-v2)×arctan(v1)

D3＝0.5×(v1-v2)×arctan(v1)

wherein:

K＝0.7×(v1-v2)×arctan(v1)

Wherein:

R1＝5×arcsin(5×v×L/m)

wherein:

a＝120/v

wherein:

b＝100/v

Wherein:

c＝95/v

wherein:

d＝0.2m/vL

Wherein:

s＝0.2m/vL

s in the above expression is in units of angular seconds; m is the whole car preparation quality of the car, and the unit is kg; v is the speed of the automobile, in km/h;

l is the average value of the wheel track of the automobile, and the unit meter.

Claims

1. An auxiliary driving system based on car interaction, its characterized in that: the auxiliary driving system based on the vehicle-vehicle interaction is divided into an information transmission system, a danger evaluation system, an automatic driving correction system and a driver evaluation system; the information transmission system is divided into a wireless transmission module, a voice module, a sound module, a camera module and a radar module; the danger assessment system comprises a vehicle parallel danger assessment module, a vehicle overtaking danger assessment module, a vehicle rear-end collision danger assessment module and a vehicle collision avoidance assessment module; the automatic driving correction system is divided into a vehicle parallel behavior stopping module, a vehicle overtaking stopping module, a vehicle rear-end collision preventing module and a fatigue driving preventing module; the driver evaluation system is divided into a driver driving behavior evaluation module, a driver language evaluation module and a driver expression evaluation module;

the vehicle runs on a highway, and speed sensor signals, steering wheel corner signals, license plate information, whole vehicle preparation quality and wheel tread average values of the vehicle are stored in a wireless transmission module in an information transmission system and used for carrying out information interaction with other vehicles; the radar module is used for detecting the positions of surrounding vehicles, the distance between the surrounding vehicles and the vehicle and judging dangerous vehicles, and meanwhile, the radar installation positions are different according to different engine arrangement forms; the camera module is used for detecting the expression of the driver and is used for a fatigue driving prevention module in the automatic driving correction system and a driver expression evaluation module in the driver evaluation system; the auxiliary driving system based on the vehicle-vehicle interaction is provided with an intelligent voice assistant; after driving is completed, the auxiliary driving system automatically uploads the driver evaluation information; in the running process of the automobile, the auxiliary driving system is connected with the Internet at any time;

wherein:

R＝40×arctan(m/v)

r in the above expression is in meters; m is the whole car preparation quality of the car, and the unit kilogram; v is the speed of the vehicle, in km/h;

the camera module is arranged in the vehicle, fixed at the upper edge of the front windshield of the vehicle and positioned on the symmetry plane of the driver seat;

the voice module comprises voice input and voice communication; the voice input is that a driver wakes up an intelligent voice assistant through voice, and performs voice input through a microphone arranged on the vehicle, so as to inquire the intelligent voice assistant about the positions, the speeds and the possible potential dangerous vehicles of other vehicles around the vehicle; the voice call is a voice call made by the driver with a potentially dangerous vehicle driver;

the sound module comprises automatic voice prompt and sound warning; when the radar detects three different conditions of the distance between the surrounding vehicle and the host vehicle, namely, the distance between the surrounding vehicle and the host vehicle is between S1 and S2, the distance between the surrounding vehicle and the host vehicle is between S2 and S and within S, the automatic voice prompt and the voice warning can respond differently;

Wherein:

S1＝100×arctan(m/vL)

S2＝40×arctan(m/v)

S＝10×arcsin(5×v×L/m)

in the expression, the units of S1, S2 and S are all meters; m is the whole car preparation quality of the car, and the unit is kg; v is the speed of the vehicle, and the unit is km/h; l is the average value of the wheel track of the automobile, and the unit meter;

2. A vehicle interactive driving assistance system according to claim 1, wherein: for an engine front-mounted automobile, the radar is arranged on the roof of the automobile at a position K1 m away from the forefront end of the automobile and is positioned on the longitudinal symmetry plane of the automobile; for an engine rear-mounted automobile, the radar is arranged on a roof at a position K2 meters away from the forefront end of the automobile and is positioned on the longitudinal symmetry plane of the automobile;

wherein:

