Multi-vehicle cooperative collision avoidance method and apparatus

Abstract

The invention discloses a multi-vehicle cooperative collision avoidance method and apparatus. The multi-vehicle cooperative collision avoidance method comprises: 1) braking conditions of moving vehicles are monitored by the moving vehicles themselves; 2) when the braking condition of a certain vehicle exceeds a setting braking threshold value, the vehicle is set as the first vehicle and the vehicles after the first vehicle are set as back vehicles; otherwise returning to the step 1); 3) the information that the first vehicle is set as the first vehicle is sent to the back vehicles by the first vehicle; 4) each of the back vehicles sends its vehicle condition information to the first vehicle after receiving the information from the first vehicle; 5) the first vehicle makes a centralized planning of braking accelerations for the back vehicles after receiving the vehicle condition information of the back vehicles, and sends the expected accelerations to the corresponding back vehicles; 6) each of the back vehicles receives the expected acceleration and performs control to its own vehicle according to the expected acceleration; and 7) the control is stopped if the back vehicle stops; otherwise returning to the step 4). By use of the provided method and apparatus, the braking space between each vehicle in a braking vehicle queue is effectively used to perform control, the uniform distribution of relative location of vehicles is realized, and thus collision is effectively avoided or collision damage degree is effectively reduced and the ride comfort during braking is improved.

Description

technical field [0001] The invention relates to the technical field of automobiles, in particular to a multi-vehicle cooperative collision avoidance method and device. Background technique [0002] With the continuous increase of car ownership, the problem of traffic safety is becoming more and more serious. According to statistics, collision accidents account for the highest proportion of highway accidents in my country, reaching 66.76%, and the resulting loss of life and property also accounts for the largest proportion. Therefore, how to effectively reduce highway collision accidents has always been highly concerned by governments, enterprises, and research institutions. [0003] Human drivers have physical and psychological limitations, and their driving habits are characterized by obvious differences and strong fluctuations. They are prone to misjudgments and misoperations due to unclear perception of the driving environment and driving fatigue, which can lead to traff...

AI Technical Summary

Problems solved by technology

However, the existing active collision avoidance system only controls the braking of the self-vehicle to avoid collision with the vehicle in front or obstacles, and does not consider the impact on the vehicle behind in the braking decision, which is prone to excessive braking deceleration and insufficient braking space in front. Insufficient utilization and other phenomena will have a great impact on subsequent vehicles, especially when subsequent vehicles are driving at high speed or with high traffic density, it is easy to cause emergency braking of subsequent vehicles, and even serial rear-end collisions

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