CN116215472A - Forward and backward emergency collision control method and system - Google Patents
Forward and backward emergency collision control method and system Download PDFInfo
- Publication number
- CN116215472A CN116215472A CN202310274553.5A CN202310274553A CN116215472A CN 116215472 A CN116215472 A CN 116215472A CN 202310274553 A CN202310274553 A CN 202310274553A CN 116215472 A CN116215472 A CN 116215472A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- collision
- pressure maintaining
- braking
- distance
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000001133 acceleration Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 230000002265 prevention Effects 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18063—Creeping
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a forward and backward emergency collision control method, which comprises the following steps: s1, judging whether a dangerous collision target exists or not, and if the dangerous collision target does not exist, continuing to detect; if collision risk exists, starting a backward sensing module; s2, judging whether rear-end collision risks exist or not, and if the rear-end collision risks exist, performing braking and pressure maintaining operation according to the forward collision risk level; s3, when the emergency braking system is judged to be in the braking process, suppressing the pressure maintaining state, and adaptively adjusting the magnitude of the deceleration value; and S4, when the braking pressure maintaining judging module judges that the vehicle is stopped and is in a pressure maintaining state, requesting the ESC executing control module to release the pressure maintaining instruction, requesting the EMS executing control module to torque, and reducing the rear-end collision risk. The invention also discloses a front-back emergency collision control system. The invention can reduce rear-end collision possibly caused by emergency braking, avoid secondary injury, and can be widely applied to an L2-level automobile intelligent driving auxiliary system.
Description
Technical Field
The invention relates to an intelligent driving auxiliary system of an automobile, in particular to a front-back emergency collision control method and system.
Background
The existing emergency braking system is used for automatically stopping the vehicle and performing pressure maintaining operation when judging that the vehicle and a front dangerous target have collision risks according to related information of the dangerous target detected by a sensing sensor, so that forward collision is avoided or slowed down. Because the actual road condition is complicated, the automobile is stopped, the pressure is maintained and is static, and then the automobile is in rear-end collision. Since the own vehicle is still in a braking or pressure maintaining state at this time, the backward vehicle cannot be judged.
Based on this, some schemes provide a rear-end collision prevention device for vehicles based on a forward collision system, and when a forward collision early warning is triggered, a brake lamp or a rear-end collision prevention flashing lamp is turned on to remind the rear vehicles, so as to play a role in early warning and reminding, for example, patent CN104276078A. However, this approach can only passively alert and pre-warn without actively controlling the operation of the auto-correlation actuator to avoid collisions.
In view of the foregoing, some solutions employ radar to monitor the speed and distance of a backward vehicle, and when there is a rear-end collision risk, control the EMS actuator to accelerate and increase the distance from the backward vehicle, for example, patent CN103010210a. However, this solution does not take into account the scenario of dangerous objects in front of the vehicle, i.e. acceleration of the vehicle may cause a forward collision when the vehicle is also in front of the vehicle.
Therefore, the existing technical scheme is often in the situation of pain in the head and feet, and the safety environment of the bicycle running cannot be improved due to lack of consideration of the whole environment of the bicycle.
Disclosure of Invention
The invention aims to overcome the defects of the background technology, and provides a front-back emergency collision control method and a front-back emergency collision control system, which can reduce rear-end collision possibly caused by emergency braking and avoid secondary collision injury.
