CN110834634B - Vehicle lane change early warning system and control method - Google Patents

Abstract

The invention discloses a vehicle lane change early warning system and a control method, wherein the vehicle lane change early warning system comprises the following steps: the system comprises a vehicle distance monitoring unit, a vehicle speed monitoring unit, a data processing unit and a control execution unit. The vehicle distance monitoring unit comprises a front millimeter wave radar range finder and a rear millimeter wave radar range finder; the vehicle speed monitoring unit comprises a transverse vehicle speed sensor, a longitudinal vehicle speed sensor, a front speed measuring instrument and a rear speed measuring instrument; the data processing unit comprises a collision time calculation module, a lane change time calculation module, a first judgment module, a second judgment module, a third judgment module and an information processing module; the control execution unit comprises a prompting device and a main control module. The method comprises the steps of accurately calculating the safe lane changing time required by the lane changing of the vehicle through the critical collision time of the vehicle with the vehicle in front of the vehicle and the vehicle behind the lane changing lane, controlling and reminding operators, and controlling the safe lane changing time to be smaller than the critical collision time. Has the advantages that: when the lane change of the vehicle is controlled, the occurrence of collision accidents in the lane change process of the vehicle is effectively prevented.

Description

Vehicle lane change early warning system and control method

Technical Field

The invention relates to a vehicle early warning system and a control method, in particular to a vehicle lane change early warning system and a control method, and belongs to the field of automobile control.

Background

With the rapid development of economy in China, the vehicle holding amount is continuously increased, so that the road traffic volume is rapidly increased. Along with the improvement of the automobile ownership rate and the utilization rate, the occurrence rate of traffic accidents is higher and higher. In the traffic accidents, the traffic accidents caused by the lane changing behavior account for 28 percent of the total number of the traffic accidents, and great negative effects are caused on the road traffic accidents. Statistics show that in traffic accidents caused by vehicle lane changing, the traffic accidents are mainly caused by misjudgment of drivers on the lane changing time of vehicles. Therefore, the method has very important significance in providing safe lane change decision for drivers when vehicles change lanes, and has very important effects on reducing traffic accidents and guaranteeing the property and life safety of people.

Disclosure of Invention

The purpose of the invention is as follows: aiming at the defects in the prior art, the invention provides a vehicle lane change early warning system and a control method, which force a vehicle to complete lane change at a safe lane change opportunity and avoid traffic accidents caused by selecting a wrong lane change opportunity.

The technical scheme is as follows: a vehicle lane change early warning system comprises a vehicle distance monitoring unit, a vehicle speed monitoring unit, a data processing unit and a control execution unit; the vehicle distance monitoring unit and the vehicle speed monitoring unit transmit the measured data to the data processing unit, the data processing unit sends an instruction to the control execution unit, and the control execution unit controls the steering of the vehicle and reminds a driver of the vehicle; the method is characterized in that: the vehicle distance monitoring unit comprises a front distance meter and a rear distance meter; the vehicle speed monitoring unit comprises a transverse vehicle speed sensor, a longitudinal vehicle speed sensor, a front speed measuring instrument and a rear speed measuring instrument; the data processing unit comprises a critical collision time calculation module, a lane change time calculation module, a first judgment module, a second judgment module, a third judgment module and an information processing module; the control execution unit comprises a prompting device and a main control module;

the transverse vehicle speed sensor measures the transverse vehicle speed value of the vehicle and transmits the transverse vehicle speed value to the lane change time calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits the lane change time to the second judgment module and the third judgment module; the longitudinal speed sensor, the front speedometer and the rear speedometer measure the longitudinal speed of the vehicle, the front vehicle speed of the target lane and the rear vehicle speed of the target lane and transmit the values to the first judgment module; the judgment value of the first judgment module is transmitted to the collision time calculation module; the front distance meter measures the distance between the vehicle and the front vehicle of the target lane and transmits the distance to the collision time calculation module, the collision time calculation module calculates the critical collision time between the vehicle and the front vehicle and transmits the critical collision time to the second judgment module, and the judgment value of the second judgment module is transmitted to the third judgment module; the rear distance meter measures the distance value between the vehicle and the rear vehicle of the target lane and transmits the distance value to the collision time calculation module, the collision time calculation module calculates the critical collision time between the vehicle and the rear vehicle and transmits the critical collision time to the third judgment module, and the judgment value of the third judgment module is transmitted to the information processing module; the information processing module is respectively connected with the prompting device and the main control module, and the main control module controls the steering wheel control device through the steering module.

A control method of a vehicle lane change early warning system comprises the following steps:

step one, a transverse vehicle speed sensor measures the transverse vehicle speed v of the vehicle_IhThe longitudinal speed sensor measures the longitudinal speed v of the vehicle_IzThe front speed measurer measures the front vehicle speed v of the target lane_clThe rear speedometer measures the rear vehicle speed v_cfAnd will transverse vehicle speed v_IhSending the speed information to a lane change time calculation module to calculate the longitudinal speed v_IzSpeed v of front vehicle_clAnd rear vehicle speed v_cfSending the data to a first judgment module and a collision time calculation module;

step two, the front distance measuring instrument measures the distance D between the vehicle and the front vehicle of the target lane_clThe rear distance measuring instrument measures the distance D between the vehicle and the rear vehicle of the target lane_cfAnd the vehicle distance D_clAnd D_cfSending the data to a collision time calculation module;

step three, the first judging module judges the longitudinal speed v_IzSpeed v of front vehicle_clAnd rear vehicle speed v_cfMaking a comparison if v_cf≤v_Iz≤v_clIf yes, executing a step nine, wherein the vehicle can change lanes, otherwise, executing a step six, and performing forced straight-going by the vehicle;

step four, the lane change time calculation module calculates the time T required by the vehicle to complete lane change_cAnd will T_cSending the data to a second judgment module and a third judgment module;

step five, a collision time calculation module calculates the critical collision time T of the vehicle and the front vehicle of the target lane_lAnd the critical collision time T of the vehicle and the vehicle behind the target lane_fAnd will T_lSending the T to a second judgment module_fSending the data to a third judgment module;

step six, the second judgment module judges the lane changing time T_cAnd the critical collision time T between the vehicle and the front vehicle of the target lane_lMaking a comparison if T_c＜T_lIf yes, execute step seven, judge T_cAnd T_fOtherwise, executing the step eight, and controlling the vehicle to move straight;

step seven, the third judging module is used for judging the track changing time T_cAnd the critical collision time T of the vehicle and the vehicle behind the target lane_fThe comparison is carried out in such a way that,such as T_c＜T_fIf yes, executing a step nine, wherein the vehicle can change lanes, otherwise, executing a step eight, and controlling the vehicle to move straight;

step eight, prompting the driver to change the lane for too long time by a prompting device, entering a forced straight-going stage, and controlling a vehicle steering wheel control device by a main control module to adjust a steering wheel corner;

and step nine, prompting a driver to prompt that the vehicle can change the lane by the prompting device.

Further, the lane change time T_cThe calculation is as follows:

T_c＝L/v_Ih

in the formula: l is lane width in m; v. of_IhThe unit is m/s for the lateral speed of the vehicle.

Further, the critical collision time T between the vehicle and the front vehicle of the target lane_lThe calculation is as follows:

T_l＝D_cl/(v_Iz-v_cl)

in the formula: v. of_IzIs the longitudinal speed of the vehicle, v_clThe speed of the vehicle ahead of the target lane, D_clThe distance between the vehicle and the front vehicle of the target lane.

Further, the critical collision time T between the vehicle and the front vehicle of the target lane_lThe calculation is as follows:

T_f＝D_cf/(v_Iz-v_cf)

in the formula: v. of_IzIs the longitudinal speed of the vehicle, v_cfRear vehicle speed of the target lane, D_cfThe distance between the vehicle and the rear vehicle of the target lane.

Has the advantages that: according to the invention, the collision time between the vehicle and the front and rear vehicles of the target lane is calculated, so that traffic accidents caused by overlarge lane changing time are avoided, and the driving safety of lane changing of the vehicle is effectively improved.

Drawings

FIG. 1 is a control schematic of the present invention;

FIG. 2 is a control flow chart of the present invention.

Detailed Description

The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.

As shown in fig. 1, a lane change warning system for a vehicle includes a vehicle distance monitoring unit, a vehicle speed monitoring unit, a data processing unit and a control execution unit; the vehicle distance monitoring unit and the vehicle speed monitoring unit transmit the measured data to the data processing unit, the data processing unit sends an instruction to the control execution unit, and the control execution unit controls the steering of the vehicle and reminds a driver of the vehicle; the method is characterized in that: the vehicle distance monitoring unit comprises a front distance meter and a rear distance meter; the vehicle speed monitoring unit comprises a transverse vehicle speed sensor, a longitudinal vehicle speed sensor, a front speed measuring instrument and a rear speed measuring instrument; the data processing unit comprises a critical collision time calculation module, a lane change time calculation module, a first judgment module, a second judgment module, a third judgment module and an information processing module; the control execution unit comprises a prompting device and a main control module;

the transverse vehicle speed sensor measures the transverse vehicle speed value of the vehicle and transmits the transverse vehicle speed value to the lane change time calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits the lane change time to the second judgment module and the third judgment module; the longitudinal speed sensor, the front speedometer and the rear speedometer measure the longitudinal speed of the vehicle, the front vehicle speed of the target lane and the rear vehicle speed of the target lane and transmit the values to the first judgment module; the judgment value of the first judgment module is transmitted to the collision time calculation module; the front distance meter measures the distance between the vehicle and the front vehicle of the target lane and transmits the distance to the collision time calculation module, the collision time calculation module calculates the critical collision time between the vehicle and the front vehicle and transmits the critical collision time to the second judgment module, and the judgment value of the second judgment module is transmitted to the third judgment module; the rear distance meter measures the distance value between the vehicle and the rear vehicle of the target lane and transmits the distance value to the collision time calculation module, the collision time calculation module calculates the critical collision time between the vehicle and the rear vehicle and transmits the critical collision time to the third judgment module, and the judgment value of the third judgment module is transmitted to the information processing module; the information processing module is respectively connected with the prompting device and the main control module, and the main control module controls the direction of the vehicle through the steering module.

As shown in fig. 2, a control method of a lane-change warning system for a vehicle includes the following steps:

step one, a transverse vehicle speed sensor measures the transverse vehicle speed v of the vehicle_IhThe longitudinal speed sensor measures the longitudinal speed v of the vehicle_IzThe front speed measurer measures the front vehicle speed v of the target lane_clThe rear speedometer measures the rear vehicle speed v_cfAnd will transverse vehicle speed v_IhSending the speed information to a lane change time calculation module to calculate the longitudinal speed v_IzSpeed v of front vehicle_clAnd rear vehicle speed v_cfSending the data to a first judgment module and a collision time calculation module;

step two, the front distance measuring instrument measures the distance D between the vehicle and the front vehicle of the target lane_clThe rear distance measuring instrument measures the distance D between the vehicle and the rear vehicle of the target lane_cfAnd the vehicle distance D_clAnd D_cfSending the data to a collision time calculation module;

step three, the first judging module judges the longitudinal speed v_IzSpeed v of front vehicle_clAnd rear vehicle speed v_cfMaking a comparison if v_cf≤v_Iz≤v_clIf yes, executing a step nine, wherein the vehicle can change lanes, otherwise, executing a step six, and performing forced straight-going by the vehicle;

step four, the lane change time calculation module calculates the time T required by the vehicle to complete lane change_cAnd will T_cSending the data to a second judgment module and a third judgment module;

step five, a collision time calculation module calculates the critical collision time T of the vehicle and the front vehicle of the target lane_lAnd the critical collision time T of the vehicle and the vehicle behind the target lane_fAnd will T_lSending the T to a second judgment module_fSending the data to a third judgment module;

step six, the second judgment module judges the lane changing time T_cAnd the critical collision time T between the vehicle and the front vehicle of the target lane_lMaking a comparison if T_c＜T_lIf yes, execute step seven, judge T_cAnd T_fOtherwise, executing the step eight, and controlling the vehicle to move straight;

step seven, the third judging module is used for judging the track changing time T_cAnd the vehicle and the rear vehicle of the target laneCritical collision time T of_fMaking a comparison, e.g. T_c＜T_fIf yes, executing a step nine, wherein the vehicle can change lanes, otherwise, executing a step eight, and controlling the vehicle to move straight;

step eight, prompting the driver to change the lane for too long time by a prompting device, entering a forced straight-going stage, and controlling a vehicle steering wheel control device by a main control module to adjust a steering wheel corner;

and step nine, prompting a driver to prompt that the vehicle can change the lane by the prompting device.

The T is_cThe lane change time is calculated as follows:

T_c＝L/v_Ih

in the formula: l is lane width in m; v. of_IhThe unit is m/s for the lateral speed of the vehicle.

The T is_lThe critical collision time of the vehicle and the vehicle ahead of the target lane is calculated as follows:

T_l＝D_cl/(v_Iz-v_cl)

in the formula: v. of_IzThe unit is the longitudinal speed of the vehicle, and the unit is m/s; v. of_clThe unit is the speed of the vehicle in front of the target lane; d_clThe unit m is the distance between the vehicle and the front vehicle of the target lane.

The T is_lThe critical collision time of the vehicle and the vehicle ahead of the target lane is calculated as follows:

T_f＝D_cf/(v_Iz-v_cf)

in the formula: v. of_IzThe unit is the longitudinal speed of the vehicle, and the unit is m/s; v. of_cfThe rear vehicle speed of the target lane is in the unit of m/s; d_cfThe unit m is the vehicle distance between the vehicle and the rear of the target lane.

The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.

Claims (4)

1. A control method of a vehicle lane change early warning system is characterized by comprising the following steps:

the vehicle lane change early warning system comprises a vehicle distance monitoring unit, a vehicle speed monitoring unit, a data processing unit and a control execution unit; the vehicle distance monitoring unit and the vehicle speed monitoring unit transmit the measured data to the data processing unit, the data processing unit sends an instruction to the control execution unit, and the control execution unit controls the steering of the vehicle and reminds a driver of the vehicle; the method is characterized in that: the vehicle distance monitoring unit comprises a front distance meter and a rear distance meter; the vehicle speed monitoring unit comprises a transverse vehicle speed sensor, a longitudinal vehicle speed sensor, a front speed measuring instrument and a rear speed measuring instrument; the data processing unit comprises a critical collision time calculation module, a lane change time calculation module, a first judgment module, a second judgment module, a third judgment module and an information processing module; the control execution unit comprises a prompting device and a main control module;

the transverse vehicle speed sensor measures the transverse vehicle speed value of the vehicle and transmits the transverse vehicle speed value to the lane change time calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits the lane change time to the second judgment module and the third judgment module; the longitudinal speed sensor, the front speedometer and the rear speedometer measure the longitudinal speed of the vehicle, the front vehicle speed of the target lane and the rear vehicle speed of the target lane and transmit the values to the first judgment module and the collision time calculation module; the judgment value of the first judgment module is transmitted to the collision time calculation module; the front distance meter measures the distance between the vehicle and the front vehicle of the target lane and transmits the distance to the collision time calculation module, the collision time calculation module calculates the critical collision time between the vehicle and the front vehicle and transmits the critical collision time to the second judgment module, and the judgment value of the second judgment module is transmitted to the third judgment module; the rear distance meter measures the distance value between the vehicle and the rear vehicle of the target lane and transmits the distance value to the collision time calculation module, the collision time calculation module calculates the critical collision time between the vehicle and the rear vehicle and transmits the critical collision time to the third judgment module, and the judgment value of the third judgment module is transmitted to the information processing module; the information processing module is respectively connected with the prompting device and the main control module, and the main control module controls the steering wheel control device through the steering module;

the control method of the vehicle lane change early warning system comprises the following steps:

step one, a transverse vehicle speed sensor measures the transverse vehicle speed v of the vehicle_IhThe longitudinal speed sensor measures the longitudinal speed v of the vehicle_IzThe front speed measurer measures the front vehicle speed v of the target lane_clThe rear speedometer measures the rear vehicle speed v_cfAnd will transverse vehicle speed v_IhSending the speed information to a lane change time calculation module to calculate the longitudinal speed v_IzSpeed v of front vehicle_clAnd rear vehicle speed v_cfSending the data to a first judgment module and a collision time calculation module;

step two, the front distance measuring instrument measures the distance D between the vehicle and the front vehicle of the target lane_clThe rear distance measuring instrument measures the distance D between the vehicle and the rear vehicle of the target lane_cfAnd the vehicle distance D_clAnd D_cfSending the data to a collision time calculation module;

step three, the first judging module judges the longitudinal speed v_IzSpeed v of front vehicle_clAnd rear vehicle speed v_cfMaking a comparison if v_cf≤v_Iz≤v_clIf yes, executing a step nine, wherein the vehicle can change lanes, otherwise, executing a step six, and performing forced straight-going by the vehicle;

step four, the lane change time calculation module calculates the lane change time T required by the vehicle to complete lane change_cAnd will T_cSending the data to a second judgment module and a third judgment module;

step five, a collision time calculation module calculates the critical collision time T of the vehicle and the front vehicle of the target lane_lAnd the critical collision time T of the vehicle and the vehicle behind the target lane_fAnd will T_lSending the T to a second judgment module_fSending the data to a third judgment module;

step six, the second judgment module judges the lane changing time T_cAnd the critical collision time T between the vehicle and the front vehicle of the target lane_lMaking a comparison if T_c＜T_lIf yes, execute step seven, judge T_cAnd T_fOtherwise, executing the step eight, and controlling the vehicle to move straight;

step seven, the third judging module is used for judging the track changing time T_cAnd the critical collision time T of the vehicle and the vehicle behind the target lane_fMaking a comparison, e.g. T_c＜T_fIf yes, executing a step nine, wherein the vehicle can change lanes, otherwise, executing a step eight, and controlling the vehicle to move straight;

step eight, prompting the driver to change the lane for too long time by a prompting device, entering a forced straight-going stage, and controlling a vehicle steering wheel control device by a main control module to adjust a steering wheel corner;

and step nine, prompting a driver to prompt that the vehicle can change the lane by the prompting device.

2. The control method of the vehicle lane-change warning system according to claim 1, wherein: the track changing time T_cThe calculation is as follows:

T_c＝L/v_Ih

in the formula: l is lane width in m; v. of_IhThe unit is m/s for the lateral speed of the vehicle.

3. The control method of the vehicle lane-change warning system according to claim 1, wherein: the critical collision time T between the vehicle and the front vehicle of the target lane_lThe calculation is as follows:

T_l＝D_cl/(v_Iz-v_cl)

in the formula: v. of_IzIs the longitudinal speed of the vehicle, v_clThe speed of the vehicle ahead of the target lane, D_clThe distance between the vehicle and the front vehicle of the target lane.

4. The control method of the vehicle lane-change warning system according to claim 1, wherein: the critical collision time T of the vehicle and the rear vehicle of the target lane_fThe calculation is as follows:

T_f＝D_cf/(v_Iz-v_cf)

in the formula: v. of_IzIs the longitudinal speed of the vehicle, v_cfRear vehicle speed of the target lane, D_cfThe distance between the vehicle and the rear vehicle of the target lane.

Images