CN111645678A - Vehicle braking and steering coordinated control anti-collision system and control method - Google Patents

Abstract

The system consists of a data acquisition module, an integrated processing module and an execution module, wherein the data acquisition module acquires vehicle running information and road information and sends the data information to the integrated processing module, the integrated processing module sequentially judges whether steering lane change is needed or not and whether the steering lane change is safe or not, when the steering lane change is judged to be safe or not, whether lane boundary lines are broken lines or not is sequentially judged, whether the vehicle distance between the front vehicle and the rear vehicle after lane change is qualified or not is judged, whether side lanes are smooth or not is judged, the lane change track side displacement is obtained, whether the barycenter side deviation angle, the steering angle and the side acceleration meet requirements or not is judged, and after the integrated processing module analyzes and processes the data, the execution module is controlled to perform braking, steering or early warning operation. The invention comprehensively considers the influence of road conditions, other vehicle running conditions and the change of the own vehicle parameters so as to improve the running safety when the vehicle changes lanes.

Description

Vehicle braking and steering coordinated control anti-collision system and control method

Technical Field

The invention belongs to the technical field of vehicle active safety, and particularly relates to a vehicle braking and steering coordinated control anti-collision system and a control method.

Background

Along with the development of automobile intellectualization, the popularization rate of the emergency braking system in the automobile is higher and higher, and the improvement of the active safety performance of the automobile is facilitated. When the automobile runs at a high speed, the longitudinal safety distance is insufficient, and the danger of collision can occur even under the emergency braking working condition, so that the lateral lane change can be considered, the risk is avoided, and the active safety performance of the automobile is further improved. At present, a lateral lane-changing track model of an automobile comprises a sine function track model, a track model based on trapezoidal lateral acceleration, a constant-speed offset track model and the like, and when the track models are constructed, the lane-changing track model is optimized only by considering the influence of automobile lane changing on the change of self parameters, and the road condition and the running condition of a vehicle on a lane-changing target lane are not considered.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the anti-collision system and the control method for the vehicle braking and steering coordination control, which comprehensively consider the influence of road factors and the change of the running condition of surrounding vehicles on the basis of considering the change of the vehicle and the parameters thereof so as to improve the running safety when the vehicle changes the lane. The technical scheme of the invention is as follows by combining and explaining the attached drawings:

a vehicle braking and steering coordinated control anti-collision system comprises a data acquisition module, a comprehensive processing module and an execution module;

the data acquisition module is characterized in that: the laser radar, the millimeter wave radar, the camera, the ZigBee and the self vehicle information reading unit respectively send the collected vehicle running data and road information data to the comprehensive processing module;

in the comprehensive processing module, a data processing unit analyzes and processes received vehicle driving data and road information data to obtain decision data and sends the decision data to a decision unit, and the decision unit judges to generate a decision instruction and sends the decision instruction to an execution module;

in the execution module, the brake, the steering gear, the buzzer and the indicator light respectively receive the decision instruction sent by the decision unit and execute steering, braking or early warning operation.

Further, the vehicle travel data includes:

the method comprises the following steps that the laser radar acquires the speed and the acceleration of a front vehicle on the same lane, a rear vehicle on a side lane and a front vehicle on a side lane, the distance between the self vehicle and the front vehicle on the same lane, the longitudinal distance between the self vehicle and the rear vehicle on the side lane, the longitudinal distance between the self vehicle and the front vehicle on the side lane and the distance between the rear vehicle on the side lane and the front vehicle on the side lane;

the millimeter wave radar acquires the speed and the acceleration of a front vehicle in the same lane, a rear vehicle in a side lane and a front vehicle in the side lane;

the ZigBee acquires the speed and the acceleration of a front vehicle on the same lane, a rear vehicle on a side lane and a front vehicle on the side lane, the number of different vehicle types on the lane where the self vehicle is located and the number of different vehicle types on the side lane of the self vehicle in a data communication mode;

the speed and the acceleration of the vehicle are acquired by the vehicle information reading unit;

the road information data includes:

the method comprises the following steps that the width of a road, the transverse distance between a driving center line where a vehicle is located and a driving center line where a vehicle in a side lane is located, the transverse distance between the driving center line where the vehicle is located and a lane boundary between the side lanes and the virtual and real conditions of the lane boundary between the lane where the vehicle is located and the side lanes are acquired by a camera;

a control method for a vehicle braking and steering coordinated control anti-collision system comprises the following specific steps:

s1: collecting vehicle driving data and road information data;

s2: the data is primarily analyzed and processed to obtain the driving data of the surrounding vehicles;

s3: the data is further analyzed and processed to obtain decision data, and decision instructions of steering, braking or early warning are generated and executed after judgment;

in the step S1:

the vehicle driving data comprises driving data of a vehicle A, a front vehicle B in the same lane, a rear vehicle C in a side lane and a front vehicle D in the side lane; wherein:

collecting the speed v of the front vehicle B on the same lane by a laser radar_B1Acceleration a of the same-lane front vehicle B_B1Speed v of the rear vehicle C on the side lane_C1Acceleration a of the rear vehicle C on the side lane_C1Speed v of the preceding vehicle D on the side lane_D1Acceleration a of the preceding vehicle D on the side lane_D1Distance d between the vehicle A and the front vehicle B on the same lane_bLongitudinal distance d between the host vehicle A and the rear vehicle C on the side lane_cLongitudinal distance D between the vehicle A and the front vehicle D on the side lane_dThe distance D between the rear vehicle C on the side lane and the front vehicle D on the side lane_cd；

Collecting the speed v of the front vehicle B on the same lane by a millimeter wave radar_B2Acceleration a of the same-lane front vehicle B_B2Speed v of the rear vehicle C on the side lane_C2Acceleration a of the rear vehicle C on the side lane_C2Speed v of the preceding vehicle D on the side lane_D2Acceleration a of the preceding vehicle D on the side lane_D2；

Collecting the speed v of the front vehicle B on the same lane through ZigBee_B3Acceleration a of the same-lane front vehicle B_B3Speed v of the rear vehicle C on the side lane_C3Acceleration a of the rear vehicle C on the side lane_C3Speed v of the preceding vehicle D on the side lane_D3Acceleration a of the preceding vehicle D on the side lane_D3And the number n of passenger cars on the lane of the host vehicle A₁₁Number n of passenger cars₁₂N number of general trucks₁₃N number of large trucks₁₄The number n of passenger cars on the side lane of the vehicle A₂₁Number n of passenger cars₂₂N number of general trucks₂₃N number of large trucks₂₄；

The speed v of the bicycle A is collected by the bicycle information reading unit_AAcceleration a of the bicycle A_ATotal angular stiffness k of suspension of bicycle a_φSprung mass m of bicycle A_sA distance h from the sprung mass centre of mass of the vehicle a to the roll axis;

the road information data comprises road width w acquired through a camera, a transverse distance h between a driving center line of the vehicle A and a driving center line of a side lane vehicle, a transverse distance z between the driving center line of the vehicle A and a lane boundary between the side lanes, and an imaginary condition of the lane boundary between the lane of the vehicle A and the side lanes.