The invention provides a forward and backward emergency collision control method, which comprises the following steps: s1, the forward sensing module detects at any time and transmits detection information to the forward collision risk judging module, the forward collision risk judging module judges whether a dangerous collision target exists or not, and if no collision risk exists, the forward sensing module continues to detect; if collision risk exists, starting a backward sensing module; s2, the backward sensing module detects whether an incoming vehicle is behind or not and transmits a result to the backward rear-end collision risk judging module, the backward rear-end collision risk judging module judges whether rear-end collision risk exists or not, and if the rear-end collision risk does not exist, the vehicle normally performs braking and pressure maintaining operation according to the forward collision risk level; s3, when the rear-end collision risk judging module judges that the rear-end collision risk exists, the braking pressure maintaining judging module judges whether the vehicle is in a braking process or a braking pressure maintaining state at present, and when the emergency braking system is in a braking process, the pressure maintaining state is restrained, the magnitude of a deceleration value is adaptively adjusted, and the vehicle can be braked for a long distance; s4, when the braking pressure maintaining judging module judges that the vehicle is stopped and is in a pressure maintaining state, the ESC executing control module is requested to release the pressure maintaining instruction, the EMS executing control module is requested to torque, the vehicle is controlled to creep for a short distance, the distance between the vehicle and the rear vehicle is increased, and the rear-end collision risk is reduced.
In the above technical solution, the specific process of step S4 is as follows: s41, rear-end collision risk judgment: when the vehicle is in a braking pressure maintaining state, the distance between the vehicle and the dangerous target vehicle in front is d 0 The distance between the rear vehicle and the own vehicle is d 1 And the rear vehicle speed is v 1 Setting the average braking deceleration of the backward vehicle as a, and then the braking distance of the backward vehicle is as follows:
comparison d 2 And d 1 The size of (d) 2 >d 1 When the automobile is in rear collision, the rear collision distance is as follows: Δd=d 2 -d 1 S42, calculating the creeping distance: let the minimum safe distance between the own vehicle and the preceding vehicle be d min When d 0 >Δd+d min When the vehicle is far from the front vehicle, the braking pressure maintaining judging module judges that the vehicle can creep by a distance delta d' so as not to be knocked back, and when d 0 <Δd+d min When the distance between the own vehicle and the front vehicle is close, the braking pressure maintaining judging module judges that the own vehicle creep d 0 -d min Distance to reduce rear-end collision risk, i.eThe creeping distance is as follows: />
S43, calculating the creep acceleration: minimum collision time of rear vehicle->
Then the own vehicle needs to be at t min Distance d of creep completed in time r So creep acceleration is:
the brake pressure maintaining judging module limits the upper limit of the creep acceleration, and the limiting range is set as [0, a ] max ]The actual creep acceleration is: />
When the vehicle is creeping forward r After that, the braking distance of the rear vehicle is increased to d 1 +d r And the rear-end collision of the rear vehicle is slowed down or avoided.
In the technical scheme, the brake pressure maintaining judging module calculates brake output deceleration, release time of pressure maintaining signals, creep displacement and torque signals.
In the above technical solution, in the step S1, the forward sensing module is composed of a camera and a millimeter wave radar; in the step S2, the backward sensing module is a millimeter wave radar.
The invention also discloses a front-rear emergency collision control system, wherein the control system stores a computer program, and the computer program can execute the front-rear emergency collision control method.
In the above technical scheme, the vehicle information module is used for judging the current state of the vehicle.
The method and the system for controlling the forward and backward emergency collision have the following beneficial effects:
the invention increases the control logic for preventing rear-end collision and creeping on the basis of forward emergency braking, reduces the rear-end collision risk caused by emergency braking and improves the driving safety of the whole vehicle.
Drawings
FIG. 1 is a schematic diagram of a front-to-rear emergency collision control system of the present invention;
FIG. 2 is an overall flow chart of the forward and rearward emergency collision control method of the present invention;
fig. 3 is a logic algorithm flow diagram of scenario (2) of fig. 2.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, which should not be construed as limiting the invention.
As shown in fig. 1, the System is composed of a radar camera sensing module (a forward sensing module and a backward sensing module respectively), a whole vehicle information module, a forward collision risk judging module, a backward rear-end collision risk judging module, a braking pressure maintaining judging module (namely, a rear-end collision judging module in fig. 1), an EMS (Engine-Management-System, commonly called an Engine computer) execution control module and an ESC (Electronic Stability Controller) execution control module, wherein the sensing module collects motion information of a front dangerous vehicle and a rear dangerous vehicle, the whole vehicle information module judges the current state of the whole vehicle, the forward collision risk judging module calculates the collision TTC (Time To Collision, collision time) of the own vehicle and a front dangerous target, the backward rear-end collision risk judging module calculates the risk level of the rear-end collision of the own vehicle by the rear-end vehicle, the rear-end collision judging module judges the current control strategy according to the forward and backward collision risks, and then sends control information to the execution control module and the ESC execution control module to act.
The braking pressure maintaining judging module calculates signals such as braking output deceleration, release time of pressure maintaining signals, creeping displacement, torque and the like.
As shown in fig. 2, the front and rear of the vehicle are respectively provided with a sensing detection system, namely a forward sensing module and a backward sensing module, wherein the forward sensing module consists of a camera and a millimeter wave radar, and the backward sensing module is detected by the millimeter wave radar. The invention relates to a forward and backward emergency collision control method, which comprises the following steps:
1. the forward sensing module detects whether a dangerous collision target exists at any time, and if the forward collision risk judging module judges that the dangerous collision exists, the forward sensing module continues to detect; if the forward collision risk judging module judges that collision risk exists, the backward sensing module is started to detect whether the rear of the vehicle has the collision risk or not.
If the rear-end collision risk judging module judges that the rear-end collision risk does not exist, the vehicle normally carries out braking and pressure maintaining operation according to the forward collision risk level; and if the rear-end collision risk judging module judges that the rear-end collision risk exists, executing a follow-up rear-end collision prevention control strategy.
2. When the rear-end collision risk judging module judges that the rear-end collision risk exists, the braking pressure maintaining judging module judges whether the vehicle is currently in a braking process or in a braking pressure maintaining state. When the emergency braking system is in the braking process, the pressure maintaining state is restrained, and the magnitude of the deceleration value is adaptively adjusted, so that the vehicle is braked as far as possible;
3. when the braking pressure maintaining judging module judges that the self vehicle is stopped and is in a pressure maintaining state, the ESC executing control module is requested to release a pressure maintaining instruction, the EMS executing control module is requested to torque, the vehicle quantity is controlled to perform short-distance creeping, the distance between the vehicle quantity and the rear vehicle is increased, and the rear-end collision risk is reduced.
As shown in fig. 3, the flow of the judgment logic algorithm of the brake pressure maintaining judgment module in the third step is illustrated:
1. rear-end collision risk judgment: the vehicle is in a braking and pressure maintaining state, the pressure maintaining time is generally 2s, and the distance between the vehicle and the dangerous target vehicle in front is d 0 The distance between the rear vehicle and the own vehicle is d 1 And the rear vehicle speed is v 1 Setting the average braking deceleration of the backward vehicle as a, and then the braking distance of the backward vehicle is as follows:
comparison d 2 And d 1 The size of (d) 2 >d 1 When the automobile is in rear collision, the rear collision distance is as follows:
Δd＝d 2 -d 1 ，
2. calculating the creep distance: let the minimum safe distance between the own vehicle and the preceding vehicle be d min When d 0 >Δd+d min When the distance between the own vehicle and the front vehicle is enough, the own vehicle can creep for a longer distance delta d' to ensure that the own vehicle is not in rear-end collision, when d 0 <Δd+d min When the distance between the own vehicle and the front vehicle is relatively close, the distance can only creep by d 0 -d min Distance to reduce the risk of rear-end collision, i.e. creep distance is:
3. and (3) calculating the creep acceleration: minimum collision time of rear vehicle
Then the own vehicle needs to be at t min Distance d of creep completed in time r So creep acceleration is: />
The creep acceleration limit is set to be 0, a, considering that the creep acceleration is not easy to be too large max ]The actual creep acceleration is:
wherein a is max From empirical values, a max ∈[0.5,1]Rice/second 2 ，
When it is fromCreep d before the vehicle goes r After that, the braking distance of the rear vehicle is increased to d 1 +d r The rear-end collision of the rear vehicle is slowed down or avoided to a certain extent.
Therefore, the technical key points of the invention are as follows:
1) Pressure maintaining release judgment logic;
2) Creep control methods and logic.
The invention increases the control logic for preventing rear-end collision and creeping on the basis of forward emergency braking, reduces the rear-end collision risk caused by emergency braking and improves the driving safety of the whole vehicle.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
What is not described in detail in this specification is prior art known to those skilled in the art.
Claims (6)
1. A forward and backward emergency collision control method is characterized in that: the method comprises the following steps:
s1, the forward sensing module detects at any time and transmits detection information to the forward collision risk judging module, the forward collision risk judging module judges whether a dangerous collision target exists or not, and if no collision risk exists, the forward sensing module continues to detect; if collision risk exists, starting a backward sensing module;
s2, the backward sensing module detects whether an incoming vehicle is behind or not and transmits a result to the backward rear-end collision risk judging module, the backward rear-end collision risk judging module judges whether rear-end collision risk exists or not, and if the rear-end collision risk does not exist, the vehicle normally performs braking and pressure maintaining operation according to the forward collision risk level;
s3, when the rear-end collision risk judging module judges that the rear-end collision risk exists, the braking pressure maintaining judging module judges whether the vehicle is in a braking process or a braking pressure maintaining state at present, and when the emergency braking system is in a braking process, the pressure maintaining state is restrained, the magnitude of a deceleration value is adaptively adjusted, and the vehicle can be braked for a long distance;
s4, when the braking pressure maintaining judging module judges that the vehicle is stopped and is in a pressure maintaining state, the ESC executing control module is requested to release the pressure maintaining instruction, the EMS executing control module is requested to torque, the vehicle is controlled to creep for a short distance, the distance between the vehicle and the rear vehicle is increased, and the rear-end collision risk is reduced.
2. The front-rear emergency collision control method according to claim 1, characterized in that: the specific process of the step S4 is as follows:
s41, rear-end collision risk judgment: when the vehicle is in a braking pressure maintaining state, the distance between the vehicle and the dangerous target vehicle in front is d 0 The distance between the rear vehicle and the own vehicle is d 1 And the rear vehicle speed is v 1 Setting the average braking deceleration of the backward vehicle as a, and then the braking distance of the backward vehicle is as follows:
comparison d 2 And d 1 The size of (d) 2 >d 1 When the automobile is in rear collision, the rear collision distance is as follows:
Δd＝d 2 -d 1 ，
s42, calculating the creeping distance: let the minimum safe distance between the own vehicle and the preceding vehicle be d min When d 0 >Δd+d min When the vehicle is far from the front vehicle, the braking pressure maintaining judging module judges that the vehicle can creep by a distance delta d' so as not to be knocked back, and when d 0 <Δd+d min When the distance between the own vehicle and the front vehicle is close, the braking pressure maintaining judging module judges that the own vehicle creep d 0 -d min Distance to reduce the risk of rear-end collision, i.e. creep distance is:
s43, calculating the creep acceleration: minimum collision time of rear vehicle
Then the own vehicle needs to be at t min Distance d of creep completed in time r So creep acceleration is:
the brake pressure maintaining judging module limits the upper limit of the creep acceleration, and the limiting range is set as [0, a ] max ]The actual creep acceleration is:
when the vehicle is creeping forward r After that, the braking distance of the rear vehicle is increased to d 1 +d r And the rear-end collision of the rear vehicle is slowed down or avoided.
3. The front-rear emergency collision control method according to claim 2, characterized in that: the braking pressure maintaining judging module calculates braking output deceleration, release time of pressure maintaining signals, creeping displacement and torque signals.
4. A front-rear emergency collision control method according to claim 3, characterized in that: in the step S1, the forward sensing module is composed of a camera and a millimeter wave radar;
in the step S2, the backward sensing module is a millimeter wave radar.
5. A forward-backward emergency collision control system storing a computer program capable of executing the forward-backward emergency collision control method according to claims 1 to 4.
6. The forward-rearward emergency collision control system of claim 5, wherein: the vehicle information module is used for judging the current state of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310274553.5A CN116215472A (en) | 2023-03-20 | 2023-03-20 | Forward and backward emergency collision control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310274553.5A CN116215472A (en) | 2023-03-20 | 2023-03-20 | Forward and backward emergency collision control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116215472A true CN116215472A (en) | 2023-06-06 |
Family
ID=86591102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310274553.5A Pending CN116215472A (en) | 2023-03-20 | 2023-03-20 | Forward and backward emergency collision control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116215472A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969116A (en) * | 2017-12-28 | 2019-07-05 | 大众汽车（中国）投资有限公司 | A kind of avoiding collision and system for vehicle |
| CN112428990A (en) * | 2020-11-30 | 2021-03-02 | 合肥巨一动力***有限公司 | Front collision early warning control method for pure electric vehicle |
| CN113085828A (en) * | 2021-04-19 | 2021-07-09 | 西华大学 | Control method for protecting rear vehicle during emergency braking of unmanned automobile |
-
2023
- 2023-03-20 CN CN202310274553.5A patent/CN116215472A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969116A (en) * | 2017-12-28 | 2019-07-05 | 大众汽车（中国）投资有限公司 | A kind of avoiding collision and system for vehicle |
| CN112428990A (en) * | 2020-11-30 | 2021-03-02 | 合肥巨一动力***有限公司 | Front collision early warning control method for pure electric vehicle |
| CN113085828A (en) * | 2021-04-19 | 2021-07-09 | 西华大学 | Control method for protecting rear vehicle during emergency braking of unmanned automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9156354B2 (en) | Driver assistance system having autonomous braking to a standstill | |
| US6560525B1 (en) | Integrated queue assist and adaptive cruise control | |
| US8150583B2 (en) | Method and apparatus for avoiding or mitigating vehicle collisions | |
| US8396639B2 (en) | Vehicle deceleration controller that inhibits warning braking during pre-initiated vehicle deceleration | |
| US20100010723A1 (en) | Vehicle control device and control method therefor | |
| JP2010030396A (en) | Safety controller for vehicle | |
| CN106427956B (en) | Control to the deceleration device of motor vehicle | |
| US20160280190A1 (en) | Pre-computed and optionally cached collision mitigation braking system | |
| US11932243B2 (en) | Vehicle control device and control method | |
| EP3789254A1 (en) | Method, device and system for automatic braking of vehicle | |
| CN109969150B (en) | Safe driving auxiliary method and system and vehicle | |
| KR20150051548A (en) | Driver assistance systems and controlling method for the same corresponding to dirver's predisposition | |
| CN116001778A (en) | Silence braking method based on emergency braking | |
| CN116215472A (en) | Forward and backward emergency collision control method and system | |
| KR101128271B1 (en) | Collision safety control device for vehicle | |
| JP6610093B2 (en) | Braking force control device and braking force control method | |
| US11958478B2 (en) | Method for automatically avoiding or mitigating collision, and control system, storage medium and motor vehicle | |
| CN111169472A (en) | Vehicle active safety control method and device and vehicle | |
| JP2014118048A (en) | Driving support system | |
| CN112693460A (en) | Vehicle control method and system based on override mode | |
| JP7325920B2 (en) | vehicle controller | |
| CN114013438B (en) | ACC control system based on GPS system | |
| CN115923781B (en) | Automatic obstacle avoidance method and system for intelligent network ride vehicle | |
| CN115402098A (en) | Electric vehicle obstacle avoidance method, system, terminal and storage medium | |
| CN116749759A (en) | Control method and system for preventing accelerator pedal of pure electric vehicle from being stepped on by mistake |
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 |