CN112389460B - Driving risk grade-based driving prompting method - Google Patents

Driving risk grade-based driving prompting method Download PDF

Info

Publication number
CN112389460B
CN112389460B CN202011400835.8A CN202011400835A CN112389460B CN 112389460 B CN112389460 B CN 112389460B CN 202011400835 A CN202011400835 A CN 202011400835A CN 112389460 B CN112389460 B CN 112389460B
Authority
CN
China
Prior art keywords
vehicle
lane
obstacle
obj
behind
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202011400835.8A
Other languages
Chinese (zh)
Other versions
CN112389460A (en
Inventor
郭洪艳
赵伟
张永达
梁德宝
刘俊
戴启坤
陈虹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jilin University
Original Assignee
Jilin University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jilin University filed Critical Jilin University
Priority to CN202011400835.8A priority Critical patent/CN112389460B/en
Publication of CN112389460A publication Critical patent/CN112389460A/en
Application granted granted Critical
Publication of CN112389460B publication Critical patent/CN112389460B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a driving prompting method based on driving risk grade, which comprises the steps of firstly obtaining the information of the driving state of a barrier vehicle around a vehicle, and determining the minimum safe distance between the vehicle and the barrier vehicle around according to the speed information of the vehicle; secondly, calculating collision time according to the relative speed and the relative position, dividing the driving risk grade of the vehicle lane according to the obtained collision time, and carrying out corresponding alarm prompt on the collision danger of the vehicle lane; then, reading the signal state of the steering lamp of the vehicle, if the driver has the steering intention, judging whether the lane to be switched has a lane changing condition, and if the lane to be switched does not have the lane changing condition, prompting to prohibit lane changing; when the lane of the vehicle is in collision danger, judging whether adjacent lanes have lane changing conditions, and if the adjacent lanes have the lane changing conditions, performing active lane changing prompt; and finally, determining an icon to be displayed according to the state of the steering lamp and the priority of the HMI signal output, and reasonably prompting the driver to drive.