K1＝1.5/qk

K2＝1.8/qk

in the expression, the unit of K1 and K2 is meter; q is the length of the lower edge of the front windshield of the automobile, and the unit is meter; k is the height of the forefront end of the automobile, and the unit is meter;

when the radar of the vehicle A detects that a vehicle B is arranged on the left side or the right side of the front of the vehicle A and the distance between the vehicles is within L1, the information received by the wireless transmission module of the vehicle A is matched with the vehicle B; if the B car is on the left side in front of the A car, when the A car wireless transmission module detects that the steering wheel angle signal of the B car exceeds the threshold value e and is a steering wheel angle signal for enabling the B car to turn right, or the B car is on the right side in front of the A car, when the A car wireless transmission module detects that the steering wheel angle signal of the B car exceeds the threshold value e and is a steering wheel angle signal for enabling the B car to turn left, the auxiliary driving system judges that the B car wants to travel in parallel with the A car, and the B car is a dangerous car;

When the radar of the A vehicle detects that a vehicle C is arranged at the left rear or the right rear of the A vehicle and the distance between the two vehicles is within L1, the information received by the wireless transmission module of the A vehicle is matched with the vehicle C; when the A vehicle wireless transmission module detects that the steering wheel angle signal of the C vehicle does not exceed the threshold value f, the auxiliary driving system judges that the rear vehicle is a dangerous vehicle; the radar module displays dangerous vehicles on a touch screen in the vehicle, and the information received by the wireless transmission module displays license plate information of the corresponding dangerous vehicles on the touch screen;

wherein:

L1＝10×arcsin(5×v1×L/m1)

e＝100×v2/m2

f＝110×v3/m3

3. A vehicle interactive driving assistance system according to claim 1, wherein: the distance between the surrounding vehicles and the vehicle is between S2 and S1, and the automatic voice prompt is as follows: no vehicles are around, and only one time is prompted; the distance between the surrounding vehicles and the vehicle is between S1 and S, and the automatic voice prompt is as follows: vehicles are found around, and only one time is prompted; the distance between the surrounding vehicles and the vehicle is within S, and the automatic voice prompt is as follows: the surrounding vehicles are found to enter the dangerous distance area and are prompted for a second time, and simultaneously, the sound warning in the sound module can warn once.

4. A vehicle interactive driving assistance system according to claim 1, wherein: the vehicle is overtaking or doubling, dangerous vehicles appear around the vehicle, and the intelligent voice assistant can inquire whether the driver needs to carry out voice communication with the driver of the dangerous vehicles; if the driver wants to reject the language containing the reject meaning or does not answer;

if the driver agrees to call, the voice module calls a dangerous vehicle nearest to the vehicle, the information received by the wireless transmission module is matched with the called dangerous vehicle to obtain the license plate number of the dangerous vehicle, and the intelligent voice assistant prompts the driver to call the dangerous vehicle and reports the license plate number of the dangerous vehicle; the driver may also make a manual call to the displayed dangerous vehicle on the in-vehicle touch screen.

5. A vehicle interactive driving assistance system according to claim 1, wherein: when a certain A car receives a call of a B car, the information received by the wireless transmission module of the A car is matched with the information of the B car to obtain the license plate number of the B car, and an intelligent voice assistant of the A car prompts a driver to receive a call invitation and reports the license plate number of the B car; the driver of the car A can hang up the call of the car B without answering or containing the language of refusal meaning;

If the drivers of the A car agree to make a call, the drivers of the A car and the B car carry out voice communication so as to coordinate the speed and the position of the respective vehicles and avoid traffic accidents; the call content will be recorded by the driver assistance system.

6. A vehicle interactive driving assistance system according to claim 1, wherein: the vehicle parallel-line risk assessment module is used for safety assessment of vehicle parallel-line behaviors; the steering wheel angle signal in a certain A vehicle wireless transmission module exceeds a threshold value r, and the radar detects that a dangerous vehicle B is found behind one side of the direction in which the A vehicle turns, and then the auxiliary driving system judges that the A vehicle needs to perform the doubling operation;

wherein:

r＝100×v1/m1

the vehicle parallel danger assessment module is used for giving different assessments by comparing the speed of the two vehicles and the distance between the two vehicles; the specific evaluation logic is as follows: if the speed of the vehicle A is greater than or equal to that of the vehicle B, the vehicle parallel-line danger assessment module gives safety, and the intelligent voice assistant prompts the driver to continue to keep the original speed or complete parallel-line acceleration; if the speed of the vehicle A is smaller than that of the vehicle B, the vehicle A is divided into (1) the speed difference is not more than 8km/h, and the distance between the two vehicles is between B1 and B2, the vehicle parallel connection danger assessment module gives safety, and the intelligent voice assistant prompts the driver to continuously keep the original speed or finish parallel connection after acceleration; (2) The speed difference value is not more than 8km/h, the distance between two vehicles is within B2, the vehicle parallel operation danger assessment module gives danger, and the intelligent voice assistant prompts the driver to decelerate or the steering wheel to return to give up the parallel operation; (3) The speed difference is greater than 8km/h, the distance between two vehicles is within B3, the vehicle parallel operation danger assessment module gives danger, and the intelligent voice assistant prompts the driver to decelerate or the steering wheel to return to give up the parallel operation;

