Vehicle forward collision avoidance method and system

A vehicle and collision avoidance technology, applied in the field of transportation, can solve problems such as early warning or frequent braking, driver interference, conservative braking strategy, etc.

Active Publication Date: 2020-10-09
NIO CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In actual use, the above-mentioned method of formulating a collision warning strategy or an active collision avoidance strategy only from the longitudinal braking of vehicles to avoid collisions will cause too much interference to the driver if the warning or braking is too frequent, and the braking strategy is relatively conservative. Collisions cannot be avoided to the greatest extent

Method used

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  • Vehicle forward collision avoidance method and system
  • Vehicle forward collision avoidance method and system
  • Vehicle forward collision avoidance method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0106] The first collision avoidance distance d 1 Determined as the sum of the estimated relative displacement within the driver’s reaction time and the estimated relative displacement of the vehicle when braking, the first collision avoidance distance d 1 The specific formula is:

[0107]

[0108] Among them, |·| is the absolute value symbol, v rel is the relative speed between the vehicle and the obstacle in front, because the relative speed is usually obtained by subtracting the speed of the vehicle from the speed of the obstacle, the relative speed is generally a negative value; T d It is the time required for the driver to respond after the warning (when the vehicle actively avoids collision, set T d is taken as 0 seconds), under different traffic conditions T d May take different values, generally T d The value is 1.2 seconds; a x,sv It is the preset ego vehicle braking longitudinal deceleration, which is a negative value.

[0109] It should be noted that, accor...

Embodiment 2

[0111] When calculating the first collision avoidance distance d 1 When , the current relative acceleration or the current longitudinal acceleration of the obstacle in front is also included. It should be noted that the current relative acceleration and the current longitudinal acceleration of the obstacle ahead can be converted to each other through the relationship between the two and the preset braking longitudinal deceleration of the vehicle. The first collision avoidance distance d 1 The specific calculation formula is calculation formula 1:

[0112]

[0113] Among them, v rel is the current relative velocity, a rel is the current relative acceleration, a x,sv is the preset braking longitudinal deceleration of the vehicle, T d is the driver reaction time. It should be noted that, according to different traffic conditions and different collision avoidance purposes, a x,sv There can be different presets. In addition, it should be noted that the relative accelerat...

Embodiment 3

[0118] When calculating the first collision avoidance distance d 1 When , it also considers whether the obstacle in front is in a deceleration state and stops before the vehicle.

[0119]Taking the collision avoidance warning to the driver as an example, when the obstacle ahead is not in the preset working condition, when calculating the collision avoidance distance, the distance between the vehicle and the obstacle ahead within the driver's reaction time is included. The estimated distance change; the preset working condition is that the obstacle in front is decelerating and stops before the vehicle, while the obstacle in front is not in the preset working condition including: the obstacle in front is in a state where the speed does not change ( static state or constant speed state), or the obstacle in front is in the state of acceleration, or the obstacle in front is in the state of deceleration and stops behind the vehicle. The specific algorithm can be:

[0120] Judgment...

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Abstract

The present invention relates to a method and system for collision avoidance in front of a vehicle. The method includes: determining the current speed of the vehicle and the current speed of the obstacle ahead; The collision avoidance method includes single braking collision avoidance, single steering collision avoidance, or a combination of braking collision avoidance and steering collision avoidance; according to the current speed and the determined collision avoidance method, it can be calculated by the set operation formula Corresponding to the determined collision avoidance distance of the collision avoidance method; determine the current distance between the vehicle and the obstacle ahead; determine whether the current distance reaches the collision avoidance distance, if the judgment result is yes, then determine the avoidance distance The collision condition is established. By comprehensively considering braking and steering to avoid collision, the present invention can effectively reduce the frequency of collision avoidance, reduce interference to drivers, and be more in line with driving habits.

Description

technical field [0001] The invention relates to a collision avoidance method in the traffic field, in particular to a method and a system for avoiding collision ahead of a vehicle. Background technique [0002] About 90% of traffic accidents are caused by the driver's inattention. Forward Collision Warning (FCW, Forward Collision Warning) or the vehicle's active collision avoidance according to the collision avoidance strategy can effectively reduce or avoid such accidents happened. The pros and cons of forward collision warning strategies or active collision avoidance strategies not only affect the safety performance of vehicles, but also affect the driving experience. For example, inappropriate forward collision warning strategies or active collision avoidance strategies will cause too much interference to drivers. . [0003] The existing forward collision warning strategy only considers the longitudinal braking of vehicles to avoid collisions. The warning logic is: by d...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/09B60W30/095
CPCB60W30/09B60W30/0956B60W10/18B60W10/20B60W50/14B60W2520/10B60W2554/4042B60W2710/18B60W2710/20B60W2050/143B60W30/095B60W30/16B60W2554/804B60W2540/30B60W2554/4044B60T2201/022B60W2556/10
Inventor 孙鹏
Owner NIO CO LTD
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