Description

Driving risk grade-based driving prompting method
Technical Field
The invention belongs to the technical field of intelligent automobiles, and relates to a driving prompting method based on driving risk grades, which is used for assisting and prompting a driver.
Background
As the population who drives the automobile increases, traffic accidents become a very common phenomenon. Researches show that rear-end collision is the most common traffic accident, and more than 90 percent of rear-end collision accidents are caused by that a driver cannot decelerate or turn to avoid obstacles in time when driving an automobile; still another part of traffic accidents are caused by drivers falling short of passing behind the target lane. It is seen that the driver's malfunction is a main cause of the traffic accident. Therefore, reducing the misoperation of the driver is an effective means for effectively reducing the occurrence probability of traffic accidents. At present, various automobile companies and research centers are dedicated to the development of a driving assistance system, and how to prompt dangerous operation of a driver and correct misoperation of the driver in time in the driving process becomes a critical problem of the driving assistance system, so that a vehicle is separated from a driving dangerous state.
Disclosure of Invention
The invention provides a driving prompting method based on driving risk grades, which is characterized in that the minimum safe distance in the driving process is determined according to the driving state of a vehicle and the acquisition of surrounding obstacle vehicle information, the collision time is calculated to divide the driving risk grades, and an alarm prompt or an active lane change prompt is given when the driving risk grade is higher; the method comprises the steps that a signal for allowing lane changing is given through detecting the state of a steering signal lamp of the vehicle and judging whether adjacent lanes have steering conditions; and finally, determining the icon to be displayed according to the priority output by the HMI signal, and reasonably prompting the driver to drive.
The invention is realized by adopting the following technical scheme:
a driving prompting method based on driving risk grade judges whether the driving risk exists or not and whether the steering operation can be executed or not in the driving process of the vehicle through the calculation of the driving risk grade of the vehicle and the detection of the state of a steering signal lamp of the vehicle, and executes an active lane change prompting function when necessary, and the method specifically comprises the following steps:
step one, establishing a vehicle-road system model
(1) Establishing a vehicle body coordinate system, wherein the origin is coincident with the center of mass o of the vehicle, the x axis points to the right front of the vehicle body of the vehicle, and the x axis rotates 90 degrees along the counterclockwise direction to be the positive direction of the y axis;
(2) describing lanes, wherein the method relates to a vehicle lane and a left lane and a right lane of an adjacent vehicle lane, so that the method defines three lanes which run in a single direction, namely the left lane, the vehicle lane and the right lane, the three lane lines are separated by dotted lines, and the vehicle can change lanes among the three lanes; the left lane line of the left lane is a solid line, the right lane of the right lane is a solid line, and the vehicle can not run across the solid line;
step two, defining the direction and number of the obstacle vehicle around the vehicle
The 6 closest vehicles in the 6 directions are selected from the vehicles around the vehicle as obstacle vehicles, the directions and the numbers of the obstacle vehicles are as the following table 1, and the table 1 is a corresponding table of the directions and the numbers of the obstacle vehicles:
TABLE 1
Numbering Orientation
1 Obstacle vehicle in front of vehicle lane
2 Obstacle vehicle in front of left lane
3 Obstacle vehicle in front of right lane
4 Obstacle vehicle behind vehicle lane
5 Vehicle with obstacle behind left lane
6 Vehicle with obstacle behind right lane
For convenience of representation, in the following steps, an X is added behind an information variable related to surrounding obstacle vehicles, wherein X is 1,2,3,4,5,6, which is the number of the obstacle vehicle and represents information corresponding to the obstacle vehicle X;
step three, obtaining obstacle vehicle information
The acquisition of the obstacle vehicle information is realized by a sensing means, 4 Mobiley cameras are arranged right above the center of mass of the vehicle to realize the acquisition of the all-dimensional information of 360 degrees around the vehicle, and the obstacle vehicle information required in the method comprises the following steps: the longitudinal relative position obj _ disxX, unit m, of the obstacle vehicle X with respect to the host vehicle; the longitudinal relative speed obj _ vxX, in m/s, of the obstacle vehicle X with respect to the host vehicle; the obstacle vehicle X has a zone bit obj _ existX, the obstacle vehicle X is shown when the zone bit obj _ existX is 1, and the obstacle vehicle X is not shown when the zone bit obj _ existX is 0; wherein X represents the number of the obstacle vehicle;
step four, detecting the state of the steering signal lamp of the vehicle
The signal light information light of the vehicle CAN be obtained from the CAN bus, and when the light is 0, no turn signal light is lighted; when light is 1, a left turn signal lamp is lighted, and a left lane changing intention is provided; when the light is 2, the right turn signal lamp is lighted, and the right lane changing intention is provided;
step five, determining the minimum safe distance
When the vehicle runs on a lane, determining the minimum safe distance between the vehicle and the obstacle vehicle according to the speed of the vehicle;
minimum safe distance D between the vehicle and the obstacle vehicle in front of the vehicleAThe determination formula is as follows:
Figure BDA0002812264810000021
wherein D isAThe minimum safe distance between the host vehicle and an obstacle vehicle a in front of the host vehicle is represented by: m, wherein A belongs to X, A is 1,2, 3; veh _ Lngth represents the longitudinal length of the host vehicle, and the unit: m; veh _ vx represents the longitudinal speed of the vehicle read from the CAN bus in km/h; alpha is a correlation coefficient between the minimum safe distance and the longitudinal speed of the vehicle, and alpha belongs to (0, 1);
minimum safe distance D between the vehicle and the obstacle vehicle behind the vehicleBThe determination formula is as follows:
Figure BDA0002812264810000031
wherein D isBRepresents the minimum safe distance between the host vehicle and the obstacle vehicle B behind the host vehicle, in units of: m, wherein B belongs to X, B is 4,5, 6; veh _ Lnggth represents the longitudinal length of the vehicle, in units: m; veh _ vx represents the longitudinal speed of the vehicle read from the CAN bus in km/h;
Figure BDA0002812264810000032
is the longitudinal speed of the rear obstacle vehicle, in units: m/s, wherein X is 4,5, 6; beta is a correlation coefficient between the minimum safe distance and the longitudinal speed of the rear obstacle vehicle, and beta is selected as (0, 1);
step six, calculating the driving risk grade of the vehicle lane
The driving risk level state of the own vehicle lane is divided into four levels: the state is 1, which indicates that the driving risk of the lane is simple and free; state 2, which indicates that the driving risk of the vehicle lane is general; state 3, which indicates that the driving risk of the vehicle lane is dangerous; state4, which indicates that the driving risk of the vehicle lane is an extreme danger; the driving risk level state of the vehicle lane is specifically calculated as follows:
(1) method for calculating collision time TTc1 between host vehicle and obstacle vehicle in front of host vehicle lane
In the calculation of the collision time between the host vehicle and the obstacle vehicle ahead of the host vehicle lane, it is first determined whether there is an obstacle vehicle ahead of the host vehicle lane, that is, the state of obj _ exist1, and if obj _ exist1 is 0, there is no obstacle vehicle ahead of the host vehicle lane and there is no collision time, and in this case, TTc1 is given Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exist1 is 1, that is, there is an obstacle vehicle in front of the own vehicle lane, it is determined that the own vehicle and the obstacle vehicle in front of the own vehicle lane are in the first placeRelationship between longitudinal safe distance obj _ disx1 and minimum safe distance, if obj _ disx1<D1When the distance between the host vehicle and the obstacle vehicle ahead of the host vehicle lane is too short, TTc1 is given as Td， TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if obj _ disx1>D1In this case, the state of obj _ vx1 is determined in consideration of whether the vehicle longitudinal speed Veh _ vx is greater than the vehicle longitudinal speed of the obstacle vehicle ahead of the vehicle lane, and therefore the method of calculating the time of collision between the vehicle and the obstacle vehicle ahead of the vehicle lane is as follows:
Figure BDA0002812264810000033
when obj _ vx1>0, it is described that the longitudinal speed of the obstacle vehicle in front of the own vehicle lane is greater than the longitudinal speed Veh _ vx of the own vehicle, and the own vehicle does not have a collision risk with the obstacle vehicle in front of the own vehicle lane; when obj _ vx1 is less than 0, the longitudinal speed of the obstacle vehicle in front of the vehicle lane is less than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the collision time is calculated according to the formula (3);
(2) method for calculating collision time TTc4 between host vehicle and obstacle vehicle behind host vehicle lane
In the calculation of the collision time between the host vehicle and the obstacle vehicle behind the host vehicle lane, it is first determined whether or not an obstacle vehicle is present behind the host vehicle lane, that is, the state of obj _ exist4 is determined, and if obj _ exist4 is 0, there is no obstacle vehicle behind the host vehicle lane, and there is no collision time, in which case TTc4 is given Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exist4 is equal to 1, that is, there is an obstacle vehicle behind the own vehicle lane, the relationship between the longitudinal safe distance obj _ disx4 between the own vehicle and the obstacle vehicle behind the own vehicle lane and the minimum safe distance is determined first, and if | obj _ disx4 does not exist<D4When the distance between the host vehicle and the obstacle vehicle behind the host vehicle lane is too short, TTc4 is given as Td， TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if | obj _ disx4>D4At this timeThe state of obj _ vx4 needs to be determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle behind the vehicle lane, so the method for calculating the collision time between the vehicle and the obstacle vehicle behind the vehicle lane is as follows:
Figure BDA0002812264810000041
when obj _ vx4 is less than 0, it shows that the longitudinal speed of the obstacle vehicle behind the own vehicle lane is less than the longitudinal speed Veh _ vx of the own vehicle, and the own vehicle and the obstacle vehicle behind the own vehicle lane have no collision risk; when obj _ vx4>0, the longitudinal speed of the obstacle vehicle behind the own vehicle lane is greater than the longitudinal speed Veh _ vx of the own vehicle, there is collision time, and the calculation is carried out according to the formula (4);
(3) driving risk grade calculation method of vehicle lane
After the collision time between the vehicle and the obstacle vehicles in the front and rear of the vehicle lane is calculated, the driving risk grade between the vehicle and the obstacle vehicle in the vehicle lane needs to be classified according to the range of the collision time, and the specific classification method is as follows:
Figure BDA0002812264810000042