Wherein:

B1＝(v2-v1)×arctan(v2)

B2＝0.8×(v2-v1)×arctan(v2)

B3＝0.6×(v2-v1)×arctan(v2)

7. The vehicle interaction based driving assist system of claim 1, wherein the vehicle overtaking hazard assessment module is a safety assessment for vehicle overtaking behavior; the speed signal of a wireless transmission module of a certain vehicle A is gradually increased, and the radar detects that a vehicle B is arranged on the left side or the right side of the front of the vehicle A, and the auxiliary driving system judges that the vehicle A needs to overtake; the A car wireless transmission module obtains the speed of the B car, and the vehicle overtaking danger assessment module gives different assessments by comparing the speed of the two cars and the distance between the two cars; the specific evaluation logic is as follows: if the B car is detected to have no line-merging behavior, the car overtaking danger assessment module gives safety, and the intelligent voice assistant prompts the driver to continue to keep the original speed or accelerate to finish overtaking; if the parallel behavior of the B vehicle is detected, the B vehicle is a dangerous vehicle, and if the speed of the A vehicle is less than or equal to that of the B vehicle, the vehicle overtaking danger assessment module gives out safety, but the A vehicle cannot finish overtaking; if the speed of the vehicle A is greater than that of the vehicle B, the vehicle A is divided into: (1) The speed difference value is not more than 8km/h, the distance between two vehicles is within D1-D2, the vehicle overtaking danger assessment module gives danger, and the intelligent voice assistant prompts the driver to decelerate and give up overtaking; (2) The speed difference value is not more than 8km/h, the distance between two vehicles is within D2, the vehicle overtaking danger assessment module gives out safety, and the intelligent voice assistant prompts the driver to continue accelerating to finish overtaking; (3) The speed difference is greater than 8km/h, the distance between two vehicles is within D3, the vehicle overtaking danger assessment module gives out safety, and the intelligent voice assistant prompts the driver to continue accelerating to finish overtaking;

Wherein:

D1＝(v1-v2)×arctan(v1)

D2＝0.7×(v1-v2)×arctan(v1)

D3＝0.5×(v1-v2)×arctan(v1)

in the above expression, the units of D1, D2 and D3 are meters; v1 and v2 are the speeds of the A car and the B car respectively, and are in km/h;

wherein:

K＝0.7×(v1-v2)×arctan(v1)

k units in the expression are meters; v1 and v2 are the speeds of the A car and the B car respectively, and are in km/h;

Wherein:

R1＝5×arcsin(5×v×L/m)

8. A vehicle interactive driving assistance system according to claim 1, wherein: the automatic driving correction system needs to combine the danger assessment system and the camera module to carry out driving correction on the vehicle; the vehicle parallel operation stopping module is used for performing parallel operation on the vehicle, if the vehicle parallel danger assessment module gives danger, a driver does not decelerate the vehicle or return the steering wheel within a second, and the automatic driving correction system can automatically decelerate the vehicle or return the steering wheel to stop the vehicle parallel operation;

wherein:

a＝120/v

in the expression, a is in seconds, v is the speed of the automobile, and km/h is the unit;

wherein:

b＝100/v

in the expression, b is in seconds, v is the speed of the automobile, and km/h is the unit;

Wherein:

c＝95/v

in the expression, the unit of c is seconds, v is the speed of the automobile, and the unit of km/h;

wherein:

d＝0.2m/vL

9. The vehicle interaction-based driving assistance system according to claim 5, wherein: the driver evaluation system needs to be evaluated by combining an automatic driving correction system, a camera module and call content; the driving behavior evaluation module of the driver evaluates according to the automatic driving correction system, if the automatic driving correction system is triggered, the driving behavior of the driver is judged to be bad, and the number of times of triggering the automatic driving correction system is recorded; the driver language evaluation module is used for evaluating the language content of the voice call between the driver and the driver, judging that the driver is improperly speaking and recording the word number of the abusive words of the driver if the driver language evaluation module detects the abusive words of the driver; the driver expression evaluation module is used for evaluating the driver expression according to the detection of the camera module, and if the driver expression has the drowsiness and even the eye closing time exceeds s seconds, the driver fatigue driving is judged; after driving is completed, the evaluation information of the driver is automatically uploaded;

Wherein:

s＝0.2m/vL