CN110782702B - Vehicle anti-collision early warning system and method - Google Patents

Vehicle anti-collision early warning system and method Download PDF

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CN110782702B
CN110782702B CN201911022397.3A CN201911022397A CN110782702B CN 110782702 B CN110782702 B CN 110782702B CN 201911022397 A CN201911022397 A CN 201911022397A CN 110782702 B CN110782702 B CN 110782702B
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彭飞
卢明宇
王慧
宣海洋
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Anhui Sanlian University
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Abstract

The invention discloses a vehicle anti-collision early warning system and a method, wherein the system comprises: the data acquisition module is used for acquiring the speed of a vehicle ahead of the target vehicle, the reaction time of a driver driving the target vehicle and the adhesion coefficient between the tire of the target vehicle and the ground; the front vehicle state determining module is used for judging the front vehicle state of the target vehicle according to the front vehicle speed of the target vehicle; the data processing module is used for calculating an anti-collision early warning safe vehicle distance according to the vehicle speed of the front vehicle of the target vehicle, the reaction time of a driver driving the target vehicle, the adhesion coefficient of tires of the target vehicle and the ground and the state of the front vehicle of the target vehicle; the vehicle distance acquisition module is used for acquiring the vehicle distance between a target vehicle and a front vehicle; the danger judgment module is used for judging whether the distance between the target vehicle and the front vehicle is smaller than the anti-collision early warning safety distance; and the alarm module is used for sending out alarm prompt when the judgment result of the danger judgment module is yes.

Description

Vehicle anti-collision early warning system and method
Technical Field
The invention relates to the technical field of vehicle safety, in particular to a vehicle anti-collision early warning system and a vehicle anti-collision early warning method.
Background
After 2005, the incidence of motor vehicle traffic accidents has declined worldwide, with great benefit from the efforts and achievements made by china in traffic accident prevention. However, experts, scholars and technicians in the field generally indicate that the scientific technology related to traffic accident prevention can be continuously pushed forward by taking advantage of the rapid development momentum of high and new technology and scientific research achievements. The vehicle-mounted active safety technology also becomes the key point of research and development of intelligent vehicles and vehicle-mounted driving assistance systems in countries around the world.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a vehicle anti-collision early warning system and a vehicle anti-collision early warning method;
the invention provides a vehicle anti-collision early warning system, which comprises:
the data acquisition module is used for acquiring the speed of a vehicle ahead of the target vehicle, the reaction time of a driver driving the target vehicle and the adhesion coefficient between the tire of the target vehicle and the ground;
the front vehicle state determining module is connected with the data acquiring module and is used for judging the front vehicle state of the target vehicle according to the front vehicle speed of the target vehicle, and the front vehicle state determining module comprises a constant speed running state, a uniform acceleration running state or a uniform deceleration running state;
the data processing module is respectively connected with the data acquisition module and the front vehicle state determination module, and is used for calculating an anti-collision early warning safe vehicle distance according to the front vehicle speed of the target vehicle, the reaction time of a driver driving the target vehicle, the adhesion coefficient of tires of the target vehicle and the ground and the state of the front vehicle of the target vehicle;
the vehicle distance acquisition module is used for acquiring the vehicle distance between a target vehicle and a front vehicle;
the danger judgment module is respectively connected with the data processing module and the vehicle distance acquisition module and is used for judging whether the vehicle distance between the target vehicle and the front vehicle is smaller than the anti-collision early warning safety vehicle distance or not;
and the alarm module is connected with the danger judgment module and is used for sending out an alarm to remind when the judgment result of the danger judgment module is yes.
Preferably, the data processing module is specifically configured to:
when the front vehicle of the target vehicle is in a constant-speed running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000021
wherein v isrThe relative speed of the target vehicle and the preceding vehicle,
Figure BDA0002247644730000022
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform acceleration running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000023
wherein v isrTo be the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure BDA0002247644730000024
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform deceleration running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000025
wherein v isrIs the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure BDA0002247644730000026
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of the front vehicle and the rear vehicle of the target vehicle, v the speed of the target vehicle, g the gravitational acceleration, and psi the adhesion coefficient of the tires of the target vehicle to the ground.
Preferably, the alarm module is specifically configured to: and sending out alarm reminding in one or more modes of visual reminding, auditory reminding and vehicle-mounted terminal voice reminding.
A vehicle anti-collision early warning method comprises the following steps:
s1, acquiring the speed of the vehicle ahead of the target vehicle, the reaction time of a driver driving the target vehicle and the adhesion coefficient between the tire of the target vehicle and the ground;
s2, judging the state of the front vehicle of the target vehicle according to the speed of the front vehicle of the target vehicle, wherein the state comprises a constant speed running state, a uniform acceleration running state or a uniform deceleration running state;
s3, calculating an anti-collision early warning safe vehicle distance according to the vehicle speed of the front vehicle of the target vehicle, the reaction time of a driver driving the target vehicle, the adhesion coefficient of the tire of the target vehicle and the ground and the state of the front vehicle of the target vehicle;
s4, obtaining the distance between the target vehicle and the front vehicle;
and S5, judging whether the distance between the target vehicle and the front vehicle is smaller than the anti-collision early warning safety distance or not, and if so, sending an alarm prompt.
Preferably, step S3 specifically includes:
when the front vehicle of the target vehicle is in a constant-speed running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000031
wherein v isrThe relative speed of the target vehicle and the preceding vehicle,
Figure BDA0002247644730000032
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform acceleration running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000033
wherein v isrTo be the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure BDA0002247644730000034
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform deceleration running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000041
wherein v isrIs the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure BDA0002247644730000042
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of the front vehicle and the rear vehicle of the target vehicle, v the speed of the target vehicle, g the gravitational acceleration, and psi the adhesion coefficient of the tires of the target vehicle to the ground.
Preferably, in step S5, the sending the alarm prompt specifically includes: and sending out alarm reminding in one or more modes of visual reminding, auditory reminding and vehicle-mounted terminal voice reminding.
The invention firstly judges the state of the front vehicle of the target vehicle according to the front vehicle speed of the target vehicle, the state comprises a constant speed running state, a uniform acceleration running state or a uniform deceleration running state, secondly, calculating an anti-collision early warning safe vehicle distance according to the vehicle speed of the front vehicle of the target vehicle, the reaction time of a driver driving the target vehicle, the adhesion coefficient of tires of the target vehicle and the ground and the state of the front vehicle of the target vehicle, then acquiring the vehicle distance between the target vehicle and the front vehicle, judging whether the vehicle distance between the target vehicle and the front vehicle is smaller than the anti-collision early warning safe vehicle distance, if yes, an alarm prompt is given, so that the driver can know whether the distance between the vehicle and the front vehicle is safe in real time, and when the distance between the vehicle and the front vehicle is unsafe, the driver is reminded, so that the driver is prevented from being affected in the bud and the driving safety of the vehicle is guaranteed.
Drawings
Fig. 1 is a schematic block diagram of a vehicle anti-collision warning system according to the present invention;
fig. 2 is a schematic flow chart of a vehicle anti-collision warning method according to the present invention.
Detailed Description
Referring to fig. 1, the present invention provides a vehicle anti-collision warning system, including:
and the data acquisition module is used for acquiring the vehicle speed in front of the target vehicle, the reaction time of a driver driving the target vehicle and the adhesion coefficient between the tire of the target vehicle and the ground.
In the specific scheme, the front vehicle speed of the target vehicle CAN be acquired in a CAN bus, a vehicle-mounted sensor system and a GPS mode; receiving a reaction time manually input by a driver when the driver enters a target vehicle; the position of the target vehicle is determined through GPS on the vehicle-mounted device of the target vehicle, and then road information provided by an information provider corresponding to the position of the target vehicle, namely the adhesion coefficient of the tire of the target vehicle to the ground, is received.
And the front vehicle state determining module is connected with the data acquiring module and is used for judging the front vehicle state of the target vehicle according to the front vehicle speed of the target vehicle, and the front vehicle state determining module is in a constant speed running state, a uniform acceleration running state or a uniform deceleration running state.
In the specific scheme, the front vehicle of the target vehicle can be judged to be in a constant speed running state, a uniform acceleration running state or a uniform deceleration running state according to the front vehicle speed of the target vehicle within a preset time interval.
And the data processing module is respectively connected with the data acquisition module and the front vehicle state determination module, and is used for calculating the anti-collision early warning safe vehicle distance according to the front vehicle speed of the target vehicle, the reaction time of a driver driving the target vehicle, the adhesion coefficient of the tire of the target vehicle and the ground and the state of the front vehicle of the target vehicle.
The data processing module is specifically configured to:
when the front vehicle of the target vehicle is in a constant-speed running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000051
wherein v isrThe relative speed of the target vehicle and the preceding vehicle,
Figure BDA0002247644730000052
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform acceleration running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000053
wherein v isrTo be the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure BDA0002247644730000061
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform deceleration running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000062
wherein v isrIs the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure BDA0002247644730000063
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of the front vehicle and the rear vehicle of the target vehicle, v the velocity of the target vehicle, g the gravitational acceleration, psi the target vehicleThe coefficient of adhesion of the tires of the vehicle to the ground.
In the specific scheme, when the front vehicle of the target vehicle is in a constant-speed running state, a uniform acceleration running state or a uniform deceleration running state, the anti-collision early warning safe vehicle distances are different and need to be calculated respectively.
And the vehicle distance acquisition module is used for acquiring the vehicle distance between the target vehicle and the front vehicle.
In a specific scheme, the distance between a target vehicle and a front vehicle can be measured in real time through a vehicle-mounted radar ranging sensor.
The danger judgment module is respectively connected with the data processing module and the vehicle distance acquisition module and is used for judging whether the vehicle distance between the target vehicle and the front vehicle is smaller than the anti-collision early warning safety vehicle distance or not;
and the alarm module is connected with the danger judgment module and is used for sending out an alarm to remind when the judgment result of the danger judgment module is yes.
An alert module specifically configured to: and sending out alarm reminding in one or more modes of visual reminding, auditory reminding and vehicle-mounted terminal voice reminding.
In the specific scheme, the alarm can be sent out in one or more modes of visual reminding, auditory reminding or voice reminding embedded into the vehicle-mounted terminal system to remind a driver, so that the driver is prevented from being affected in the bud and the driving safety of the automobile is guaranteed.
Referring to fig. 2, the vehicle anti-collision warning method provided by the invention comprises the following steps:
step S1 is to obtain the vehicle speed ahead of the target vehicle, the reaction time of the driver driving the target vehicle, and the adhesion coefficient between the tires of the target vehicle and the ground.
In the specific scheme, the front vehicle speed of the target vehicle CAN be acquired in a CAN bus, a vehicle-mounted sensor system and a GPS mode; receiving a reaction time manually input by a driver when the driver enters a target vehicle; the position of the target vehicle is determined through GPS on the vehicle-mounted device of the target vehicle, and then road information provided by an information provider corresponding to the position of the target vehicle, namely the adhesion coefficient of the tire of the target vehicle to the ground, is received.
And step S2, judging the state of the front vehicle of the target vehicle according to the speed of the front vehicle of the target vehicle, wherein the state comprises a constant speed running state, a uniform acceleration running state or a uniform deceleration running state.
In the specific scheme, the front vehicle of the target vehicle can be judged to be in a constant speed running state, a uniform acceleration running state or a uniform deceleration running state according to the front vehicle speed of the target vehicle within a preset time interval.
And step S3, calculating the anti-collision early warning safe vehicle distance according to the vehicle speed in front of the target vehicle, the reaction time of a driver driving the target vehicle, the adhesion coefficient of the tire of the target vehicle and the ground and the state of the front of the target vehicle.
The method specifically comprises the following steps:
when the front vehicle of the target vehicle is in a constant-speed running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000071
wherein v isrThe relative speed of the target vehicle and the preceding vehicle,
Figure BDA0002247644730000072
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform acceleration running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000073
wherein v isrTo be the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure BDA0002247644730000081
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform deceleration running state, the anti-collision early warning safety distance l:
Figure BDA0002247644730000082
wherein v isrIs the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure BDA0002247644730000083
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of the front vehicle and the rear vehicle of the target vehicle, v the speed of the target vehicle, g the gravitational acceleration, and psi the adhesion coefficient of the tires of the target vehicle to the ground.
In the specific scheme, when the front vehicle of the target vehicle is in a constant-speed running state, a uniform acceleration running state or a uniform deceleration running state, the anti-collision early warning safe vehicle distances are different and need to be calculated respectively.
And step S4, acquiring the distance between the target vehicle and the front vehicle.
In a specific scheme, the distance between a target vehicle and a front vehicle can be measured in real time through a vehicle-mounted radar ranging sensor.
And step S5, judging whether the distance between the target vehicle and the front vehicle is smaller than the anti-collision early warning safety distance, and if so, sending an alarm prompt.
In this step, the sending out the alarm prompt specifically includes: and sending out alarm reminding in one or more modes of visual reminding, auditory reminding and vehicle-mounted terminal voice reminding.
In the specific scheme, the alarm can be sent out in one or more modes of visual reminding, auditory reminding or voice reminding embedded into the vehicle-mounted terminal system to remind a driver, so that the driver is prevented from being affected in the bud and the driving safety of the automobile is guaranteed.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (4)

1. A vehicle collision avoidance early warning system, comprising:
the data acquisition module is used for acquiring the speed of a vehicle ahead of the target vehicle, the reaction time of a driver driving the target vehicle and the adhesion coefficient between the tire of the target vehicle and the ground;
the front vehicle state determining module is connected with the data acquiring module and is used for judging the front vehicle state of the target vehicle according to the front vehicle speed of the target vehicle, and the front vehicle state determining module comprises a constant speed running state, a uniform acceleration running state or a uniform deceleration running state; in the specific scheme, the front vehicle of the target vehicle can be judged to be in a constant-speed running state, a uniform acceleration running state or a uniform deceleration running state according to the front vehicle speed of the target vehicle within a preset time interval;
the data processing module is respectively connected with the data acquisition module and the front vehicle state determination module, and is used for calculating an anti-collision early warning safe vehicle distance according to the front vehicle speed of the target vehicle, the reaction time of a driver driving the target vehicle, the adhesion coefficient of tires of the target vehicle and the ground and the state of the front vehicle of the target vehicle;
the vehicle distance acquisition module is used for acquiring the vehicle distance between a target vehicle and a front vehicle;
the danger judgment module is respectively connected with the data processing module and the vehicle distance acquisition module and is used for judging whether the vehicle distance between the target vehicle and the front vehicle is smaller than the anti-collision early warning safety vehicle distance or not;
the alarm module is connected with the danger judgment module and is used for sending out alarm prompt when the judgment result of the danger judgment module is yes;
the data processing module is specifically configured to:
when the front vehicle of the target vehicle is in a constant-speed running state, the anti-collision early warning safety distance l:
Figure FDA0002838715440000011
wherein v isrThe relative speed of the target vehicle and the preceding vehicle,
Figure FDA0002838715440000012
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform acceleration running state, the anti-collision early warning safety distance l:
Figure FDA0002838715440000021
wherein v isrTo be the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure FDA0002838715440000022
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform deceleration running state, the anti-collision early warning safety distance l:
Figure FDA0002838715440000023
wherein v isrIs the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure FDA0002838715440000024
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of the front vehicle and the rear vehicle of the target vehicle, v the speed of the target vehicle, g the gravitational acceleration, and psi the adhesion coefficient of the tires of the target vehicle to the ground.
2. The vehicle collision avoidance warning system of claim 1, wherein the alert module is specifically configured to: and sending out alarm reminding in one or more modes of visual reminding, auditory reminding and vehicle-mounted terminal voice reminding.
3. A vehicle anti-collision early warning method is characterized by comprising the following steps:
s1, acquiring the speed of the vehicle ahead of the target vehicle, the reaction time of a driver driving the target vehicle and the adhesion coefficient between the tire of the target vehicle and the ground;
s2, judging the state of the front vehicle of the target vehicle according to the speed of the front vehicle of the target vehicle, wherein the state comprises a constant speed running state, a uniform acceleration running state or a uniform deceleration running state;
s3, calculating an anti-collision early warning safe vehicle distance according to the vehicle speed of the front vehicle of the target vehicle, the reaction time of a driver driving the target vehicle, the adhesion coefficient of the tire of the target vehicle and the ground and the state of the front vehicle of the target vehicle;
s4, obtaining the distance between the target vehicle and the front vehicle;
s5, judging whether the distance between the target vehicle and the front vehicle is smaller than the anti-collision early warning safety distance or not, and if so, sending an alarm prompt;
step S3, specifically including:
when the front vehicle of the target vehicle is in a constant-speed running state, the anti-collision early warning safety distance l:
Figure FDA0002838715440000031
wherein v isrThe relative speed of the target vehicle and the preceding vehicle,
Figure FDA0002838715440000032
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform acceleration running state, the anti-collision early warning safety distance l:
Figure FDA0002838715440000033
wherein v isrTo be the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure FDA0002838715440000034
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of a front vehicle and a rear vehicle of the target vehicle is g, the gravity acceleration is g, and psi is the adhesion coefficient of the tires of the target vehicle and the ground;
when the front vehicle of the target vehicle is in a uniform deceleration running state, the anti-collision early warning safety distance l:
Figure FDA0002838715440000041
wherein v isrIs the relative speed of the target vehicle and the preceding vehicle, a0Is the acceleration of the leading vehicle of the subject vehicle,
Figure FDA0002838715440000042
t1as reaction time of the driver, t2For the target vehicle brake actuation time, t3The braking action time of the front vehicle and the rear vehicle of the target vehicle, v isThe velocity of the target vehicle, g is the gravitational acceleration, and ψ is the adhesion coefficient of the tires of the target vehicle to the ground.
4. The vehicle anti-collision early warning method according to claim 3, wherein in step S5, the sending out the alarm prompt specifically includes: and sending out alarm reminding in one or more modes of visual reminding, auditory reminding and vehicle-mounted terminal voice reminding.
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