when the risk levels of the two obstacle vehicles in the own lane are determined, the maximum risk level, namely, the state (max) (state1, state4), is selected as the driving risk level of the own lane;
step seven, judging method for judging whether channel changing condition is available
(1) Judging whether a left lane change condition is met
Judging left lane changing conditions requires information of the obstacle vehicles in the left lane, and calculating collision time TTc2 and TTc5 of the obstacle vehicles in two directions of the left lane; firstly, the value of an existing flag bit obj _ exist2 of an obstacle vehicle in front of a left lane is read, if obj _ exist2 is 0, the obstacle vehicle in front of the left lane does not exist, no collision time exists, and then TTc2 is givenTc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exists 2 is equal to 1, namely, there is an obstacle vehicle in front of the left lane, at this time, the relationship between the longitudinal safe distance obj _ disx2 between the vehicle and the obstacle vehicle in front of the left lane and the minimum safe distance is firstly judged, and if obj _ disx2<D2When the distance between the vehicle and the obstacle vehicle ahead of the left lane is too short, TTc2 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if obj _ disx2>D2At this time, the state of the obj _ vx2 is determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle ahead of the left lane, so the method of calculating the time of collision between the vehicle and the obstacle vehicle ahead of the left lane is as follows:
Figure BDA0002812264810000051
when the obj _ vx2 is greater than 0, the longitudinal speed of the obstacle vehicle in front of the left lane is greater than the longitudinal speed Veh _ vx of the vehicle, and the vehicle does not have a collision risk with the obstacle vehicle in front of the left lane; when obj _ vx2 is less than 0, the longitudinal speed of the obstacle vehicle in front of the left lane is less than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the calculation is performed according to the formula (6);
and reading the value of an obstacle vehicle existence flag bit obj _ exis5 behind the left lane, and if obj _ exist5 is 0, no obstacle vehicle behind the left lane exists, no collision time exists, and then TTc5 is given as Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exist5 is equal to 1, namely, there is an obstacle vehicle behind the left lane, the relationship between the longitudinal safe distance obj _ disx5 between the vehicle and the obstacle vehicle behind the left lane and the minimum safe distance is firstly determined, and if | obj _ disx5 does not exist<D5When the distance between the host vehicle and the obstacle vehicle behind the left lane is too short, TTc5 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if | obj _ disx5>D5At this time, the state of the obj _ vx5 needs to be determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle behind the left lane, so the method for calculating the collision time between the vehicle and the obstacle vehicle behind the left lane is as follows:
Figure BDA0002812264810000052
when obj _ vx5 is less than 0, it is indicated that the longitudinal speed of the obstacle vehicle behind the left lane is less than the longitudinal speed Veh _ vx of the vehicle, and the vehicle does not have a collision risk with the obstacle vehicle behind the left lane; when obj _ vx5>0, the longitudinal speed of the obstacle vehicle behind the left lane is greater than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the calculation is performed according to the formula (7);
after the collision time of the obstacle vehicles in the two directions of the left lane is determined, whether a lane changing condition is met is judged according to the collision time, and the specific judgment mode is as follows:
Figure BDA0002812264810000053
the left is a sign signal indicating whether the left lane has a lane change condition, and when the left is 1, the left lane does not have the lane change condition; when left is 0, the left lane has a lane change condition;
(2) judging whether right lane changing condition is met
The judgment of the right lane changing condition requires the information of the obstacle vehicle in the right lane, and the collision time TTc3 and TTc6 of the obstacle vehicle in two directions of the right lane needs to be calculated; firstly, the value of an existing flag bit obj _ exist3 of an obstacle vehicle in front of a right lane is read, if obj _ exist3 is 0, the obstacle vehicle in front of the right lane does not exist, no collision time exists, and then TTc3 is given as Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exists 3 is equal to 1, namely, the obstacle vehicle exists in front of the right lane, at this time, the relationship between the longitudinal safe distance obj _ disx3 between the vehicle and the obstacle vehicle in front of the right lane and the minimum safe distance is firstly judged, and if obj _ disx3<D3When the distance between the vehicle and the obstacle vehicle ahead of the right lane is too short, TTc3 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if obj _ disx3>D3At this time, the state of the obj _ vx3 is determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle ahead of the left lane, so the method of calculating the time of collision between the vehicle and the obstacle vehicle ahead of the right lane is as follows:
Figure BDA0002812264810000061
when the obj _ vx3 is greater than 0, the longitudinal speed of the obstacle vehicle in front of the right lane is greater than the longitudinal speed Veh _ vx of the vehicle, and the vehicle and the obstacle vehicle in front of the right lane have no collision risk; when obj _ vx3 is less than 0, the longitudinal speed of the obstacle vehicle in front of the right lane is less than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the collision time is calculated according to the formula (9);
and reading the value of an obstacle vehicle existence flag bit obj _ exis6 behind the right lane, and if obj _ exist6 is 0, no obstacle vehicle behind the right lane and no collision time exist, wherein TTc6 is given as Tc，TcIs a positive number far greater than the normal collision time, and generally takes Tc>10s；
If obj _ exist6 is equal to 1, namely, there is an obstacle vehicle behind the right lane, the relationship between the longitudinal safe distance obj _ disx6 between the vehicle and the obstacle vehicle behind the right lane and the minimum safe distance is firstly determined, and if | obj _ disx6 does not exist<D6When the distance between the host vehicle and the obstacle vehicle behind the right lane is too short, TTc6 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if | obj _ disx6>D6At this time, the state of the obj _ vx6 needs to be determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle behind the right lane, so the method for calculating the time of collision between the vehicle and the obstacle vehicle behind the right lane is as follows:
Figure BDA0002812264810000062
when obj _ vx6 is less than 0, it is shown that the longitudinal speed of the obstacle vehicle behind the right lane is less than the longitudinal speed Veh _ vx of the vehicle, and the vehicle and the obstacle vehicle behind the right lane do not have a collision risk; when obj _ vx6>0, the longitudinal speed of the obstacle vehicle behind the right lane is greater than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the calculation is performed according to the formula (10);
after the collision time of the obstacle vehicles in the two directions of the right lane is determined, whether a lane changing condition is met is judged according to the collision time, and the specific judgment mode is as follows:
Figure BDA0002812264810000071
right is a sign signal indicating whether the right lane has a lane change condition, and when right is 1, the right lane does not have the lane change condition; when right is 0, the right lane has a lane change condition;
step eight, driving prompting method logic design based on driving risk grade
The method has three output signals: the HMI1 is a vehicle lane collision warning prompt signal; HMI2 is a signal for prompting forbidding lane changing; HMI3 is an active cue lane change signal;
the driving prompting method based on the driving risk grade has the following specific logic:
firstly, giving a collision alarm prompt of the vehicle lane according to the calculated driving risk grade of the vehicle lane, wherein the specific prompt method comprises the following steps:
Figure BDA0002812264810000072
the HMI1 is a collision alarm prompting signal of the vehicle lane, and when the HMI1 is 0, the vehicle lane does not have collision alarm; when the HMI1 is equal to 1, a 1-level collision warning prompt is given to the lane of the vehicle; when the HMI1 is equal to 2, the warning prompt is given to the 2-level collision of the vehicle lane;
when the vehicle lane collision warning prompt signal HMI1 is equal to 0, reading the value of the vehicle signal light, if the light is greater than 0, indicating that the driver has the steering intention, judging whether the lane to be changed is provided with the lane changing condition, if the lane to be changed is not provided with the lane changing condition, outputting HMI2 equal to 1 or HMI2 equal to 2, wherein HMI2 equal to 1 represents that the left lane changing is forbidden, and HMI2 equal to 2 represents that the right lane changing is forbidden; if the lane to be switched has the lane switching condition, outputting HMI2 to be 0, and not prompting the lane switching prohibition; if the light is equal to 0 and the driver does not intend to turn, the HMI2 is output to be equal to 0 and the lane change prohibition prompt is not carried out;
when the vehicle lane collision warning prompt signal HMI1>0, reading the value of the vehicle signal light, if the light >0, indicating that the driver has the steering intention, judging whether the lane to be changed is provided with the lane changing condition, if the lane to be changed is not provided with the steering condition, outputting HMI 2-1 or HMI 2-2, wherein HMI 2-1 shows that the left lane changing is forbidden, and HMI 2-2 shows that the right lane changing is forbidden; if the to-be-transferred vehicle is in the steering condition, outputting HMI2 to be 0, and not prompting the prohibition of lane changing; if light is 0, the driver does not intend to turn, but the lane of the driver is in danger of collision, so that whether the adjacent lane has a lane changing condition or not needs to be judged, firstly, whether the left lane has the lane changing condition or not is judged, if the left lane has the lane changing condition, the HMI3 is output to be 1, and the left lane changing is actively prompted; if the left lane does not have the lane changing condition, judging whether the right lane has the lane changing condition, if the right lane has the lane changing condition, outputting the HMI3 to be 2, and actively prompting the right lane changing; if the right lane does not have the lane change condition, the output HMI3 is equal to 0, and the active lane change prompt is not carried out;
step nine, HMI signal output, determining display icon
Because the HMI icon can only light one icon at the same time, the priority of HMI signal display needs to be determined according to the driving urgency, and the principle is as follows: if the vehicle lane is extremely dangerous, preferentially displaying a 2-level alarm prompt of the vehicle lane; if the lane of the vehicle is dangerous, forbidding to change lanes from the left or forbidding to change lanes from the right, preferentially displaying a lane changing forbidding icon; if the lane of the vehicle is dangerous, and the left lane or the right lane has the lane changing condition, preferentially displaying an active prompting lane changing icon; according to the above principle, the following HMI signal output truth table is obtained, namely table 2:
TABLE 2
light HMI1 HMI2 HMI3 Displayed icon
0000 Is free of
0100 Level 1 warning prompt of vehicle lane
0200 Level 2 warning prompt of vehicle lane
0101 Left lane change prompt
0201 Level 2 warning prompt of vehicle lane
0102 Right lane change prompt
0202 Level 2 warning prompt of vehicle lane
1000 Is free of
1100 Level 1 warning prompt of vehicle lane