In the step S2:

the nearby vehicle running data obtained by the preliminary analysis processing of the vehicle running data obtained in the step S1 includes: speed v of front vehicle B on same lane_BAnd acceleration a_BAnd the speed v of the rear vehicle C on the side lane_CAnd acceleration a_CAnd the speed v of the vehicle D ahead of the side lane_DAnd acceleration a_DThe calculation formula is specifically as follows:

in step S3:

decision data are obtained by further analyzing and processing the data obtained in the step S1 and the step S2, and the specific process of generating and executing a decision instruction to control and execute a corresponding operation is as follows:

s31: detecting that a vehicle is in front of the same lane of the self-vehicle and calculating the longitudinal early warning distance d_z1；

S32: judging the distance d between the vehicle A and the front vehicle B on the same lane_bA longitudinal early warning distance d_z1If d is a magnitude relation of_b≥d_z1Generating and executing a normal driving instruction; if d is_b＜d_z1Then, the process proceeds to step S33;

s33: and judging whether the lateral lane change is safe, if so, executing steering operation to realize the lateral lane change, and if not, executing early warning and braking operation.

In the step S31:

the longitudinal early warning distance d_z1The calculation formula of (a) is as follows:

the longitudinal early warning distance d_z1In the calculation formula (2):

a_maxthe maximum braking deceleration of the bicycle A;

t₁the braking reaction time of the bicycle A is shown;

t₂braking delay time of the bicycle A;

t₃increasing the braking time for the bicycle A;

d₀the parking distance of the bicycle A.

In the step S33:

the specific steps of judging whether the lateral lane change is safely put in are as follows:

s331: judging whether a lane boundary between a lane where the vehicle A is located and a side lane is a broken line or not, if so, entering the following step S332, and if not, generating and executing an early warning and a slight braking instruction, wherein the broken line is a solid line;

s332: judging the safe distance d between the rear vehicle C of the side lane and the changed vehicle A_rThe actual distance d between the rear vehicle C of the side lane and the vehicle A' after lane change₂The magnitude relation between the two and the safety distance D between the front vehicle D of the side lane and the changed self vehicle A' is judged_fThe actual distance D between the front vehicle D of the side lane and the changed self-vehicle A₃If d is a magnitude relation between_r＜d₂And d is_f＜d₃Step S333 is entered, otherwise, an early warning and a light braking instruction are generated and executed;

the safe distance d between the rear vehicle C with the side lane and the self vehicle A' after lane change_rIs a preset value;

the safe distance D between the front vehicle D of the side lane and the changed self vehicle A_fIs a preset value;

the actual distance d between the rear vehicle C with the side lane and the self vehicle A' after lane change₂The calculation formula of (a) is as follows:

d₂＝d_c+l-S_r

the above-mentioned actual distance d₂In the calculation formula (2):

d_cthe longitudinal distance between the self-vehicle A and the rear vehicle C of the side lane is shown;

l is the longitudinal running displacement of the bicycle A in lane change time;

S_rthe driving displacement of the rear vehicle C of the lateral lane in lane changing time;

t₀is d_b＝d_z1The time of day;

v_A(t₀) Is t₀The speed of the bicycle A at the moment;

v_C(t₀) Is t₀The speed of the rear vehicle C on the side lane at the moment;

a_Cthe vehicle acceleration of the rear vehicle C of the side lane is obtained;

t_bis the lane change time of the bicycle A, wherein:

the self-vehicle lane change time t_bIn the calculation formula (2):

is the tire lateral adhesion coefficient;

g is the acceleration of gravity;

h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;

w is the road width;

z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;

finally, the actual distance d between the self-vehicle A and the rear vehicle C of the side lane is obtained₂The calculation formula of (a) is as follows:

the actual distance D between the front vehicle D of the side lane and the changed self vehicle A₃The calculation formula of (a) is as follows:

d₃＝d_d+S_f-l

the actual distance D between the vehicle A and the front vehicle D in the side lane₃In the calculation formula (2):

d_dthe longitudinal distance between the self vehicle A and the front vehicle D of the side lane is shown;

l is the longitudinal running displacement of the bicycle A in lane change time;

S_fthe driving displacement of a front vehicle D of a lateral lane in lane changing time is obtained;

t₀is d_b＝d_z1The time of day;

v_A(t₀) Is t₀The speed of the vehicle is determined at the moment;

v_D(t₀) Is t₀The speed of a front vehicle D of the side lane at the moment;

a_Dthe vehicle acceleration of the front vehicle D of the side lane is obtained;

t_bfor the time of changing lanes from the car, wherein:

the self-vehicle lane change time t_bIn the calculation formula (2):

is the tire lateral adhesion coefficient;

g is the acceleration of gravity;

h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;

w is the road width;

z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;

finally, the actual distance D between the self-vehicle A and the rear vehicle D of the side lane is obtained₂The calculation formula of (a) is as follows:

s333: judging the same lane road unobstructed rate gamma of the lane where the self vehicle A is positioned₁The road clearance rate gamma of the side lane of the A side lane of the self-vehicle₂If γ is a magnitude relation of₂＞γ₁If not, generating and executing an early warning and a light braking instruction;

in step S331:

the road clear rate gamma of the same lane₁Is communicated with the side lane roadRate of chang gamma₂The calculation formula of (a) is as follows:

clear rate gamma of the same lane road₁Road clear rate gamma of side lane₂In the calculation formula (2):

n₁₁the number of the passenger cars on the lane of the self-vehicle A is shown;

n₁₂the number of the passenger cars on the lane of the self-car A is shown;

n₁₃the number of the common trucks on the lane of the self-vehicle A is shown;

n₁₄the number of large trucks on the lane of the self vehicle A is shown;

n₂₁the number of the passenger cars on the side lane of the self-vehicle A is shown;

n₂₂the number of the passenger cars on the side lane of the self-car A is shown;

n₂₃the number of the common trucks on the side lane of the self-vehicle A is shown;

n₂₄the number of large trucks on the lane at the side of the bicycle A is shown;

s334: the calculation formula for calculating the lane-changing track side displacement y (t) from the lane change lane to the side lane of the vehicle A is as follows:

the formula for calculating the track-changing side displacement y (t) is as follows:

t≤t_b；

h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;

t₀is d_b＝d_z1The time of day;

v_A(t₀) Is t₀The speed of the vehicle is determined at the moment;

t_bfor the time of changing lanes from the car, wherein:

the self-vehicle lane change time t_bIn the calculation formula (2):

is the tire lateral adhesion coefficient;

g is the acceleration of gravity;

w is the road width;

z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;

s335: judging the centroid slip angle phi and the centroid slip angle phi of the upper limit of human comfort during the process of changing the lane of the vehicle A from the lane to the lateral lane_limIf phi < phi, the magnitude relationship of_limIf not, generating and executing an early warning and a light braking instruction;

the mass center side slip angle phi of the upper limit of human body comfort_limIs a preset value;

the calculation formula of the centroid slip angle phi in the process that the vehicle A changes lanes from the lane to the side lanes is as follows:

in the above formula for calculating the centroid slip angle phi:

is the lateral acceleration;

s336: steering angle theta and upper limit value theta of steering angle for operation stability in the process of changing lane from the lane where the vehicle A is located to the side lane_limThe magnitude relationship of (1), ifθ＜θ_limIf not, generating and executing an early warning, namely a slight braking instruction;

the upper limit value theta of the steering angle for the steering stability_limIs a preset value;

the calculation formula of the steering angle theta in the process of changing the lane of the vehicle A from the lane to the side lane is as follows:

in the above calculation formula of the steering angle θ:

v_Ayin order to change the lateral speed of the vehicle,

v_Axlongitudinal speed, v, for changing lanes from vehicle to vehicle_Ax＝v_A(t₀)；

Namely:

s337: judging the lateral acceleration of the vehicle A in the process of changing the lane from the lane to the lateral lane

Lateral acceleration to the upper limit of human comfort

The magnitude relationship between them, if

Generating and executing steering operation, controlling a steering gear to work, enabling the self vehicle A to follow the self vehicle lane changing track to change lanes laterally, and otherwise generating and executing an early warning and slight braking instruction;

lateral acceleration of the upper limit of human comfort

Is a preset value;

the lateral acceleration of the vehicle A in the process of changing lanes from the lane to the lateral lane

Obtaining the lateral displacement y (t) of the track-changing track by derivation;

the lane changing track of the bicycle is as follows:

in the above equation of lane change of the vehicle:

t≤t_b；

y (t) is the lateral displacement of the track change of the bicycle A;

s (t) is the longitudinal displacement of the bicycle A.

Compared with the prior art, the invention has the beneficial effects that:

the anti-collision system and the control method for coordinated control of vehicle braking and steering comprehensively consider the influence of road conditions, the driving condition of the vehicle on the lane change target lane and the change of the own vehicle parameters, and comprehensively make corresponding lane change decisions so as to improve the driving safety when the vehicle changes lanes.

Drawings

FIG. 1 is a block diagram schematically illustrating the structure of a vehicle braking and steering coordination control anti-collision system according to the present invention;

FIG. 2 is a flow chart of a method for controlling anti-collision in coordination with braking and steering of a vehicle according to the present invention;

fig. 3 is a flow chart of a process of further analyzing and processing data to obtain decision data, and generating and executing a decision instruction according to the anti-collision control method of the present invention;

fig. 4 is a schematic diagram of a vehicle running condition in the vehicle braking and steering coordinated control anti-collision system and the control method according to the invention.

Detailed Description

For clearly and completely describing the technical scheme and the specific working process thereof, the specific implementation mode of the invention is as follows by combining the attached drawings of the specification:

in the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

As shown in fig. 1, the invention discloses a vehicle braking and steering coordination control anti-collision system, which comprises: the system comprises a data acquisition module, a comprehensive processing module and an execution module; the data acquisition module acquires vehicle running information and road information and sends the acquired data information to the comprehensive processing module, the comprehensive processing module analyzes and processes the received data information and then designates a control decision, and the execution module is further controlled to perform braking, steering or early warning operation according to the control decision.

As shown in fig. 4, the vehicle located in the same lane as the host vehicle a and in front of the host vehicle a is: a front vehicle B on the same lane; the vehicles which are positioned on the lanes at the side of the vehicle A and behind the vehicle A' after lane change are as follows: a rear vehicle C of the side lane; the vehicles which are positioned on the lanes at the side of the vehicle A and are positioned in front of the vehicle A' after lane change are as follows: a front vehicle D of the side lane;

as shown in fig. 1, the data acquisition module is composed of a laser radar, a millimeter wave radar, a camera, a ZigBee and a vehicle information reading unit, and the laser radar, the millimeter wave radar, the camera, the ZigBee and the vehicle information reading unit are respectively in signal connection with the data processing unit in the comprehensive processing module to respectively send the acquired vehicle running information and road information to the data processing unit for analysis and processing; wherein:

the laser radar is used for acquiring the speed v of the front vehicle B on the same lane_B1Acceleration a of the same-lane front vehicle B_B1Speed v of the rear vehicle C on the side lane_C1Acceleration a of the rear vehicle C on the side lane_C1Speed v of the preceding vehicle D on the side lane_D1Acceleration a of the preceding vehicle D on the side lane_D1Distance d between the vehicle A and the front vehicle B on the same lane_bLongitudinal distance d between the host vehicle A and the rear vehicle C on the side lane_cLongitudinal distance D between the vehicle A and the front vehicle D on the side lane_dThe distance D between the rear vehicle C on the side lane and the front vehicle D on the side lane_cd；

The millimeter wave radar is respectively arranged at the left front part and the right front part of the vehicleA front part, a left rear part and a right rear part for collecting the speed v of the front vehicle B on the same lane_B2Acceleration a of the same-lane front vehicle B_B2Speed v of the rear vehicle C on the side lane_C2Acceleration a of the rear vehicle C on the side lane_C2Speed v of the preceding vehicle D on the side lane_D2Acceleration a of the preceding vehicle D on the side lane_D2；

The cameras are respectively installed below a left rearview mirror and a right rearview mirror of the vehicle, and are used for acquiring road information according to the shot images, and as shown in fig. 4, the road information includes: a road width w, a lateral distance h between a driving center line of the vehicle a and a driving center line of a vehicle in a side lane, a lateral distance z between a driving center line of the vehicle a and a lane boundary (shown by a dotted line in the figure) between the side lanes, and a virtual-real case of the lane boundary between the lane of the vehicle a and the side lanes;

the ZigBee is a wireless communication network and is used for data communication between vehicles, data sharing can be realized between the vehicles through the ZigBee, and the speed of a vehicle A of the vehicle A, which can obtain a vehicle B in front of the same lane through the ZigBee, is recorded as v_B3And the acceleration of the front vehicle B on the same lane is recorded as a_B3And the speed of the rear vehicle C on the side lane is recorded as v_C3And the acceleration of the rear vehicle C on the side lane is recorded as a_C3The vehicle speed of the front vehicle D of the side lane is recorded as v_D3And the acceleration of the front vehicle D in the side lane is recorded as a_D3And the number n of passenger cars on the lane of the host vehicle A₁₁Number n of passenger cars₁₂N number of general trucks₁₃N number of large trucks₁₄The number n of passenger cars on the side lane of the vehicle A₂₁Number n of passenger cars₂₂N number of general trucks₂₃N number of large trucks₂₄；

The vehicle information reading unit is used for collecting the speed v of the vehicle A_AAcceleration a of the bicycle A_ATotal angular stiffness k of suspension of bicycle a_φSprung mass m of bicycle A_sA distance h from the sprung mass centre of mass of the vehicle a to the roll axis;

as shown in fig. 1, the comprehensive processing module is composed of a data processing unit and a decision unit; the data processing unit analyzes and processes the received vehicle running information and road information acquired by the data acquisition module, sends the processed data to the decision unit, makes a corresponding decision through the decision unit, sends a decision control signal to the execution module, and controls the execution module to perform braking, steering or early warning operation; wherein:

the data processing unit is used for analyzing and calculating the vehicle running information and the road information to obtain: speed v of front vehicle B on same lane_BAnd acceleration a_BAnd the speed v of the rear vehicle C on the side lane_CAnd acceleration a_CAnd the speed v of the front vehicle D on the side lane_DAnd acceleration a_DLongitudinal early warning distance d between the self-vehicle A and the front vehicle B on the same lane_z1The actual distance d between the bicycle A and the rear bicycle C on the side lane₂The actual distance D between the vehicle A and the front vehicle D of the side lane₃Road clear rate gamma of lane where self-vehicle A is located₁Road unobstructed rate gamma of lane at side A of self-vehicle₂The lane-changing lateral displacement y (t) of the self-vehicle A from the lane to the side lane, the centroid slip angle phi in the process of changing the self-vehicle A from the lane to the side lane, the steering angle theta in the process of changing the self-vehicle A from the lane to the side lane, and the lateral acceleration in the process of changing the self-vehicle A from the lane to the side lane

The decision unit makes decision judgment according to the related data obtained by the data processing unit and sends corresponding control signals to the execution module so as to control the execution module to perform braking, steering or early warning operation; wherein:

the decision making by the decision making unit comprises: whether an obstacle exists in the front of the same lane of the vehicle A and whether lane changing is safe from the side of the vehicle A is judged;

if the obstacle does not exist in the front of the same lane of the self-vehicle A, the self-vehicle A is decided and controlled to continue to normally run, and if the obstacle exists in the self-vehicle A, the decision is continued to judge whether lane changing at the side of the self-vehicle A is safe or not;

and if the lane change of the side of the self-vehicle A is safe, the lane change of the side of the self-vehicle A is decided and controlled, and if the lane change of the side of the self-vehicle A is unsafe, the self-vehicle A is decided and controlled to brake slightly and an early warning is given.

As shown in fig. 1, the execution module is composed of a brake, a steering gear, a buzzer and an indicator light; wherein:

the brake receives the brake control signal sent by the decision unit and then performs brake operation, so that the vehicle is slightly braked;

the steering device receives the steering control signal sent by the decision unit and then performs steering operation, so that lane changing at the side of the vehicle is realized;

and the buzzer and the indicator lamp respectively receive the early warning signals sent by the decision unit and then carry out early warning operation, so that the vehicle sends out auditory and visual early warning warnings.

The invention also discloses an anti-collision control method for coordinated control of vehicle braking and steering, which is based on the system for coordinated control of anti-collision of vehicle braking and steering and realizes anti-collision control by comprehensively considering road conditions, driving conditions of vehicles on lane change target lanes and self-vehicle parameter changes.

As shown in fig. 2, fig. 3 and fig. 4, the specific processes of the method for controlling anti-collision in coordination with braking and steering of a vehicle according to the present invention are as follows:

s1: collecting vehicle driving data and road information data;

in step S1, the vehicle travel data includes travel data of the vehicle a, the preceding vehicle B on the same lane, the following vehicle C on the side lane, and the preceding vehicle D on the side lane; wherein:

collecting the speed v of the front vehicle B on the same lane by a laser radar_B1Acceleration a of the same-lane front vehicle B_B1Speed v of the rear vehicle C on the side lane_C1Acceleration a of the rear vehicle C on the side lane_C1Speed v of the preceding vehicle D on the side lane_D1Acceleration a of the preceding vehicle D on the side lane_D1Distance d between the vehicle A and the front vehicle B on the same lane_bLongitudinal distance d between the host vehicle A and the rear vehicle C on the side lane_cFrom the vehicle A and the side laneLongitudinal distance D between front vehicles D_dThe distance D between the rear vehicle C on the side lane and the front vehicle D on the side lane_cd；

Collecting the speed v of the front vehicle B on the same lane by a millimeter wave radar_B2Acceleration a of the same-lane front vehicle B_B2Speed v of the rear vehicle C on the side lane_C2Acceleration a of the rear vehicle C on the side lane_C2Speed v of the preceding vehicle D on the side lane_D2Acceleration a of the preceding vehicle D on the side lane_D2；

Collecting the speed v of the front vehicle B on the same lane through ZigBee_B3Acceleration a of the same-lane front vehicle B_B3Speed v of the rear vehicle C on the side lane_C3Acceleration a of the rear vehicle C on the side lane_C3Speed v of the preceding vehicle D on the side lane_D3Acceleration a of the preceding vehicle D on the side lane_D3And the number n of passenger cars on the lane of the host vehicle A₁₁Number n of passenger cars₁₂N number of general trucks₁₃N number of large trucks₁₄The number n of passenger cars on the side lane of the vehicle A₂₁Number n of passenger cars₂₂N number of general trucks₂₃N number of large trucks₂₄；

The speed v of the bicycle A is collected by the bicycle information reading unit_AAcceleration a of the bicycle A_ATotal angular stiffness k of suspension of bicycle a_φSprung mass m of bicycle A_sA distance h from the sprung mass centre of mass of the vehicle a to the roll axis;

in this step S1, the road information data is collected by a camera mounted on the host vehicle a, and the road information data includes: a road width w, a lateral distance h between a driving center line of the vehicle a and a driving center line of a vehicle in a side lane, a lateral distance z between a driving center line of the vehicle a and a lane boundary (shown by a dotted line in the figure) between the side lanes, and a virtual-real case of the lane boundary between the lane of the vehicle a and the side lanes;

s2: the data is primarily analyzed and processed to obtain the driving data of the surrounding vehicles;

in this step S2, the vehicle is driven according to the vehicle obtained in the above step S1The peripheral vehicle running data obtained by the data preliminary analysis processing includes: speed v of front vehicle B on same lane_BAnd acceleration a_BAnd the speed v of the rear vehicle C on the side lane_CAnd acceleration a_CAnd the speed v of the vehicle D ahead of the side lane_DAnd acceleration a_DThe calculation formula is specifically as follows:

s3: the data is further analyzed and processed to obtain decision data, and decision instructions are generated and executed after judgment;

as shown in fig. 3 and 4, in the present step S3, decision data is obtained by further analyzing and processing the data obtained in steps S1 and S2, and the specific process of generating and executing a decision instruction to control the corresponding operation is as follows:

s31: detecting that a vehicle is in front of the same lane of the self-vehicle and calculating the longitudinal early warning distance d_z1；

In step S31, when a vehicle is present in the laser radar and millimeter wave radar monitoring range of the vehicle a in front of the same lane of the vehicle a, it is described that there is a vehicle B in front of the same lane of the vehicle a at this time, and at this time, the longitudinal direction is calculatedTo the early warning distance d_z1；

In step S331:

the longitudinal early warning distance d_z1The calculation formula of (a) is as follows:

the longitudinal early warning distance d_z1In the calculation formula (2):

a_maxthe maximum braking deceleration of the bicycle A;

t₁the braking response time of the bicycle A is a preset value, and the time is taken to be 0.5s in the embodiment;

t₂the braking delay time of the self vehicle A is a preset value, and the time is taken to be 0.2s in the embodiment;

t₃the brake increasing time of the bicycle A is a preset value, and the brake increasing time is 0.2 s;

d₀the parking distance of the self vehicle A is a preset value, and 5m is taken in the embodiment;

s32: judging the distance d between the vehicle A and the front vehicle B on the same lane_bA longitudinal early warning distance d_z1If d is a magnitude relation of_b≥d_z1Generating and executing a normal driving instruction; if d is_b＜d_z1Then, the process proceeds to step S33;

s33: judging whether the lateral lane change is safe or not;

the specific steps of judging whether the lateral lane change is safely put in are as follows:

s331: judging whether a lane boundary between a lane where the vehicle A is located and a side lane is a broken line or not, if the lane boundary is the broken line, entering the following step S332, if the lane boundary is not the broken line, namely the solid line, generating and executing an early warning and a slight braking instruction, controlling a buzzer and an indicator lamp to send out the early warning, and controlling a brake to give 0.15m/S²Braking deceleration of (d);

s332: judging the safe distance d between the rear vehicle C of the side lane and the changed vehicle A_rThe actual distance d between the rear vehicle C of the side lane and the vehicle A' after lane change₂The size of the otherAnd determining the safety distance D between the front vehicle D of the side lane and the changed vehicle A_fThe actual distance D between the front vehicle D of the side lane and the changed self-vehicle A₃If d is a magnitude relation between_r＜d₂And d is_f＜d₃The following step S333 is entered, otherwise, an early warning and a light braking instruction are generated and executed, the buzzer and the indicator lamp are controlled to give out the early warning, and the brake is controlled to give 0.15m/S²Braking deceleration of (d);

in step S332:

the safe distance d between the rear vehicle C with the side lane and the self vehicle A' after lane change_rTaking 5m in the embodiment as a preset value;

the safe distance D between the front vehicle D of the side lane and the changed self vehicle A_fThe value is a preset value, and 8m is taken in the embodiment;

the actual distance d between the rear vehicle C with the side lane and the self vehicle A' after lane change₂The calculation formula of (a) is as follows:

d₂＝d_c+l-S_r

the above-mentioned actual distance d₂In the calculation formula (2):

d_cthe longitudinal distance between the self-vehicle A and the rear vehicle C of the side lane is shown;

l is the longitudinal running displacement of the bicycle A in lane change time;

S_rthe driving displacement of the rear vehicle C of the lateral lane in lane changing time;

t₀is d_b＝d_z1The time of day;

v_A(t₀) Is t₀The speed of the bicycle A at the moment;

v_C(t₀) Is t₀The speed of the rear vehicle C on the side lane at the moment;

a_Cthe vehicle acceleration of the rear vehicle C of the side lane is obtained;

t_bis the lane change time of the bicycle A, wherein:

the self-vehicle lane change time t_bIn the calculation formula (2):

is the tire lateral adhesion coefficient;

g is the acceleration of gravity;

h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;

w is the road width;

z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;

finally, the actual distance d between the self-vehicle A and the rear vehicle C of the side lane is obtained₂The calculation formula of (a) is as follows:

the actual distance D between the front vehicle D of the side lane and the changed self vehicle A₃The calculation formula of (a) is as follows:

d₃＝d_d+S_f-l

the actual distance D between the vehicle A and the front vehicle D in the side lane₃In the calculation formula (2):

d_dthe longitudinal distance between the self vehicle A and the front vehicle D of the side lane is shown;

l is the longitudinal running displacement of the bicycle A in lane change time;

S_fthe driving displacement of a front vehicle D of a lateral lane in lane changing time is obtained;

t₀is d_b＝d_z1The time of day;

v_A(t₀) Is t₀The speed of the vehicle is determined at the moment;

v_D(t₀) Is t₀The speed of a front vehicle D of the side lane at the moment;

a_Dthe vehicle acceleration of the front vehicle D of the side lane is obtained;

t_bfor the time of changing lanes from the car, wherein:

the self-vehicle lane change time t_bIn the calculation formula (2):

is the tire lateral adhesion coefficient;

g is the acceleration of gravity;

h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;

w is the road width;

z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;

finally, the actual distance D between the self-vehicle A and the rear vehicle D of the side lane is obtained₂The calculation formula of (a) is as follows:

s333: judging the same lane road unobstructed rate gamma of the lane where the self vehicle A is positioned₁The road clearance rate gamma of the side lane of the A side lane of the self-vehicle₂If γ is a magnitude relation of₂＞γ₁Otherwise, generating and executing an early warning and a light braking instruction, controlling the buzzer and the indicator lamp to send out the early warning, and controlling the brake to give 0.15m/S²Braking deceleration of (d);

in step S331:

the road clear rate gamma of the same lane₁Road clear rate gamma of side lane₂The calculation formula of (a) is as follows:

clear rate gamma of the same lane road₁Road clear rate gamma of side lane₂In the calculation formula (2):

n₁₁the number of the passenger cars on the lane of the self-vehicle A is shown;

n₁₂the number of the passenger cars on the lane of the self-car A is shown;

n₁₃the number of the common trucks on the lane of the self-vehicle A is shown;

n₁₄the number of large trucks on the lane of the self vehicle A is shown;

n₂₁the number of the passenger cars on the side lane of the self-vehicle A is shown;

n₂₂the number of the passenger cars on the side lane of the self-car A is shown;

n₂₃the number of the common trucks on the side lane of the self-vehicle A is shown;

n₂₄the number of large trucks on the lane at the side of the bicycle A is shown;

s334: the calculation formula for calculating the lane-changing track side displacement y (t) from the lane change lane to the side lane of the vehicle A is as follows:

the formula for calculating the track-changing side displacement y (t) is as follows:

t≤t_b；

h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;

t₀is d_b＝d_z1The time of day;

v_A(t₀) Is t₀The speed of the vehicle is determined at the moment;

t_bfor the time of changing lanes from the car, wherein:

the self-vehicle lane change time t_bIn the calculation formula (2):

is the tire lateral adhesion coefficient;

g is the acceleration of gravity;

w is the road width;

z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;

s335: judging the centroid slip angle phi and the centroid slip angle phi of the upper limit of human comfort during the process of changing the lane of the vehicle A from the lane to the lateral lane_limIf phi < phi, the magnitude relationship of_limOtherwise, generating and executing an early warning and a light braking instruction, controlling the buzzer and the indicator lamp to send out the early warning, and controlling the brake to give 0.15m/S²Braking deceleration of (d);

in step S335:

the mass center side slip angle phi of the upper limit of human body comfort_limIs a preset value, phi in this embodiment_limTaking 8 degrees;

the calculation formula of the centroid slip angle phi in the process that the vehicle A changes lanes from the lane to the side lanes is as follows:

in the above formula for calculating the centroid slip angle phi:

obtaining the lateral acceleration by derivation according to the lateral displacement y (t) of the track-changing track;

s336: steering angle theta and upper limit value theta of steering angle for operation stability in the process of changing lane from the lane where the vehicle A is located to the side lane_limIf theta < theta_limOtherwise, generating and executing an early warning, namely a slight braking instruction, controlling a buzzer and an indicator lamp to send out the early warning, and controlling a brake to give 0.15m/S²Braking deceleration of (d);

in step S336:

the upper limit value theta of the steering angle for the steering stability_limIs a predetermined value, θ in the present embodiment_limTaking 35 degrees;

the calculation formula of the steering angle theta in the process of changing the lane of the vehicle A from the lane to the side lane is as follows:

in the above calculation formula of the steering angle θ:

v_Ayin order to change the lateral speed of the vehicle,

obtaining the lateral displacement y (t) of the track-changing track by derivation;

v_Axlongitudinal speed, v, for changing lanes from vehicle to vehicle_Ax＝v_A(t₀)；

Namely:

s337: judging the lateral acceleration of the vehicle A in the process of changing the lane from the lane to the lateral lane

Comfortable with human bodyUpper limit of lateral acceleration

The magnitude relationship between them, if

Generating and executing steering operation, controlling the steering gear to work to enable the self-vehicle A to change lanes laterally along the lane changing track of the self-vehicle, otherwise generating and executing early warning and slight braking instructions, controlling the buzzer and the indicator lamp to send out early warning, and controlling the brake to give 0.15m/s²Braking deceleration of (d);

in step S337:

lateral acceleration of the upper limit of human comfort

A preset value, in this embodiment

Take 0.5m/s²；

The lateral acceleration of the vehicle A in the process of changing lanes from the lane to the lateral lane

Obtaining the lateral displacement y (t) of the track-changing track by derivation;

the lane changing track of the bicycle is as follows:

in the above equation of lane change of the vehicle:

t≤t_b；

y (t) is the lateral displacement of the track change of the bicycle A;

s (t) is the longitudinal displacement of the bicycle A.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims (8)

1. The utility model provides a vehicle braking steering coordinated control anticollision system which characterized in that:

the system comprises a data acquisition module, a comprehensive processing module and an execution module;

the data acquisition module is characterized in that: the laser radar, the millimeter wave radar, the camera, the ZigBee and the self vehicle information reading unit respectively send the collected vehicle running data and road information data to the comprehensive processing module;

in the comprehensive processing module, a data processing unit analyzes and processes received vehicle driving data and road information data to obtain decision data and sends the decision data to a decision unit, and the decision unit judges to generate a decision instruction and sends the decision instruction to an execution module;

in the execution module, the brake, the steering gear, the buzzer and the indicator light respectively receive the decision instruction sent by the decision unit and execute steering, braking or early warning operation.

2. A vehicle brake steering coordination control collision avoidance system as claimed in claim 1, wherein:

the vehicle travel data includes:

the method comprises the following steps that the laser radar acquires the speed and the acceleration of a front vehicle on the same lane, a rear vehicle on a side lane and a front vehicle on a side lane, the distance between the self vehicle and the front vehicle on the same lane, the longitudinal distance between the self vehicle and the rear vehicle on the side lane, the longitudinal distance between the self vehicle and the front vehicle on the side lane and the distance between the rear vehicle on the side lane and the front vehicle on the side lane;

the millimeter wave radar acquires the speed and the acceleration of a front vehicle in the same lane, a rear vehicle in a side lane and a front vehicle in the side lane;

the ZigBee acquires the speed and the acceleration of a front vehicle on the same lane, a rear vehicle on a side lane and a front vehicle on the side lane, the number of different vehicle types on the lane where the self vehicle is located and the number of different vehicle types on the side lane of the self vehicle in a data communication mode;

the speed and the acceleration of the vehicle are acquired by the vehicle information reading unit;

the road information data includes:

the camera acquires the width of a road, the transverse distance between the driving center line of the vehicle and the driving center line of the vehicle on the side lane, the transverse distance between the driving center line of the vehicle and the lane boundary between the side lanes, and the virtual and real conditions of the lane boundary between the lane of the vehicle and the side lanes.

3. A control method for a vehicle brake steering cooperative control collision avoidance system according to claim 2, characterized in that:

the control method specifically comprises the following steps:

s1: collecting vehicle driving data and road information data;

s2: the data is primarily analyzed and processed to obtain the driving data of the surrounding vehicles;

s3: and further analyzing and processing the data to obtain decision data, and generating and executing decision instructions of steering, braking or early warning after judgment.

4. A control method of a vehicle brake steering coordination control collision avoidance system according to claim 3, characterized by comprising:

in the step S1:

the vehicle driving data comprises driving data of a vehicle A, a front vehicle B in the same lane, a rear vehicle C in a side lane and a front vehicle D in the side lane; wherein:

collecting the speed v of the front vehicle B on the same lane by a laser radar_B1Acceleration a of the same-lane front vehicle B_B1Speed v of the rear vehicle C on the side lane_C1And addition of rear vehicle C of side laneSpeed a_C1Speed v of the preceding vehicle D on the side lane_D1Acceleration a of the preceding vehicle D on the side lane_D1Distance d between the vehicle A and the front vehicle B on the same lane_bLongitudinal distance d between the host vehicle A and the rear vehicle C on the side lane_cLongitudinal distance D between the vehicle A and the front vehicle D on the side lane_dThe distance D between the rear vehicle C on the side lane and the front vehicle D on the side lane_cd；

Collecting the speed v of the front vehicle B on the same lane by a millimeter wave radar_B2Acceleration a of the same-lane front vehicle B_B2Speed v of the rear vehicle C on the side lane_C2Acceleration a of the rear vehicle C on the side lane_C2Speed v of the preceding vehicle D on the side lane_D2Acceleration a of the preceding vehicle D on the side lane_D2；

Collecting the speed v of the front vehicle B on the same lane through ZigBee_B3Acceleration a of the same-lane front vehicle B_B3Speed v of the rear vehicle C on the side lane_C3Acceleration a of the rear vehicle C on the side lane_C3Speed v of the preceding vehicle D on the side lane_D3Acceleration a of the preceding vehicle D on the side lane_D3And the number n of passenger cars on the lane of the host vehicle A₁₁Number n of passenger cars₁₂N number of general trucks₁₃N number of large trucks₁₄The number n of passenger cars on the side lane of the vehicle A₂₁Number n of passenger cars₂₂N number of general trucks₂₃N number of large trucks₂₄；

The speed v of the bicycle A is collected by the bicycle information reading unit_AAcceleration a of the bicycle A_ATotal angular stiffness k of suspension of bicycle a_φSprung mass m of bicycle A_sA distance h from the sprung mass centre of mass of the vehicle a to the roll axis;

the road information data comprises road width w acquired through a camera, a transverse distance h between a driving center line of the vehicle A and a driving center line of a side lane vehicle, a transverse distance z between the driving center line of the vehicle A and a lane boundary between the side lanes, and an imaginary condition of the lane boundary between the lane of the vehicle A and the side lanes.

5. A control method for a vehicle brake steering coordination control collision avoidance system according to claim 4, characterized in that:

in the step S2:

the nearby vehicle running data obtained by the preliminary analysis processing of the vehicle running data obtained in the step S1 includes: speed v of front vehicle B on same lane_BAnd acceleration a_BAnd the speed v of the rear vehicle C on the side lane_CAnd acceleration a_CAnd the speed v of the vehicle D ahead of the side lane_DAnd acceleration a_DThe calculation formula is specifically as follows:

6. a control method for a vehicle brake steering cooperative control collision avoidance system according to claim 5, wherein:

in step S3:

decision data are obtained by further analyzing and processing the data obtained in the step S1 and the step S2, and the specific process of generating and executing a decision instruction to control and execute a corresponding operation is as follows:

s31: detecting that a vehicle is in front of the same lane of the self-vehicle and calculating the longitudinal early warning distance d_z1；

S32: judging the distance d between the vehicle A and the front vehicle B on the same lane_bA longitudinal early warning distance d_z1If d is a magnitude relation of_b≥d_z1Generating and executing a normal driving instruction; if d is_b＜d_z1Then, the process proceeds to step S33;

s33: and judging whether the lateral lane change is safe, if so, executing steering operation to realize the lateral lane change, and if not, executing early warning and braking operation.

7. A control method for a vehicle brake steering coordination control collision avoidance system according to claim 6, characterized in that:

in the step S31:

the longitudinal early warning distance d_z1The calculation formula of (a) is as follows:

the longitudinal early warning distance d_z1In the calculation formula (2):

a_maxthe maximum braking deceleration of the bicycle A;

t₁the braking reaction time of the bicycle A is shown;

t₂braking delay time of the bicycle A;

t₃increasing the braking time for the bicycle A;

d₀the parking distance of the bicycle A.

8. A control method for a vehicle brake steering cooperative control collision avoidance system according to claim 7, wherein:

in the step S33:

the specific steps of judging whether the lateral lane change is safely put in are as follows:

s331: judging whether a lane boundary between a lane where the vehicle A is located and a side lane is a broken line or not, if so, entering the following step S332, and if not, generating and executing an early warning and a slight braking instruction, wherein the broken line is a solid line;

s332: judging the safe distance d between the rear vehicle C of the side lane and the changed vehicle A_rThe actual distance d between the rear vehicle C of the side lane and the vehicle A' after lane change₂The magnitude relation between the two and the safety distance D between the front vehicle D of the side lane and the changed self vehicle A' is judged_fThe actual distance D between the front vehicle D of the side lane and the changed self-vehicle A₃If d is a magnitude relation between_r＜d₂And d is_f＜d₃Step S333 is entered, otherwise, an early warning and a light braking instruction are generated and executed;

the safe distance d between the rear vehicle C with the side lane and the self vehicle A' after lane change_rIs a preset value;

the safe distance D between the front vehicle D of the side lane and the changed self vehicle A_fIs a preset value;

the actual distance d between the rear vehicle C with the side lane and the self vehicle A' after lane change₂The calculation formula of (a) is as follows:

d₂＝d_c+l-S_r

the above-mentioned actual distance d₂In the calculation formula (2):

d_cthe longitudinal distance between the self-vehicle A and the rear vehicle C of the side lane is shown;

l is the longitudinal running displacement of the bicycle A in lane change time;

S_rthe driving displacement of the rear vehicle C of the lateral lane in lane changing time;

t₀is d_b＝d_z1The time of day;

v_A(t₀) Is t₀The speed of the bicycle A at the moment;

v_C(t₀) Is t₀The speed of the rear vehicle C on the side lane at the moment;

a_Cthe vehicle acceleration of the rear vehicle C of the side lane is obtained;

t_bis the lane change time of the bicycle A, wherein:

the self-vehicle lane change time t_bIn the calculation formula (2):

is the tire lateral adhesion coefficient;

g is the acceleration of gravity;

h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;

w is the road width;

z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;

finally, the actual distance d between the self-vehicle A and the rear vehicle C of the side lane is obtained₂The calculation formula of (a) is as follows:

the actual distance D between the front vehicle D of the side lane and the changed self vehicle A₃The calculation formula of (a) is as follows:

d₃＝d_d+S_f-l

the actual distance D between the vehicle A and the front vehicle D in the side lane₃In the calculation formula (2):

d_dis a bicycle A and a front bicycle D of a side laneA vehicle-to-vehicle distance;

l is the longitudinal running displacement of the bicycle A in lane change time;

S_fthe driving displacement of a front vehicle D of a lateral lane in lane changing time is obtained;

t₀is d_b＝d_z1The time of day;

v_A(t₀) Is t₀The speed of the vehicle is determined at the moment;

v_D(t₀) Is t₀The speed of a front vehicle D of the side lane at the moment;

a_Dthe vehicle acceleration of the front vehicle D of the side lane is obtained;

t_bfor the time of changing lanes from the car, wherein:

the self-vehicle lane change time t_bIn the calculation formula (2):

is the tire lateral adhesion coefficient;

g is the acceleration of gravity;

h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;

w is the road width;

z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;

finally, the actual distance D between the self-vehicle A and the rear vehicle D of the side lane is obtained₂The calculation formula of (a) is as follows:

s333: judging the same lane road unobstructed rate gamma of the lane where the self vehicle A is positioned₁The road clearance rate gamma of the side lane of the A side lane of the self-vehicle₂If γ is a magnitude relation of₂＞γ₁If not, generating and executing an early warning and a light braking instruction;

in step S331:

the road clear rate gamma of the same lane₁Road clear rate gamma of side lane₂The calculation formula of (a) is as follows:

clear rate gamma of the same lane road₁Road clear rate gamma of side lane₂In the calculation formula (2):

n₁₁the number of the passenger cars on the lane of the self-vehicle A is shown;

n₁₂the number of the passenger cars on the lane of the self-car A is shown;

n₁₃the number of the common trucks on the lane of the self-vehicle A is shown;

n₁₄the number of large trucks on the lane of the self vehicle A is shown;

n₂₁the number of the passenger cars on the side lane of the self-vehicle A is shown;

n₂₂the number of the passenger cars on the side lane of the self-car A is shown;

n₂₃the number of the common trucks on the side lane of the self-vehicle A is shown;

n₂₄the number of large trucks on the lane at the side of the bicycle A is shown;

s334: the calculation formula for calculating the lane-changing track side displacement y (t) from the lane change lane to the side lane of the vehicle A is as follows:

the formula for calculating the track-changing side displacement y (t) is as follows:

t≤t_b；

h is the transverse distance between the driving center line of the self-vehicle A and the driving center line of the side lane vehicle;

t₀is d_b＝d_z1The time of day;

v_A(t₀) Is t₀The speed of the vehicle is determined at the moment;

t_bfor the time of changing lanes from the car, wherein:

the self-vehicle lane change time t_bIn the calculation formula (2):

is the tire lateral adhesion coefficient;

g is the acceleration of gravity;

w is the road width;

z is a lateral distance between a driving center line of the host vehicle A and a lane boundary between the lateral lanes;

s335: judging the centroid slip angle phi and the centroid slip angle phi of the upper limit of human comfort during the process of changing the lane of the vehicle A from the lane to the lateral lane_limIf phi < phi, the magnitude relationship of_limIf not, generating and executing an early warning and a light braking instruction;

the mass center side slip angle phi of the upper limit of human body comfort_limIs a preset value;

the calculation formula of the centroid slip angle phi in the process that the vehicle A changes lanes from the lane to the side lanes is as follows:

in the above formula for calculating the centroid slip angle phi:

is the lateral acceleration;

s336: steering angle theta and upper limit value theta of steering angle for operation stability in the process of changing lane from the lane where the vehicle A is located to the side lane_limIf theta < theta_limIf not, generating and executing an early warning, namely a slight braking instruction;

the upper limit value theta of the steering angle for the steering stability_limIs a preset value;

the calculation formula of the steering angle theta in the process of changing the lane of the vehicle A from the lane to the side lane is as follows:

in the above calculation formula of the steering angle θ:

v_Ayin order to change the lateral speed of the vehicle,

v_Axlongitudinal speed, v, for changing lanes from vehicle to vehicle_Ax＝v_A(t₀)；

Namely:

s337: judging the lateral acceleration of the vehicle A in the process of changing the lane from the lane to the lateral lane

Lateral acceleration to the upper limit of human comfort

The magnitude relationship between them, if

Generating and executing steering operation, controlling a steering gear to work, enabling the self vehicle A to follow the self vehicle lane changing track to change lanes laterally, and otherwise generating and executing an early warning and slight braking instruction;

lateral acceleration of the upper limit of human comfort

Is a preset value;

the lateral acceleration of the vehicle A in the process of changing lanes from the lane to the lateral lane

Obtaining the lateral displacement y (t) of the track-changing track by derivation;

the lane changing track of the bicycle is as follows:

in the above equation of lane change of the vehicle:

t≤t_b；

y (t) is the lateral displacement of the track change of the bicycle A;

s (t) is the longitudinal displacement of the bicycle A.

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