1200 Level 2 warning prompt of vehicle lane
1010 Forbidding to change lane on left
1110 Forbidding to change lane on left
1210 Level 2 warning prompt of vehicle lane
2000 Is free of
2100 Level 1 warning prompt of vehicle lane
2200 Level 2 warning prompt of vehicle lane
2020 Forbidding right lane change
2120 Forbidding right lane change
2220 Level 2 warning prompt of vehicle lane
Compared with the prior art, the invention has the beneficial effects that:
1. the method determines the minimum safe distance between the main vehicle and the surrounding obstacle vehicles, and takes the minimum safe distance as the important basis of the driving risk grade of the vehicle lane and whether the adjacent lanes have the lane changing condition;
2. when the driving risk grade of the vehicle lane is calculated, a method combining the minimum safe distance and the calculation of collision time is adopted, so that the calculation method is more comprehensive;
3. the method has the alarming function when the vehicle is in danger during driving, also has the active lane change prompting function for enabling the vehicle to be separated from the dangerous driving state, and additionally provides guarantee measures for driving safety;
4. the method determines the priority of a plurality of signal outputs, and can select the most suitable prompt icon according to the danger emergency degree when the icon is required to be prompted;
5. the functions described by the method have been tested on a real vehicle, and the method not only stays on a theoretical basis, but also has more practical application value;
drawings
FIG. 1 is a simplified flow chart of a driving risk level-based driving indication method according to the present invention;
FIG. 2 is a schematic diagram of directions, numbers and road markings of peripheral obstacle vehicles in a driving prompting method based on driving risk level according to the present invention;
FIG. 3 is a flowchart of calculation of driving risk level of a vehicle lane in a driving indication method based on driving risk level according to the present invention;
FIG. 4 is a logic flow diagram of HMI signal output in a driving indication method based on driving risk level according to the present invention;
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
a driving prompting method based on driving risk grade judges whether the driving risk exists or not and whether the steering operation can be executed or not in the driving process of the vehicle through the calculation of the driving risk grade of the vehicle and the detection of the state of a steering signal lamp of the vehicle, and executes an active lane change prompting function when necessary, and the method specifically comprises the following steps:
step one, establishing a vehicle-road system model
(1) Establishing a vehicle body coordinate system, wherein the origin is coincident with the center of mass o of the vehicle, the x axis points to the right front of the vehicle body of the vehicle, and the x axis rotates 90 degrees along the counterclockwise direction to be the positive direction of the y axis;
(2) describing lanes, wherein the method relates to a vehicle lane and a left lane and a right lane of an adjacent vehicle lane, so that the method defines three lanes which run in a single direction, namely the left lane, the vehicle lane and the right lane, the three lane lines are separated by dotted lines, and the vehicle can change lanes among the three lanes; the left lane line of the left lane is a solid line, the right lane of the right lane is a solid line, and the vehicle can not run across the solid line;
step two, defining the direction and number of the obstacle vehicle around the vehicle
As shown in fig. 2, 6 vehicles closest to each other among 6 directions are selected as obstacle vehicles from the vehicles around the host vehicle, the directions and numbers of which are as shown in table 1 below, and table 1 is a correspondence table of the directions and numbers of the obstacle vehicles:
TABLE 1
Numbering Orientation
1 Obstacle vehicle in front of vehicle lane
2 Obstacle vehicle in front of left lane
3 Obstacle vehicle in front of right lane
4 Obstacle vehicle behind vehicle lane
5 Vehicle with obstacle behind left lane
6 Vehicle with obstacle behind right lane
For convenience of representation, in the following steps, an X is added behind an information variable related to surrounding obstacle vehicles, wherein X is 1,2,3,4,5,6, which is the number of the obstacle vehicle and represents information corresponding to the obstacle vehicle X;
step three, obtaining obstacle vehicle information
The acquisition of the obstacle vehicle information is realized by a sensing means, 4 Mobiley cameras are arranged right above the center of mass of the vehicle to realize the acquisition of the all-dimensional information of 360 degrees around the vehicle, and the obstacle vehicle information required in the method comprises the following steps: the longitudinal relative position obj _ disxX, unit m, of the obstacle vehicle X with respect to the host vehicle; the longitudinal relative speed obj _ vxX, in m/s, of the obstacle vehicle X with respect to the host vehicle; the obstacle vehicle X has a zone bit obj _ existX, the obstacle vehicle X is shown when the zone bit obj _ existX is 1, and the obstacle vehicle X is not shown when the zone bit obj _ existX is 0; wherein X represents the number of the obstacle vehicle;
step four, detecting the state of the steering signal lamp of the vehicle
The signal light information light of the vehicle CAN be obtained from the CAN bus, and when the light is 0, no turn signal light is lighted; when light is 1, a left turn signal lamp is lighted, and a left lane changing intention is provided; when the light is 2, the right turn signal lamp is lighted, and the right lane changing intention is provided;
step five, determining the minimum safe distance
When the vehicle runs on a lane, determining the minimum safe distance between the vehicle and the obstacle vehicle according to the speed of the vehicle;
minimum safe distance D between the vehicle and the obstacle vehicle in front of the vehicleAThe determination formula is as follows:
Figure BDA0002812264810000101
wherein D isAThe minimum safe distance between the host vehicle and an obstacle vehicle a in front of the host vehicle is represented by: m, wherein A belongs to X, A is 1,2, 3; veh _ Lngth represents the longitudinal length of the host vehicle, and the unit: m; veh _ vx represents the longitudinal speed of the vehicle read from the CAN bus in km/h; alpha is a correlation coefficient between the minimum safe distance and the longitudinal speed of the vehicle, and alpha belongs to (0, 1);
minimum safe distance D between the vehicle and the obstacle vehicle behind the vehicleBThe determination formula is as follows:
Figure BDA0002812264810000102
wherein D isBRepresents the minimum safe distance between the host vehicle and the obstacle vehicle B behind the host vehicle, in units of: m, wherein B belongs to X, B is 4,5, 6; veh _ Lnggth represents the longitudinal length of the vehicle, in units: m; veh _ vx represents the longitudinal speed of the vehicle read from the CAN bus in km/h;
Figure BDA0002812264810000103
is the longitudinal speed of the rear obstacle vehicle, in units: m/s, wherein X is 4,5, 6; beta is a correlation coefficient between the minimum safe distance and the longitudinal speed of the rear obstacle vehicle, and beta is selected as (0, 1);
step six, calculating the driving risk grade of the vehicle lane
Fig. 3 shows a flowchart for calculating the driving risk level state of the vehicle lane, and the driving risk level state of the vehicle lane is divided into four levels: the state is 1, which indicates that the driving risk of the lane is simple and free; state 2, which indicates that the driving risk of the vehicle lane is general; state 3, which indicates that the driving risk of the vehicle lane is dangerous; state4, which indicates that the driving risk of the vehicle lane is an extreme danger; the driving risk level state of the vehicle lane is specifically calculated as follows:
(1) method for calculating collision time TTc1 between host vehicle and obstacle vehicle in front of host vehicle lane
In the calculation of the collision time between the host vehicle and the obstacle vehicle ahead of the host vehicle lane, it is first determined whether there is an obstacle vehicle ahead of the host vehicle lane, that is, the state of obj _ exist1, and if obj _ exist1 is 0, there is no obstacle vehicle ahead of the host vehicle lane and there is no collision time, and in this case, TTc1 is given Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exists 1 is equal to 1, namely, an obstacle vehicle exists in front of the own vehicle lane, at this time, the relationship between the longitudinal safe distance obj _ disx1 between the own vehicle and the obstacle vehicle in front of the own vehicle lane and the minimum safe distance is judged, and if obj _ disx1<D1When the distance between the host vehicle and the obstacle vehicle ahead of the host vehicle lane is too short, TTc1 is given as Td， TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if obj _ disx1>D1In this case, the state of obj _ vx1 is determined in consideration of whether the vehicle longitudinal speed Veh _ vx is greater than the vehicle longitudinal speed of the obstacle vehicle ahead of the vehicle lane, and therefore the method of calculating the time of collision between the vehicle and the obstacle vehicle ahead of the vehicle lane is as follows:
Figure BDA0002812264810000111
when obj _ vx1>0, it is described that the longitudinal speed of the obstacle vehicle in front of the own vehicle lane is greater than the longitudinal speed Veh _ vx of the own vehicle, and the own vehicle does not have a collision risk with the obstacle vehicle in front of the own vehicle lane; when obj _ vx1 is less than 0, the longitudinal speed of the obstacle vehicle in front of the vehicle lane is less than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the collision time is calculated according to the formula (3);
(2) method for calculating collision time TTc4 between host vehicle and obstacle vehicle behind host vehicle lane
Calculation of collision time between host vehicle and obstacle vehicle behind host vehicle laneFirst, it is determined whether an obstacle vehicle exists behind the own vehicle lane, that is, the state of obj _ exist4 is determined, and if obj _ exist4 is 0, there is no obstacle vehicle behind the own vehicle lane, and there is no collision time, and then TTc4 is given Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exist4 is equal to 1, that is, there is an obstacle vehicle behind the own vehicle lane, the relationship between the longitudinal safe distance obj _ disx4 between the own vehicle and the obstacle vehicle behind the own vehicle lane and the minimum safe distance is determined first, and if | obj _ disx4 does not exist<D4When the distance between the host vehicle and the obstacle vehicle behind the host vehicle lane is too short, TTc4 is given as Td， TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if | obj _ disx4>D4In this case, the state of obj _ vx4 is determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle behind the vehicle lane, and therefore the method of calculating the time of collision between the vehicle and the obstacle vehicle behind the vehicle lane is as follows:
Figure BDA0002812264810000121
when obj _ vx4 is less than 0, it shows that the longitudinal speed of the obstacle vehicle behind the own vehicle lane is less than the longitudinal speed Veh _ vx of the own vehicle, and the own vehicle and the obstacle vehicle behind the own vehicle lane have no collision risk; when obj _ vx4>0, the longitudinal speed of the obstacle vehicle behind the own vehicle lane is greater than the longitudinal speed Veh _ vx of the own vehicle, there is collision time, and the calculation is carried out according to the formula (4);
(3) driving risk grade calculation method of vehicle lane
After the collision time between the vehicle and the obstacle vehicles in the front and rear of the vehicle lane is calculated, the driving risk grade between the vehicle and the obstacle vehicle in the vehicle lane needs to be classified according to the range of the collision time, and the specific classification method is as follows:
Figure BDA0002812264810000122
when the risk levels of the two obstacle vehicles in the own lane are determined, the maximum risk level, namely, the state (max) (state1, state4), is selected as the driving risk level of the own lane;
step seven, judging method for judging whether channel changing condition is available
(1) Judging whether a left lane change condition is met
Judging left lane changing conditions requires information of the obstacle vehicles in the left lane, and calculating collision time TTc2 and TTc5 of the obstacle vehicles in two directions of the left lane; firstly, the value of an existing flag bit obj _ exist2 of an obstacle vehicle in front of a left lane is read, if obj _ exist2 is 0, the obstacle vehicle in front of the left lane does not exist, no collision time exists, and then TTc2 is given to be Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exists 2 is equal to 1, namely, there is an obstacle vehicle in front of the left lane, at this time, the relationship between the longitudinal safe distance obj _ disx2 between the vehicle and the obstacle vehicle in front of the left lane and the minimum safe distance is firstly judged, and if obj _ disx2<D2When the distance between the vehicle and the obstacle vehicle ahead of the left lane is too short, TTc2 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if obj _ disx2>D2At this time, the state of the obj _ vx2 is determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle ahead of the left lane, so the method of calculating the time of collision between the vehicle and the obstacle vehicle ahead of the left lane is as follows:
Figure BDA0002812264810000123
when the obj _ vx2 is greater than 0, the longitudinal speed of the obstacle vehicle in front of the left lane is greater than the longitudinal speed Veh _ vx of the vehicle, and the vehicle does not have a collision risk with the obstacle vehicle in front of the left lane; when obj _ vx2 is less than 0, the longitudinal speed of the obstacle vehicle in front of the left lane is less than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the calculation is performed according to the formula (6);
and reading the value of an obstacle vehicle existence flag bit obj _ exis5 behind the left lane, and if obj _ exist5 is 0, no obstacle vehicle behind the left lane exists, no collision time exists, and then TTc5 is given as Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exist5 is equal to 1, namely, there is an obstacle vehicle behind the left lane, the relationship between the longitudinal safe distance obj _ disx5 between the vehicle and the obstacle vehicle behind the left lane and the minimum safe distance is firstly determined, and if | obj _ disx5 does not exist<D5When the distance between the host vehicle and the obstacle vehicle behind the left lane is too short, TTc5 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if | obj _ disx5>D5At this time, the state of the obj _ vx5 needs to be determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle behind the left lane, so the method for calculating the collision time between the vehicle and the obstacle vehicle behind the left lane is as follows:
Figure BDA0002812264810000131
when obj _ vx5 is less than 0, it is indicated that the longitudinal speed of the obstacle vehicle behind the left lane is less than the longitudinal speed Veh _ vx of the vehicle, and the vehicle does not have a collision risk with the obstacle vehicle behind the left lane; when obj _ vx5>0, the longitudinal speed of the obstacle vehicle behind the left lane is greater than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the calculation is performed according to the formula (7);
after the collision time of the obstacle vehicles in the two directions of the left lane is determined, whether a lane changing condition is met is judged according to the collision time, and the specific judgment mode is as follows:
Figure BDA0002812264810000132
the left is a sign signal indicating whether the left lane has a lane change condition, and when the left is 1, the left lane does not have the lane change condition; when left is 0, the left lane has a lane change condition;
(2) judging whether right lane changing condition is met
The judgment of the right lane changing condition requires the information of the obstacle vehicle in the right lane, and the collision time TTc3 and TTc6 of the obstacle vehicle in two directions of the right lane needs to be calculated; firstly, the value of an existing flag bit obj _ exist3 of an obstacle vehicle in front of a right lane is read, if obj _ exist3 is 0, the obstacle vehicle in front of the right lane does not exist, no collision time exists, and then TTc3 is given as Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exists 3 is equal to 1, namely, the obstacle vehicle exists in front of the right lane, at this time, the relationship between the longitudinal safe distance obj _ disx3 between the vehicle and the obstacle vehicle in front of the right lane and the minimum safe distance is firstly judged, and if obj _ disx3<D3When the distance between the vehicle and the obstacle vehicle ahead of the right lane is too short, TTc3 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if obj _ disx3>D3At this time, the state of the obj _ vx3 is determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle ahead of the left lane, so the method of calculating the time of collision between the vehicle and the obstacle vehicle ahead of the right lane is as follows:
Figure BDA0002812264810000141
when the obj _ vx3 is greater than 0, the longitudinal speed of the obstacle vehicle in front of the right lane is greater than the longitudinal speed Veh _ vx of the vehicle, and the vehicle and the obstacle vehicle in front of the right lane have no collision risk; when obj _ vx3 is less than 0, the longitudinal speed of the obstacle vehicle in front of the right lane is less than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the collision time is calculated according to the formula (9);
and reading the value of an obstacle vehicle existence flag bit obj _ exis6 behind the right lane, and if obj _ exist6 is 0, no obstacle vehicle behind the right lane and no collision time exist, wherein TTc6 is given as Tc，TcIs a positive number far greater than the normal collision time, and generally takes Tc>10s；
If obj _ exist6 is equal to 1, namely, there is an obstacle vehicle behind the right lane, the relationship between the longitudinal safe distance obj _ disx6 between the vehicle and the obstacle vehicle behind the right lane and the minimum safe distance is firstly determined, and if | obj _ disx6 does not exist<D6When the distance between the host vehicle and the obstacle vehicle behind the right lane is too short, TTc6 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if | obj _ disx6>D6At this time, the state of the obj _ vx6 needs to be determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle behind the right lane, so the method for calculating the time of collision between the vehicle and the obstacle vehicle behind the right lane is as follows:
Figure BDA0002812264810000142
when obj _ vx6 is less than 0, it is shown that the longitudinal speed of the obstacle vehicle behind the right lane is less than the longitudinal speed Veh _ vx of the vehicle, and the vehicle and the obstacle vehicle behind the right lane do not have a collision risk; when obj _ vx6>0, the longitudinal speed of the obstacle vehicle behind the right lane is greater than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the calculation is performed according to the formula (10);
after the collision time of the obstacle vehicles in the two directions of the right lane is determined, whether a lane changing condition is met is judged according to the collision time, and the specific judgment mode is as follows:
Figure BDA0002812264810000143
right is a sign signal indicating whether the right lane has a lane change condition, and when right is 1, the right lane does not have the lane change condition; when right is 0, the right lane has a lane change condition;
step eight, driving prompting method logic design based on driving risk grade
The method has three output signals: the HMI1 is a vehicle lane collision warning prompt signal; HMI2 is a signal for prompting forbidding lane changing; HMI3 is an active cue lane change signal;
an HMI signal output flow chart of the driving prompting method based on the driving risk level is shown in fig. 4, and the specific logic of the driving prompting method based on the driving risk level is as follows:
firstly, giving a collision alarm prompt of the vehicle lane according to the calculated driving risk grade of the vehicle lane, wherein the specific prompt method comprises the following steps:
Figure BDA0002812264810000151
the HMI1 is a collision alarm prompting signal of the vehicle lane, and when the HMI1 is 0, the vehicle lane does not have collision alarm; when the HMI1 is equal to 1, a 1-level collision warning prompt is given to the lane of the vehicle; when the HMI1 is equal to 2, the warning prompt is given to the 2-level collision of the vehicle lane;
when the vehicle lane collision warning prompt signal HMI1 is equal to 0, reading the value of the vehicle signal light, if the light is greater than 0, indicating that the driver has the steering intention, judging whether the lane to be changed is provided with the lane changing condition, if the lane to be changed is not provided with the lane changing condition, outputting HMI2 equal to 1 or HMI2 equal to 2, wherein HMI2 equal to 1 represents that the left lane changing is forbidden, and HMI2 equal to 2 represents that the right lane changing is forbidden; if the lane to be switched has the lane switching condition, outputting HMI2 to be 0, and not prompting the lane switching prohibition; if the light is equal to 0 and the driver does not intend to turn, the HMI2 is output to be equal to 0 and the lane change prohibition prompt is not carried out;
when the vehicle lane collision warning prompt signal HMI1>0, reading the value of the vehicle signal light, if the light >0, indicating that the driver has the steering intention, judging whether the lane to be changed is provided with the lane changing condition, if the lane to be changed is not provided with the steering condition, outputting HMI 2-1 or HMI 2-2, wherein HMI 2-1 shows that the left lane changing is forbidden, and HMI 2-2 shows that the right lane changing is forbidden; if the to-be-transferred vehicle is in the steering condition, outputting HMI2 to be 0, and not prompting the prohibition of lane changing; if light is 0, the driver does not intend to turn, but the lane of the driver is in danger of collision, so that whether the adjacent lane has a lane changing condition or not needs to be judged, firstly, whether the left lane has the lane changing condition or not is judged, if the left lane has the lane changing condition, the HMI3 is output to be 1, and the left lane changing is actively prompted; if the left lane does not have the lane changing condition, judging whether the right lane has the lane changing condition, if the right lane has the lane changing condition, outputting the HMI3 to be 2, and actively prompting the right lane changing; if the right lane does not have the lane change condition, the output HMI3 is equal to 0, and the active lane change prompt is not carried out;
step nine, HMI signal output, determining display icon
Because the HMI icon can only light one icon at the same time, the priority of HMI signal display needs to be determined according to the driving urgency, and the principle is as follows: if the vehicle lane is extremely dangerous, preferentially displaying a 2-level alarm prompt of the vehicle lane; if the lane of the vehicle is dangerous, forbidding to change lanes from the left or forbidding to change lanes from the right, preferentially displaying a lane changing forbidding icon; if the lane of the vehicle is dangerous, and the left lane or the right lane has the lane changing condition, preferentially displaying an active prompting lane changing icon; according to the above principle, the following HMI signal output truth table is obtained, namely table 2:
TABLE 2
Figure BDA0002812264810000152
Figure BDA0002812264810000161

Claims (1)

1. A driving prompting method based on driving risk grade judges whether the driving risk exists or not and whether the steering operation can be executed or not in the driving process of the vehicle through the calculation of the driving risk grade of the vehicle and the detection of the state of a steering signal lamp of the vehicle, and executes an active lane change prompting function when necessary, and is characterized by comprising the following specific steps:
step one, establishing a vehicle-road system model
(1) Establishing a vehicle body coordinate system, wherein the origin is coincident with the center of mass o of the vehicle, the x axis points to the right front of the vehicle body of the vehicle, and the x axis rotates 90 degrees along the counterclockwise direction to be the positive direction of the y axis;
(2) describing lanes, wherein the method relates to a vehicle lane and a left lane and a right lane of an adjacent vehicle lane, so that the method defines three lanes which run in a single direction, namely the left lane, the vehicle lane and the right lane, the three lane lines are separated by dotted lines, and the vehicle can change lanes among the three lanes; the left lane line of the left lane is a solid line, the right lane of the right lane is a solid line, and the vehicle can not run across the solid line;
step two, defining the direction and number of the obstacle vehicle around the vehicle
The 6 closest vehicles in the 6 directions are selected from the vehicles around the vehicle as obstacle vehicles, the directions and the numbers of the obstacle vehicles are as the following table 1, and the table 1 is a corresponding table of the directions and the numbers of the obstacle vehicles:
TABLE 1
Numbering Orientation 1 Obstacle vehicle in front of vehicle lane 2 Obstacle vehicle in front of left lane 3 Obstacle vehicle in front of right lane 4 Obstacle vehicle behind vehicle lane 5 Vehicle with obstacle behind left lane 6 Vehicle with obstacle behind right lane
For convenience of representation, in the following steps, an X is added behind an information variable related to surrounding obstacle vehicles, wherein X is 1,2,3,4,5,6, which is the number of the obstacle vehicle and represents information corresponding to the obstacle vehicle X;
step three, obtaining obstacle vehicle information
The acquisition of the obstacle vehicle information is realized by a sensing means, 4 Mobiley cameras are arranged right above the center of mass of the vehicle to realize the acquisition of the all-dimensional information of 360 degrees around the vehicle, and the obstacle vehicle information required in the method comprises the following steps: the longitudinal relative position obj _ disxX, unit m, of the obstacle vehicle X with respect to the host vehicle; the longitudinal relative speed obj _ vxX, in m/s, of the obstacle vehicle X with respect to the host vehicle; the obstacle vehicle X has a zone bit obj _ existX, the obstacle vehicle X is shown when the zone bit obj _ existX is 1, and the obstacle vehicle X is not shown when the zone bit obj _ existX is 0; wherein X represents the number of the obstacle vehicle;
step four, detecting the state of the steering signal lamp of the vehicle
The signal light information light of the vehicle is obtained from the CAN bus, and when the light is 0, no turn signal light is lighted; when light is 1, a left turn signal lamp is lighted, and a left lane changing intention is provided; when the light is 2, the right turn signal lamp is lighted, and the right lane changing intention is provided;
step five, determining the minimum safe distance
When the vehicle runs on a lane, determining the minimum safe distance between the vehicle and the obstacle vehicle according to the speed of the vehicle;
minimum safe distance D between the vehicle and the obstacle vehicle in front of the vehicleAThe determination formula is as follows:
Figure FDA0003197071710000021
wherein D isAThe minimum safe distance between the host vehicle and an obstacle vehicle a in front of the host vehicle is represented by: m, wherein A belongs to X, A is 1,2, 3; veh _ Lngth represents the longitudinal length of the host vehicle, and the unit: m; veh _ vx represents the longitudinal speed of the vehicle read from the CAN bus in km/h; alpha is a correlation coefficient between the minimum safe distance and the longitudinal speed of the vehicle, and alpha belongs to (0, 1);
minimum safe distance D between the vehicle and the obstacle vehicle behind the vehicleBThe determination formula is as follows:
Figure FDA0003197071710000022
wherein D isBRepresents the minimum safe distance between the host vehicle and the obstacle vehicle B behind the host vehicle, in units of: m, wherein B belongs to X, B is 4,5, 6; veh _ Lnggth represents the longitudinal length of the vehicle, in units: m; veh _ vx represents the longitudinal speed of the vehicle read from the CAN bus in km/h;
Figure FDA0003197071710000023
is the longitudinal speed of the rear obstacle vehicle, in units: m/s, wherein X is 4,5, 6; beta is a correlation coefficient between the minimum safe distance and the longitudinal speed of the rear obstacle vehicle, and beta is selected as (0, 1);
step six, calculating the driving risk grade of the vehicle lane
The driving risk level state of the own vehicle lane is divided into four levels: the state is 1, which indicates that the driving risk of the lane is simple and free; state 2, which indicates that the driving risk of the vehicle lane is general; state 3, which indicates that the driving risk of the vehicle lane is dangerous; state4, which indicates that the driving risk of the vehicle lane is an extreme danger; the driving risk level state of the vehicle lane is specifically calculated as follows:
(1) method for calculating collision time TTc1 between host vehicle and obstacle vehicle in front of host vehicle lane
Obstacle in front of vehicle and vehicle laneIn the calculation of the collision time of the vehicle, it is first determined whether an obstacle vehicle exists ahead of the own vehicle lane, that is, the state of obj _ exist1, and if obj _ exist1 is 0, there is no obstacle vehicle ahead of the own vehicle lane and there is no collision time, and then TTc1 is given Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exists 1 is equal to 1, namely, an obstacle vehicle exists in front of the own vehicle lane, at this time, the relationship between the longitudinal safe distance obj _ disx1 between the own vehicle and the obstacle vehicle in front of the own vehicle lane and the minimum safe distance is judged, and if obj _ disx1<D1When the distance between the host vehicle and the obstacle vehicle ahead of the host vehicle lane is too short, TTc1 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if obj _ disx1>D1In this case, the state of obj _ vx1 is determined in consideration of whether the vehicle longitudinal speed Veh _ vx is greater than the vehicle longitudinal speed of the obstacle vehicle ahead of the vehicle lane, and therefore the method of calculating the time of collision between the vehicle and the obstacle vehicle ahead of the vehicle lane is as follows:
Figure FDA0003197071710000031
when obj _ vx1>0, it is described that the longitudinal speed of the obstacle vehicle in front of the own vehicle lane is greater than the longitudinal speed Veh _ vx of the own vehicle, and the own vehicle does not have a collision risk with the obstacle vehicle in front of the own vehicle lane; when obj _ vx1 is less than 0, the longitudinal speed of the obstacle vehicle in front of the vehicle lane is less than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the collision time is calculated according to the formula (3);
(2) method for calculating collision time TTc4 between host vehicle and obstacle vehicle behind host vehicle lane
In the calculation of the collision time between the host vehicle and the obstacle vehicle behind the host vehicle lane, it is first determined whether or not an obstacle vehicle is present behind the host vehicle lane, that is, the state of obj _ exist4 is determined, and if obj _ exist4 is 0, there is no obstacle vehicle behind the host vehicle lane, and there is no collision time, in which case TTc4 is given Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exist4 is equal to 1, that is, there is an obstacle vehicle behind the own vehicle lane, the relationship between the longitudinal safe distance obj _ disx4 between the own vehicle and the obstacle vehicle behind the own vehicle lane and the minimum safe distance is determined first, and if | obj _ disx4 does not exist<D4When the distance between the host vehicle and the obstacle vehicle behind the host vehicle lane is too short, TTc4 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if | obj _ disx4>D4In this case, the state of obj _ vx4 is determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle behind the vehicle lane, and therefore the method of calculating the time of collision between the vehicle and the obstacle vehicle behind the vehicle lane is as follows:
Figure FDA0003197071710000032
when obj _ vx4 is less than 0, it shows that the longitudinal speed of the obstacle vehicle behind the own vehicle lane is less than the longitudinal speed Veh _ vx of the own vehicle, and the own vehicle and the obstacle vehicle behind the own vehicle lane have no collision risk; when obj _ vx4>0, the longitudinal speed of the obstacle vehicle behind the own vehicle lane is greater than the longitudinal speed Veh _ vx of the own vehicle, there is collision time, and the calculation is carried out according to the formula (4);
(3) driving risk grade calculation method of vehicle lane
After the collision time between the vehicle and the obstacle vehicles in the front and rear of the vehicle lane is calculated, the driving risk grade between the vehicle and the obstacle vehicle in the vehicle lane needs to be classified according to the range of the collision time, and the specific classification method is as follows:
Figure FDA0003197071710000041
when the risk levels of the two obstacle vehicles in the own lane are determined, the maximum risk level, namely, the state of max (state1, state4), is selected as the driving risk level of the own lane;
step seven, judging method for judging whether channel changing condition is available
(1) Judging whether a left lane change condition is met
Judging left lane changing conditions requires information of the obstacle vehicles in the left lane, and calculating collision time TTc2 and TTc5 of the obstacle vehicles in two directions of the left lane; firstly, the value of an existing flag bit obj _ exist2 of an obstacle vehicle in front of a left lane is read, if obj _ exist2 is 0, the obstacle vehicle in front of the left lane does not exist, no collision time exists, and then TTc2 is given to be Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exists 2 is equal to 1, namely, there is an obstacle vehicle in front of the left lane, at this time, the relationship between the longitudinal safe distance obj _ disx2 between the vehicle and the obstacle vehicle in front of the left lane and the minimum safe distance is firstly judged, and if obj _ disx2<D2When the distance between the vehicle and the obstacle vehicle ahead of the left lane is too short, TTc2 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if obj _ disx2>D2At this time, the state of the obj _ vx2 is determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle ahead of the left lane, so the method of calculating the time of collision between the vehicle and the obstacle vehicle ahead of the left lane is as follows:
Figure FDA0003197071710000042
when the obj _ vx2 is greater than 0, the longitudinal speed of the obstacle vehicle in front of the left lane is greater than the longitudinal speed Veh _ vx of the vehicle, and the vehicle does not have a collision risk with the obstacle vehicle in front of the left lane; when obj _ vx2 is less than 0, the longitudinal speed of the obstacle vehicle in front of the left lane is less than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the calculation is performed according to the formula (6);
and reading the value of an obstacle vehicle existence flag bit obj _ exis5 behind the left lane, and if obj _ exist5 is 0, no obstacle vehicle behind the left lane exists, no collision time exists, and then TTc5 is given as Tc，TcIs much larger thanPositive number of normal collision time, take Tc>10s；
If obj _ exist5 is equal to 1, namely, there is an obstacle vehicle behind the left lane, the relationship between the longitudinal safe distance obj _ disx5 between the vehicle and the obstacle vehicle behind the left lane and the minimum safe distance is firstly determined, and if | obj _ disx5 does not exist<D5When the distance between the host vehicle and the obstacle vehicle behind the left lane is too short, TTc5 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if | obj _ disx5>D5At this time, the state of the obj _ vx5 needs to be determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle behind the left lane, so the method for calculating the collision time between the vehicle and the obstacle vehicle behind the left lane is as follows:
Figure FDA0003197071710000051
when obj _ vx5 is less than 0, it is indicated that the longitudinal speed of the obstacle vehicle behind the left lane is less than the longitudinal speed Veh _ vx of the vehicle, and the vehicle does not have a collision risk with the obstacle vehicle behind the left lane; when obj _ vx5>0, the longitudinal speed of the obstacle vehicle behind the left lane is greater than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the calculation is performed according to the formula (7);
after the collision time of the obstacle vehicles in the two directions of the left lane is determined, whether a lane changing condition is met is judged according to the collision time, and the specific judgment mode is as follows:
Figure FDA0003197071710000052
the left is a sign signal indicating whether the left lane has a lane change condition, and when the left is 1, the left lane does not have the lane change condition; when left is 0, the left lane has a lane change condition;
(2) judging whether right lane changing condition is met
The judgment of the right lane changing condition requires the information of the obstacle vehicles in the right lane and the calculation of the obstacle vehicles in the two directions of the right laneTTc3 and TTc 6; firstly, the value of an existing flag bit obj _ exist3 of an obstacle vehicle in front of a right lane is read, if obj _ exist3 is 0, the obstacle vehicle in front of the right lane does not exist, no collision time exists, and then TTc3 is given as Tc，TcIs a positive number far greater than the normal collision time, and T is takenc>10s；
If obj _ exists 3 is equal to 1, namely, the obstacle vehicle exists in front of the right lane, at this time, the relationship between the longitudinal safe distance obj _ disx3 between the vehicle and the obstacle vehicle in front of the right lane and the minimum safe distance is firstly judged, and if obj _ disx3<D3When the distance between the vehicle and the obstacle vehicle ahead of the right lane is too short, TTc3 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if obj _ disx3>D3At this time, the state of the obj _ vx3 is determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle ahead of the left lane, so the method of calculating the time of collision between the vehicle and the obstacle vehicle ahead of the right lane is as follows:
Figure FDA0003197071710000053
when the obj _ vx3 is greater than 0, the longitudinal speed of the obstacle vehicle in front of the right lane is greater than the longitudinal speed Veh _ vx of the vehicle, and the vehicle and the obstacle vehicle in front of the right lane have no collision risk; when obj _ vx3 is less than 0, the longitudinal speed of the obstacle vehicle in front of the right lane is less than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the collision time is calculated according to the formula (9);
and reading the value of an obstacle vehicle existence flag bit obj _ exis6 behind the right lane, and if obj _ exist6 is 0, no obstacle vehicle behind the right lane and no collision time exist, wherein TTc6 is given as Tc，TcIs a positive number far greater than the normal collision time, and generally takes Tc>10s；
If obj _ exist6 is equal to 1, namely, there is an obstacle vehicle behind the right lane, the relationship between the longitudinal safe distance obj _ disx6 between the vehicle and the obstacle vehicle behind the right lane and the minimum safe distance is firstly determined, and if | obj _ disx6 does not exist<D6When the distance between the host vehicle and the obstacle vehicle behind the right lane is too short, TTc6 is given as Td，TdIs a positive number far less than the normal collision time, and is taken as 0<Td<0.5 s; if | obj _ disx6>D6At this time, the state of the obj _ vx6 needs to be determined in consideration of whether the vehicle longitudinal vehicle speed Veh _ vx is greater than the vehicle longitudinal vehicle speed of the obstacle vehicle behind the right lane, so the method for calculating the time of collision between the vehicle and the obstacle vehicle behind the right lane is as follows:
Figure FDA0003197071710000061
when obj _ vx6 is less than 0, it is shown that the longitudinal speed of the obstacle vehicle behind the right lane is less than the longitudinal speed Veh _ vx of the vehicle, and the vehicle and the obstacle vehicle behind the right lane do not have a collision risk; when obj _ vx6>0, the longitudinal speed of the obstacle vehicle behind the right lane is greater than the longitudinal speed Veh _ vx of the vehicle, there is collision time, and the calculation is performed according to the formula (10);
after the collision time of the obstacle vehicles in the two directions of the right lane is determined, whether a lane changing condition is met is judged according to the collision time, and the specific judgment mode is as follows:
Figure FDA0003197071710000062
right is a sign signal indicating whether the right lane has a lane change condition, and when right is 1, the right lane does not have the lane change condition; when right is 0, the right lane has a lane change condition;
step eight, driving prompting method logic design based on driving risk grade
The method has three output signals: the HMI1 is a vehicle lane collision warning prompt signal; HMI2 is a signal for prompting forbidding lane changing; HMI3 is an active cue lane change signal;
the driving prompting method based on the driving risk grade has the following specific logic:
firstly, giving a collision alarm prompt of the vehicle lane according to the calculated driving risk grade of the vehicle lane, wherein the specific prompt method comprises the following steps:
Figure FDA0003197071710000063
the HMI1 is a collision alarm prompting signal of the vehicle lane, and when the HMI1 is 0, the vehicle lane does not have collision alarm; when the HMI1 is equal to 1, a 1-level collision warning prompt is given to the lane of the vehicle; when the HMI1 is equal to 2, the warning prompt is given to the 2-level collision of the vehicle lane;
when the vehicle lane collision warning prompt signal HMI1 is equal to 0, reading the value of the vehicle signal light, if the light is greater than 0, indicating that the driver has the steering intention, judging whether the lane to be changed is provided with the lane changing condition, if the lane to be changed is not provided with the lane changing condition, outputting HMI2 equal to 1 or HMI2 equal to 2, wherein HMI2 equal to 1 represents that the left lane changing is forbidden, and HMI2 equal to 2 represents that the right lane changing is forbidden; if the lane to be switched has the lane switching condition, outputting HMI2 to be 0, and not prompting the lane switching prohibition; if the light is equal to 0 and the driver does not intend to turn, the HMI2 is output to be equal to 0 and the lane change prohibition prompt is not carried out;
when the vehicle lane collision warning prompt signal HMI1>0, reading the value of the vehicle signal light, if the light >0, indicating that the driver has the steering intention, judging whether the lane to be changed is provided with the lane changing condition, if the lane to be changed is not provided with the steering condition, outputting HMI 2-1 or HMI 2-2, wherein HMI 2-1 shows that the left lane changing is forbidden, and HMI 2-2 shows that the right lane changing is forbidden; if the to-be-transferred vehicle is in the steering condition, outputting HMI2 to be 0, and not prompting the prohibition of lane changing; if light is 0, the driver does not intend to turn, but the lane of the driver is in danger of collision, so that whether the adjacent lane has a lane changing condition or not needs to be judged, firstly, whether the left lane has the lane changing condition or not is judged, if the left lane has the lane changing condition, the HMI3 is output to be 1, and the left lane changing is actively prompted; if the left lane does not have the lane changing condition, judging whether the right lane has the lane changing condition, if the right lane has the lane changing condition, outputting the HMI3 to be 2, and actively prompting the right lane changing; if the right lane does not have the lane change condition, the output HMI3 is equal to 0, and the active lane change prompt is not carried out;
step nine, HMI signal output, determining display icon
Because the HMI icon can only light one icon at the same time, the priority of HMI signal display needs to be determined according to the driving urgency, and the principle is as follows: if the vehicle lane is extremely dangerous, preferentially displaying a 2-level alarm prompt of the vehicle lane; if the lane of the vehicle is dangerous, forbidding to change lanes from the left or forbidding to change lanes from the right, preferentially displaying a lane changing forbidding icon; if the lane of the vehicle is dangerous, and the left lane or the right lane has the lane changing condition, preferentially displaying an active prompting lane changing icon; according to the above principle, the following HMI signal output truth table is obtained, namely table 2:
TABLE 2
Figure FDA0003197071710000071
Figure FDA0003197071710000081
CN202011400835.8A 2020-12-02 2020-12-02 Driving risk grade-based driving prompting method Active CN112389460B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011400835.8A CN112389460B (en) 2020-12-02 2020-12-02 Driving risk grade-based driving prompting method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011400835.8A CN112389460B (en) 2020-12-02 2020-12-02 Driving risk grade-based driving prompting method

Publications (2)

Publication Number Publication Date
CN112389460A CN112389460A (en) 2021-02-23
CN112389460B true CN112389460B (en) 2021-09-14

Family

ID=74605113

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011400835.8A Active CN112389460B (en) 2020-12-02 2020-12-02 Driving risk grade-based driving prompting method

Country Status (1)

Country Link
CN (1) CN112389460B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113183960B (en) * 2021-03-18 2023-06-30 北京汽车研究总院有限公司 Environment danger degree calculating method and device, storage medium and controller
CN113602265A (en) * 2021-08-17 2021-11-05 东风汽车集团股份有限公司 Processing cooperative lane changing method and system based on vehicle-to-vehicle communication
CN114333416A (en) * 2021-12-24 2022-04-12 阿波罗智能技术(北京)有限公司 Vehicle risk early warning method and device based on neural network and automatic driving vehicle

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010011497A1 (en) * 2010-03-16 2011-09-22 GM Global Technology Operations LLC , (n. d. Ges. d. Staates Delaware) Method for avoiding or mitigating a collision, control device for a driver assistance system and vehicle
CN106114501A (en) * 2016-06-23 2016-11-16 吉林大学 A kind of have multimodal lane-change collision avoidance control method based on steering-by-wire
CN111661055A (en) * 2020-06-17 2020-09-15 清华大学苏州汽车研究院（吴江） Lane changing control method and system for automatic driving vehicle

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015201456B4 (en) * 2015-01-28 2016-12-15 Volkswagen Aktiengesellschaft Method and system for issuing a warning message in a vehicle

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010011497A1 (en) * 2010-03-16 2011-09-22 GM Global Technology Operations LLC , (n. d. Ges. d. Staates Delaware) Method for avoiding or mitigating a collision, control device for a driver assistance system and vehicle
CN106114501A (en) * 2016-06-23 2016-11-16 吉林大学 A kind of have multimodal lane-change collision avoidance control method based on steering-by-wire
CN111661055A (en) * 2020-06-17 2020-09-15 清华大学苏州汽车研究院（吴江） Lane changing control method and system for automatic driving vehicle

Also Published As

Publication number Publication date
CN112389460A (en) 2021-02-23

Similar Documents

Publication Publication Date Title
CN112389460B (en) Driving risk grade-based driving prompting method
CN110614994B (en) Control method and control system for lane changing during automatic driving of vehicle and vehicle
Preusser et al. Fatal crash risk for older drivers at intersections
US8711003B2 (en) Vehicle location information-based abnormal driving determination and warning system
WO2021217752A1 (en) Vehicle-pedestrian collision risk region calculation method and safety evaluation system
US20080136618A1 (en) Control method of rear lamp for preventing crash
EP3349198B1 (en) Vehicular display device and vehicular display method
JP3737853B2 (en) Vehicle travel information providing device
JP7289760B2 (en) electronic controller
EP2423902A1 (en) Safety system and method
CN109828573B (en) Unmanned vehicle control method, device and storage medium
JP7409265B2 (en) In-vehicle display device, method and program
EP4092633A1 (en) Method and device for lane-changing prediction of target vehicle
CN108520639B (en) Early warning method and system for preventing vehicle collision
EP2172920B1 (en) Threat assessment for unexpected events
CN109887321A (en) The safe method of discrimination of unmanned vehicle lane change, device and storage medium
CN110303982B (en) Reaction device for prompting coming vehicle behind when bus avoids pedestrian and application method thereof
CN113830084B (en) Control method based on active collision avoidance of multi-lane vehicle and vehicle
US12005836B2 (en) Vehicle notification apparatus
WO2022233676A1 (en) Method of measuring vehicle driver&#39;s behaviour towards cyclists
CN212965399U (en) Anti-collision detection system based on ultrasonic waves, infrared rays and radar
US20220332313A1 (en) Method for avoiding a collision in road traffic on the basis of adaptively setting potentially occupied areas
CN115782909A (en) Weak traffic participant collision early warning method and system and storage medium thereof
CN112455333A (en) Auxiliary observation system for safe driving of road vehicle
Brijs et al. Driving simulator evaluation of an advance warning system for safe cyclist overtaking

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant