Forward collision early warning method and system based on remote control driving system

Abstract

The invention discloses a forward collision early warning method and system based on a remote control driving system, and belongs to the technical field of intelligent networked automobiles, and the method comprises the steps that a local processor collects driver operation data at a remote control cabin end, processes the driver operation data, and sequentially transmits the driver operation data to a cloud server and an automobile end router; the vehicle end route transmits data to the main vehicle-mounted processor to generate a corresponding control instruction and then transmits the control instruction to the automatic driving controller, and the automatic driving controller converts the control instruction into a control signal and transmits the control signal to the chassis actuator to control a vehicle to execute operation; a forward collision early warning algorithm is deployed in an automatic driving controller, sensing information is obtained through a sensor to serve as input, collision time is calculated and adjusted in combination with other influence factors, different early warning levels are set for early warning, and an early warning signal is output; visual, auditory and tactile prompts are carried out at the remote control vehicle end according to the early warning signal, the prompts of the remote control vehicle end are synchronized to the remote control cabin end, and a driver carries out risk avoiding operation according to the prompts.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent networked vehicles, and in particular to a forward collision warning method and system based on a remote control driving system. Background Art

[0002] With the rapid development of remote control technology, people are increasingly concerned about the safety of remote control driving. At present, unmanned remote control technology has been widely used in many scenarios. Whether it is passenger cars or commercial vehicles, the forward collision assistance driving warning function has also become relatively mature; these warning functions can issue an alarm when the vehicle is about to collide through advanced sensors and algorithms, thereby greatly improving driving safety. However, remote control driving technology still faces some challenges, especially in the case of unmanned remote control. Due to uncontrollable factors such as network delay, how to ensure that the operator at the remote cockpit can receive the warning signal in time and take corresponding measures quickly when there is no driver on the vehicle is the key to ensuring the safety of remote control driving.

[0003] Current remote driving technology is mainly used in smart driving vehicles equipped with a wire-controlled chassis. When a collision risk occurs, there are usually two avoidance measures: one is for the driver in the car to take corresponding actions, and the other is for the autonomous driving vehicle to perform automatic emergency braking through an algorithm. However, even when the automatic emergency braking algorithm is more efficient, this method can only cover about 80% of collision scenarios; for the remaining approximately 20% of scenarios, the automatic emergency braking algorithm may not work effectively or may miss the trigger. Therefore, the two measures of the above remote control avoidance technology may still lead to safety accidents. Summary of the invention

[0004] The purpose of the present invention is to provide a forward collision warning method and system based on a remote control driving system to solve the problems raised in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A forward collision warning method based on a remote control driving system, characterized in that the method comprises the following steps:

[0007] Step S100: The remote control driving system includes a remote control cabin, a cloud server, a vehicle-side router, a main vehicle-mounted processor, an automatic driving controller, and a vehicle chassis actuator. The driver operates the control device at the remote control cabin, and the local processor collects the driver's operation data at the remote control cabin, pre-processes and encrypts it, and transmits it to the cloud server;

[0008] Step S200: The cloud server processes the received encrypted operation data and transmits the processed data to the vehicle-side router; the vehicle-side router is connected to the main vehicle-mounted processor via a network cable, transmits the data to the main vehicle-mounted processor for processing and generates corresponding control instructions; the main vehicle-mounted processor then transmits the control instructions to the automatic driving controller via the CAN protocol, and the automatic driving controller converts the control instructions into control signals and transmits them to the chassis actuator to control the vehicle to perform the operation;

[0009] Step S300: deploying a forward collision warning algorithm in the automatic driving controller, obtaining perception information through sensors and inputting it into the algorithm. When an obstacle is detected in front of the vehicle or there is a potential collision risk and the preset activation conditions are met, the forward collision warning algorithm is automatically activated to calculate the collision time TTC value;

[0010] Step S400: adjusting the collision time TTC value in combination with other influencing factors, setting different warning levels for warning and outputting warning signals;

[0011] Step S500: Visual, auditory and tactile reminders are given at the remote control vehicle according to the warning signal. The reminders at the remote control vehicle will be synchronized to the remote control cabin, and the driver will perform risk avoidance operations according to the reminders.

[0012] Furthermore, in step S100, the driver operates the control devices at the remote control cabin, including the accelerator, brake, steering wheel, electronic handbrake, and turn signal. The local processor at the remote control cabin preprocesses the collected driver operation data and encrypts the preprocessed data. The encrypted operation data is transmitted to the cloud server via wireless network communication.

[0013] In the above technical solution, the driver can accurately manage the vehicle speed, direction and various auxiliary functions by operating the control device to ensure the safety and efficiency of remote driving; the operation data is pre-processed and encrypted, and then uploaded to the cloud server through the wireless communication network. This process ensures the security and real-time nature of the data, which helps to improve the reliability and accuracy of remote driving.

[0014] Further, in step S200, the cloud server decrypts and verifies the received operation data and transmits it; this step ensures the integrity and confidentiality of the data, thereby improving the security of the entire system;

[0015] Step S201: The cloud server transmits the operation data to the vehicle-side router through the MQTT protocol. The transmission process includes setting up the MQTT proxy, client connection, publishing and subscribing to messages, and processing messages. This step utilizes the low overhead, high reliability, and real-time characteristics of the MQTT protocol to significantly improve the efficiency of data transmission.

[0016] Step S202: The vehicle-side router is connected to the main vehicle-mounted processor via a network cable, and the operation data is transmitted to the main vehicle-mounted processor via the IP protocol and a corresponding control instruction is generated. The transmission process includes hardware connection, IP address configuration, network setting, and data communication. This step realizes stable data communication between the vehicle-side router and the main vehicle-mounted processor via the IP protocol.

[0017] Step S203: The main vehicle processor then transmits the control command to the automatic driving controller through the CAN protocol, and the automatic driving controller converts the control command into a control signal and transmits it to the chassis actuator to control the vehicle to perform the operation; this step ensures that the driver's intention can be quickly and accurately converted into the vehicle's actual action, thereby improving the driving response speed and accuracy.

[0018] In the above technical solution, an efficient, safe and reliable data transmission and control process is realized from the cloud server to the vehicle chassis actuator.

[0019] Furthermore, the S300 deploys a forward collision warning algorithm in the automatic driving controller, and the algorithm includes the following steps:

[0020] Step S301: Acquire sensory information through sensors and input it into the forward collision warning algorithm. The sensory information is acquired through cameras, laser radars, and IMU devices; the camera mainly acquires information such as objects in front, lane lines, and traffic signs; the laser radar detects and tracks road users such as vehicles, pedestrians, and bicycles, and identifies traffic signs, lane lines, and roadblocks; the IMU acquires linear acceleration in three-dimensional space, angular velocity in three-dimensional space, and the direction of the object;

[0021] Step S302: Integrate functions of forward target display, fault monitoring, condition activation, and warning function suppression into the algorithm to process and respond to the road conditions ahead in real time; for the target display, receive real-time data from sensors, extract and display the type, relative distance, and relative vehicle speed information of the forward target; for the fault monitoring, monitor the status of the remote control system in real time, and detect whether there are faults such as high voltage of the camera, low voltage of the camera, Busoff, abnormal controller, controller not awakened, high temperature fault of the vision chip, abnormal radar operation, camera calibration fault, radar calibration fault, and unavailable relative vehicle speed signal. Once any fault is found, record it immediately and trigger the corresponding fault handling mechanism; for the condition activation, the driver can change the status of the warning function activation switch at the remote control cabin end. When the switch is in the "on" state, the forward collision warning system will monitor the road conditions ahead according to preset conditions such as vehicle speed threshold and gear status, and activate the warning algorithm when a potential collision risk is detected; on the contrary, if the switch is in the "off" state, the system will not start the forward collision warning function even if all other conditions are met; the warning function suppression includes brake suppression, steering suppression, turn signal suppression, yaw rate suppression, and warning post-cooling time suppression to avoid repeating or improperly emitting warning signals in specific situations such as emergency braking, rapid steering, turning, or just after a warning has been issued.

[0022] Step S303: Calculate the value of the time to collision TTC for different targets in the algorithm; when the target is a vehicle, there are three calculation methods:

[0023] Set the relative acceleration threshold A of the vehicle. When the relative acceleration of the vehicle is less than A, the calculation formula for TTC is:

[0024] TTC = D / (V r )

[0025] When the relative acceleration of the vehicle is greater than A, the calculation formula for TTC is:

[0026]

[0027] Set the relative distance threshold K. When D < K, it is set as following closely at a short distance. At this time, the calculation formula for TTC is:

[0028] TTC = D / V e ;

[0029] where D represents the relative distance, V r represents the relative vehicle speed, V e represents the vehicle speed of the host vehicle, and a r represents the relative longitudinal acceleration.

[0030] The above technical solution realizes real-time monitoring and response to the road conditions ahead, which not only displays detailed information of the target ahead, but also has the ability to monitor and handle faults to ensure stable operation of the system; at the same time, through the conditional activation and warning function suppression mechanism, unnecessary warning signals are effectively avoided, thereby improving the driving experience; in the calculation of the collision time TTC, the algorithm adopts a variety of calculation methods for different situations, especially for vehicle targets, by considering the relative acceleration and distance threshold, a more accurate collision risk assessment is achieved; in summary, the above technical solution significantly improves the safety and intelligence level of the autonomous driving system.

[0031] Furthermore, step S400 adjusts the value of the collision time TTC in combination with other influencing factors, and the specific steps are as follows:

[0032] Step S401: The remote control driving system communicates through wireless and wired networks, so there will be network delay problems, and the driver's reaction time will also affect the warning effect; therefore, the network delay time during the transmission process and the driver's reaction time are added to the adjustment of the TTC value; the smart camera is PTP timed through the remote control vehicle GPS device, and the smart camera prints the timestamp T1 when the image is generated; the remote control cabin end performs PTP timed to the smart camera through the GPS device, and the smart camera prints the timestamp T2 when the image is collected; calculate the network delay T of the one-way link of the remote control vehicle end video transmitted from the smart camera to the remote control cabin end display delay1 , the calculation formula is as follows:

[0033] T delay1 =T2-T1;

[0034] Step S402: The obtained T delay1 There will also be a delay in the process of data transmission to the autopilot controller. delay1 At the beginning, print the timestamp T3 and T delay1 The data is packaged and transmitted to the autonomous driving controller through the algorithm. After receiving the data, the autonomous driving controller obtains the timestamp T4 through GPS timing. The network delay T of the data from the remote control cabin to the remote control vehicle is delay2 , the calculation formula is as follows:

[0035] T delay2 =T4-T3;

[0036] Step S403: Since the driver's reaction time varies according to age, the driver's reaction time is set to T reaction , divided into different age groups reactionThe driver at the remote control cabin can select his own age group before starting remote control driving, so as to obtain the reaction time T of the driver of the corresponding age. reaction ;

[0037] Step S404: Finally, according to the reaction time T of the remote control cabin driver reaction , Video transmission delay T delay1 , Data return delay T delay2 The two are sent together to the autonomous driving controller to calculate the final collision warning time TTC. end ,TTC end The calculation formula is as follows:

[0038] TTC end =T reaction +T delay1 +T delay2 ;

[0039] Step S405: Set three levels of warning: no alarm, level 1 alarm, level 2 alarm; when TTC end When the time period of the corresponding level is reached, the system enters the warning stage of that level; and switches between different states and outputs warning signals according to the system status of the forward collision warning function and the warning level, and finally outputs TTC end value, relative vehicle speed, relative distance, forward collision warning system status, and the warning signal corresponding to the current warning level.

[0040] In the above technical solution, the collision time of the forward collision warning algorithm is finely adjusted by comprehensively considering the network delay and the driver's reaction time, and the driver at the remote control cabin is allowed to choose the corresponding reaction time according to his age group. This personalized setting makes the warning system more in line with the driver's actual ability, and improves the pertinence and effectiveness of the warning; at the same time, a multi-level warning mechanism is set up to improve the accuracy and reliability of the warning system in the remote control driving scenario; the final output information provides the driver with comprehensive road condition information and timely warning signals, enhancing driving safety.

[0041] Furthermore, step S500 performs visual, auditory and tactile reminders on the remote control vehicle side according to the warning signal. In the case of the first-level warning, the vehicle-side instrument displays a red exclamation mark and the buzzer sounds at a slower frequency; in the case of the second-level warning, the vehicle-side instrument displays a red exclamation mark and the buzzer sounds at a faster frequency, and the steering wheel vibrates at the same time. The reminder on the remote control vehicle side will be synchronized to the remote control cabin side, and the driver will perform risk avoidance operations based on the reminder.

[0042] In the above technical solution, the visual, auditory and tactile reminders of the remote control vehicle are transmitted to the remote control cabin in the form of video and signals, and the video information collected by the camera is transmitted to the screen of the remote control cabin. On the one hand, it can ensure that the cabin driver can observe the environment inside and outside the vehicle in real time during the remote control process; on the other hand, when a collision risk occurs, the video can identify the collision risk for redundant backup, further improving the safety and reliability of the remote control system.

[0043] A forward collision warning system based on a remote control driving system, characterized in that: the warning system comprises: a data processing module, a data transmission module, an algorithm calculation module, an algorithm warning module, and an algorithm function execution module;

[0044] The data processing module, the local processor pre-processes the collected driver operation data at the remote control cabin end, and encrypts the pre-processed data, and the encrypted operation data is transmitted to the cloud server via wireless network communication.

[0045] In the data transmission module, the cloud server decrypts and verifies the received operation data, and transmits the operation data to the vehicle-side router through the MQTT protocol. The transmission process includes setting up the MQTT agent, client connection, publishing and subscribing to messages, and processing messages; the vehicle-side router is connected to the main vehicle-mounted processor through a network cable, and transmits the operation data to the main vehicle-mounted processor through the IP protocol and generates corresponding control instructions. The transmission process includes hardware connection, IP address configuration, network setting, and data communication; the main vehicle-mounted processor then transmits the control instructions to the automatic driving controller through the CAN protocol, and the automatic driving controller converts the control instructions into control signals and transmits them to the chassis actuator to control the vehicle to perform the operation.

[0046] The algorithm calculation module deploys a forward collision warning algorithm in the automatic driving controller to calculate the collision time TTC value, including an input unit, a warning processing unit, and a TTC calculation unit;

[0047] The input unit obtains perception information through sensors and inputs it into the forward collision warning algorithm. The perception information is obtained through cameras, laser radars, and IMU devices; the camera mainly obtains information such as objects in front, lane lines, and traffic signs; the laser radar detects and tracks road users such as vehicles, pedestrians, and bicycles, and identifies traffic signs, lane lines, and roadblocks; the IMU obtains linear acceleration in three-dimensional space, angular velocity in three-dimensional space, and the direction of the object;

[0048] The warning processing unit integrates functions of target display, fault monitoring, condition activation, and warning suppression, and processes and responds to the road conditions ahead in real time. The target display receives real-time data from sensors, extracts and displays the type, relative distance, and relative vehicle speed information of the targets ahead. The fault monitoring monitors the status of the remote control system in real time, and detects whether there are faults such as high voltage of the camera, low voltage of the camera, Busoff, abnormal controller, controller not awakened, high temperature fault of the vision chip, abnormal radar operation, camera calibration fault, radar calibration fault, and unavailable relative vehicle speed signal. Once any fault is found, it immediately records and triggers the corresponding fault handling mechanism. The condition activation allows the driver to change the status of the warning function enable switch at the remote control cabin end. When the switch is in the "on" state, the forward collision warning system monitors the road conditions ahead according to preset conditions such as vehicle speed threshold and gear state, and activates the warning algorithm when a potential collision risk is detected. On the contrary, if the switch is in the "off" state, the system will not start the forward collision warning function even if all other conditions are met. The warning function suppression includes brake suppression, steering suppression, turn signal suppression, yaw rate suppression, and post-warning cooling time suppression, to avoid repeated or improper warning signals in specific situations such as emergency braking, rapid steering, turning, or just after a warning has been issued.

[0049] The TTC calculation unit calculates different time-to-collision (TTC) values for different targets in the algorithm. When the target is a vehicle, there are three calculation methods:

[0050] Set the relative acceleration threshold A of the vehicle. When the relative acceleration of the vehicle is less than A, the calculation formula for TTC is:

[0051] TTC = D / (V r )

[0052] When the relative acceleration of the vehicle is greater than A, the calculation formula for TTC is:

[0053]

[0054] Set the relative distance threshold K. When D < K, it is set as close following. At this time, the calculation formula for TTC is:

[0055] TTC = D / V e ;

[0056] where D represents the relative distance, V r represents the relative vehicle speed, V e represents the vehicle speed of the host vehicle, and a r represents the relative longitudinal acceleration.

[0057] The algorithm warning module adjusts the collision time TTC value in combination with other influencing factors, and sets different warning levels for warning; the remote control driving system communicates through wireless and wired networks, so there will be network delay problems, and the driver's reaction time will also affect the warning effect; therefore, the network delay time during the transmission process and the driver's reaction time are added to the adjustment of the collision time TTC value; the smart camera is PTP timed through the remote control vehicle GPS device, and the smart camera prints the timestamp T1 when the image is generated; the remote control cabin end performs PTP time on the smart camera through the GPS device, and the smart camera prints the timestamp T2 when the image is collected; the network delay T of the one-way link of the remote control vehicle end video transmitted from the smart camera to the remote control cabin end display is calculated delay1 , the calculation formula is as follows:

[0058] T delay1 =T2-T1;

[0059] The obtained T delay1 There will also be a delay in the process of data transmission to the autopilot controller. delay1 At the beginning, print the timestamp T3 and T delay1 The data is packaged and transmitted to the autonomous driving controller through the algorithm. After receiving the data, the autonomous driving controller obtains the timestamp T4 through GPS timing. The network delay T of the data from the remote control cabin to the remote control vehicle is delay2 , the calculation formula is as follows:

[0060] T delay2 =T4-T3;

[0061] Since the driver's reaction time varies according to age, set the driver's reaction time to T reaction , divided into different age groups reaction The driver at the remote control cabin can select his own age group before starting remote control driving, so as to obtain the reaction time T of the driver of the corresponding age. reaction ;

[0062] Finally, according to the reaction time T of the driver at the remote control cabin reaction , Video transmission delay T delay1 , Data return delay T delay2 The two are sent together to the autonomous driving controller to calculate the final collision warning time TTC. end ,TTC end The calculation formula is as follows:

[0063] TTC end =T reaction +T delay1 +T delay2;

[0064] Set three levels of warning: no alarm, level 1 alarm, level 2 alarm; when TTC end When the time period of the corresponding level is reached, the system enters the warning stage of that level; and switches between different states and outputs warning signals according to the system status of the forward collision warning function and the warning level, and finally outputs TTC end value, relative vehicle speed, relative distance, forward collision warning system status, and the warning signal corresponding to the current warning level.

[0065] The algorithm function execution module performs visual, auditory and tactile reminders on the remote control vehicle side according to the warning level. In the case of a first-level warning, the vehicle-side instrument displays a red exclamation mark and the buzzer sounds at a slower frequency; in the case of a second-level warning, the frequency of the red exclamation mark displayed on the vehicle-side instrument and the frequency of the buzzer ringing are accelerated, and the steering wheel vibrates at the same time; the visual, auditory and tactile reminders of the remote control vehicle side are transmitted to the remote control cabin side in the form of video and signals, and the video information collected by the camera is transmitted to the screen of the remote control cabin side, and the driver performs risk avoidance operations according to the reminders.

[0066] Compared with the prior art, the present invention has the following beneficial effects:

[0067] The present invention deploys a forward collision warning algorithm in the automatic driving controller, so that the system can monitor the road conditions ahead in real time and calculate the collision time TTC value; and adjust the TTC value in combination with other influencing factors, so that the warning is more accurate and timely, effectively avoiding the potential forward collision risk, and significantly improving the safety of remote driving;

[0068] The present invention not only provides visual, auditory and tactile warning reminders on the remote control vehicle side, but also synchronizes these reminders to the remote control cabin side, so that the driver can immediately perceive the potential danger and take corresponding risk avoidance operations. This all-round reminder method enhances the user experience and improves the driver's trust and satisfaction with remote driving;

[0069] The present invention realizes the encrypted transmission, decryption verification, format conversion and preliminary processing of driver operation data through the collaborative work of modules such as cloud server, vehicle-side routing, main vehicle-mounted processor, etc., ensuring the security and real-time nature of the data; at the same time, it adopts efficient communication protocols such as MQTT protocol and CAN protocol to further improve the efficiency of data transmission and processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 A method flow chart of a forward collision warning method based on a remote control driving system of the present invention;

[0071] Figure 2This is a module diagram of a remote control driving system of the present invention for a forward collision warning method based on a remote control driving system. DETAILED DESCRIPTION

[0072] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0073] Example: Figure 1-Figure 2 As shown, the present invention provides a technical solution, a forward collision warning method based on a remote control driving system, characterized in that the method comprises the following steps:

[0074] Step S100: The remote control driving system includes a remote control cabin, a cloud server, a vehicle-side router, a main vehicle-mounted processor, an automatic driving controller, and a vehicle chassis actuator. The driver operates the control device at the remote control cabin, and the local processor collects the driver's operation data at the remote control cabin for pre-processing and encryption and transmits it to the cloud server;

[0075] Step S200: The cloud server processes the received encrypted operation data and transmits the processed data to the vehicle-side router; the vehicle-side router is connected to the main vehicle-mounted processor via a network cable, transmits the data to the main vehicle-mounted processor for processing and generates corresponding control instructions; the main vehicle-mounted processor then transmits the control instructions to the automatic driving controller via the CAN protocol, and the automatic driving controller converts the control instructions into control signals and transmits them to the chassis actuator to control the vehicle to perform the operation;

[0076] Step S300: deploying a forward collision warning algorithm in the automatic driving controller, obtaining perception information through sensors and inputting it into the algorithm. When an obstacle is detected in front of the vehicle or there is a potential collision risk and the preset activation conditions are met, the forward collision warning algorithm is automatically activated to calculate the collision time TTC value;

[0077] Step S400: adjusting the collision time TTC value in combination with other influencing factors, setting different warning levels for warning and outputting warning signals;

[0078] Step S500: Visual, auditory and tactile reminders are given at the remote control vehicle according to the warning signal. The reminders at the remote control vehicle will be synchronized to the remote control cabin, and the driver will perform risk avoidance operations according to the reminders.

[0079] Furthermore, in step S100, the driver operates the control devices at the remote control cabin, including the accelerator, brake, steering wheel, electronic handbrake, and turn signal. The local processor at the remote control cabin preprocesses the collected driver operation data and encrypts the preprocessed data. The encrypted operation data is transmitted to the cloud server via wireless network communication.

[0080] In the above technical solution, the driver can accurately manage the vehicle speed, direction and various auxiliary functions by operating the control device to ensure the safety and efficiency of remote driving; the operation data is pre-processed and encrypted, and then uploaded to the cloud server through the wireless communication network. This process ensures the security and real-time nature of the data, which helps to improve the reliability and accuracy of remote driving.

[0081] Further, in step S200, the cloud server decrypts and verifies the received operation data and transmits it; this step ensures the integrity and confidentiality of the data, thereby improving the security of the entire system;

[0082] Step S201: The cloud server transmits the operation data to the vehicle-side router through the MQTT protocol. The transmission process includes setting up the MQTT proxy, client connection, publishing and subscribing to messages, and processing messages. This step utilizes the low overhead, high reliability, and real-time characteristics of the MQTT protocol to significantly improve the efficiency of data transmission.

[0083] Step S202: The vehicle-side router is connected to the main vehicle-mounted processor via a network cable, and the operation data is transmitted to the main vehicle-mounted processor via the IP protocol and a corresponding control instruction is generated. The transmission process includes hardware connection, IP address configuration, network setting, and data communication. This step realizes stable data communication between the vehicle-side router and the main vehicle-mounted processor via the IP protocol.

[0084] Step S203: The main vehicle processor then transmits the control command to the automatic driving controller through the CAN protocol, and the automatic driving controller converts the control command into a control signal and transmits it to the chassis actuator to control the vehicle to perform the operation; this step ensures that the driver's intention can be quickly and accurately converted into the vehicle's actual action, thereby improving the driving response speed and accuracy.

[0085] In the above technical solution, an efficient, safe and reliable data transmission and control process is realized from the cloud server to the vehicle chassis actuator.

[0086] The S300 deploys a forward collision warning algorithm in the automatic driving controller, and the algorithm includes the following steps:

[0087] Step S301: Acquire sensory information through sensors and input it into the forward collision warning algorithm. The sensory information is acquired through cameras, laser radars, and IMU devices; the camera mainly acquires information such as objects in front, lane lines, and traffic signs; the laser radar detects and tracks road users such as vehicles, pedestrians, and bicycles, and identifies traffic signs, lane lines, and roadblocks; the IMU acquires linear acceleration in three-dimensional space, angular velocity in three-dimensional space, and the direction of the object;

[0088] Step S302: Integrate the front target display, fault monitoring, conditional activation and early warning function suppression in the algorithm to process and respond to the road conditions ahead in real time; the target display receives real-time data from the sensor, extracts and displays the type, relative distance and relative vehicle speed information of the front target; the fault monitoring monitors the remote control system status in real time to detect whether there is camera high voltage, camera low voltage, Busoff, controller abnormality, controller not awakened, vision chip high temperature fault, radar abnormality, camera calibration fault, radar calibration fault, relative vehicle speed signal unavailable fault. Once any fault is found, it is immediately recorded and triggered the corresponding fault handling mechanism; The above conditions are activated, and the driver can change the status of the warning function on-switch at the remote control cabin. When the switch is in the "on" state, the forward collision warning system will monitor the road conditions ahead according to preset conditions such as vehicle speed threshold and gear status, and activate the warning algorithm when a potential collision risk is detected; on the contrary, if the switch is in the "off" state, the system will not start the forward collision warning function even if other conditions are met; warning function inhibition, including brake inhibition, steering inhibition, turn signal inhibition, yaw angular velocity inhibition and post-warning cooling time inhibition, to avoid repeated or improper warning signals in specific situations such as emergency braking, rapid steering, turning or just after a warning is issued;

[0089] Step S303: In the algorithm, different collision time TTC values ​​are calculated for different targets; when the target is a vehicle, there are three calculation methods:

[0090] In this case, the vehicle relative acceleration threshold A is set to 0.1m / s 2 , when the relative acceleration of the vehicle is less than 0.1m / s 2 When , the calculation formula of TTC is:

[0091] TTC=D / (V r );

[0092] When the relative acceleration of the vehicle is greater than 0.1m / s 2 When , the calculation formula of TTC is:

[0093]

[0094] Set the relative distance threshold K to 50m. When D<50m, it is set to close following. The calculation formula of TTC is:

[0095] TTC=D / V e ;

[0096] Where D represents the relative distance, V r Relative vehicle speed, V e represents the vehicle speed, a r Represents relative longitudinal acceleration. When the target is a pedestrian, the TTC warning time will be shorter than that of a vehicle. Since pedestrians are highly vulnerable, have uncertain behaviors, and require faster reaction times, the TTC warning time is shorter when there is a person ahead than when there is a vehicle ahead.

[0097] The above technical solution realizes real-time monitoring and response to the road conditions ahead, which not only displays detailed information of the target ahead, but also has the ability to monitor and handle faults to ensure stable operation of the system; at the same time, through the conditional activation and warning function suppression mechanism, unnecessary warning signals are effectively avoided, thereby improving the driving experience; in the calculation of the collision time TTC, the algorithm adopts a variety of calculation methods for different situations, especially for vehicle targets, by considering the relative acceleration and distance threshold, a more accurate collision risk assessment is achieved; in summary, the above technical solution significantly improves the safety and intelligence level of the autonomous driving system.

[0098] Furthermore, step S400 adjusts the value of the collision time TTC in combination with other influencing factors, and the specific steps are as follows:

[0099] Step S401: The remote control driving system communicates through wireless and wired networks, so there will be network delay problems, and the driver's reaction time will also affect the warning effect; therefore, the network delay time during the transmission process and the driver's reaction time are added to the adjustment of the TTC value; the smart camera is PTP timed through the remote control vehicle GPS device, and the smart camera prints the timestamp T1 when the image is generated; the remote control cabin end performs PTP timed to the smart camera through the GPS device, and the smart camera prints the timestamp T2 when the image is collected; calculate the network delay T of the one-way link of the remote control vehicle end video transmitted from the smart camera to the remote control cabin end display delay1 , the calculation formula is as follows:

[0100] T delay1 =T2-T1;

[0101] Step S402: The obtained T delay1 There will also be a delay in the process of data transmission to the autopilot controller. delay1 At the beginning, print the timestamp T3 and Tdelay1 The data is packaged and transmitted to the autonomous driving controller through the algorithm. After receiving the data, the autonomous driving controller obtains the timestamp T4 through GPS timing. The network delay T of the data from the remote control cabin to the remote control vehicle is delay2 , the calculation formula is as follows:

[0102] T delay2 =T4-T3;

[0103] Step S403: Since the driver's reaction time varies according to age, the driver's reaction time is set to T reaction , divided into different age groups reaction The driver at the remote control cabin can select his own age group before starting remote control driving, so as to obtain the reaction time T of the driver of the corresponding age. reaction ;

[0104] In this case, the driver's reaction time T reaction The setting is: the driver's age is between 18 and 35 years old reaction Take 0.4s, when the driver's age is between 35 and 60 years old T reaction Take 0.7s, when the driver is over 60 years old T reaction Take 1.2s. The driver at the remote control cabin can select his age group through the vehicle computer before starting remote control driving, so as to obtain the reaction time T of the driver of the corresponding age. reaction , the final T reaction The calculation formula is as follows:

[0105]

[0106] Step S404: Finally, according to the reaction time T of the remote control cabin driver reaction , Video transmission delay T delay1 , Data return delay T delay2 The two are sent together to the autonomous driving controller to calculate the final collision warning time TTC. end ,TTC end The calculation formula is as follows:

[0107] TTC end =T reaction +T delay1 +T delay2 ;

[0108] Step S405: Set three levels of warning: no alarm, level 1 alarm, level 2 alarm; when TTC endWhen the time period of the corresponding level is reached, the system enters the warning stage of that level; and switches between different states and outputs warning signals according to the system status of the forward collision warning function and the warning level, and finally outputs TTC end value, relative vehicle speed, relative distance, forward collision warning system status, and the warning signal corresponding to the current warning level.

[0109] In this case, when TTC end >=5s, the system does not alarm; when 3s <TTC end <5s, the system will give a first-level alarm, the vehicle instrument will display a red exclamation mark, and the buzzer will sound at a slower frequency; when TTC end When <=3s, the system will issue a secondary alarm. The frequency of the red exclamation mark displayed on the vehicle instrument and the buzzer sounding will increase, and the steering wheel will vibrate.

[0110] In the above technical solution, the collision time of the forward collision warning algorithm is finely adjusted by comprehensively considering the network delay and the driver's reaction time, and the driver at the remote control cabin is allowed to choose the corresponding reaction time according to his age group. This personalized setting makes the warning system more in line with the driver's actual ability, and improves the pertinence and effectiveness of the warning; at the same time, a multi-level warning mechanism is set up to improve the accuracy and reliability of the warning system in the remote control driving scenario; the final output information provides the driver with comprehensive road condition information and timely warning signals, enhancing driving safety.

[0111] Furthermore, step S500 performs visual, auditory and tactile reminders on the remote control vehicle side according to the warning signal. In the case of the first-level warning, the vehicle-side instrument displays a red exclamation mark and the buzzer sounds at a slower frequency; in the case of the second-level warning, the vehicle-side instrument displays a red exclamation mark and the buzzer sounds at a faster frequency, and the steering wheel vibrates at the same time. The reminder on the remote control vehicle side will be synchronized to the remote control cabin side, and the driver will perform risk avoidance operations based on the reminder.

[0112] In the above technical solution, the visual, auditory and tactile reminders of the remote control vehicle are transmitted to the remote control cabin in the form of video and signals, and the video information collected by the camera is transmitted to the screen of the remote control cabin. On the one hand, it can ensure that the cabin driver can observe the environment inside and outside the vehicle in real time during the remote control process; on the other hand, when a collision risk occurs, the video can identify the collision risk for redundant backup, further improving the safety and reliability of the remote control system.

[0113] A forward collision warning system based on a remote control driving system, characterized in that: the warning system comprises: a data processing module, a data transmission module, an algorithm calculation module, an algorithm warning module, and an algorithm function execution module;

[0114] The data processing module, the local processor pre-processes the collected driver operation data at the remote control cabin end, and encrypts the pre-processed data, and the encrypted operation data is transmitted to the cloud server via wireless network communication.

[0115] In the data transmission module, the cloud server decrypts and verifies the received operation data, and transmits the operation data to the vehicle-side router through the MQTT protocol. The transmission process includes setting up the MQTT agent, client connection, publishing and subscribing to messages, and processing messages; the vehicle-side router is connected to the main vehicle-mounted processor through a network cable, and transmits the operation data to the main vehicle-mounted processor through the IP protocol and generates corresponding control instructions. The transmission process includes hardware connection, IP address configuration, network setting, and data communication; the main vehicle-mounted processor then transmits the control instructions to the automatic driving controller through the CAN protocol, and the automatic driving controller converts the control instructions into control signals and transmits them to the chassis actuator to control the vehicle to perform the operation.

[0116] The algorithm calculation module deploys a forward collision warning algorithm in the automatic driving controller to calculate the value of the collision time TTC; it includes an input unit, an algorithm processing unit, and a TTC calculation unit;

[0117] The input unit obtains perception information through sensors and inputs it into the forward collision warning algorithm. The perception information is obtained through cameras, laser radars, and IMU devices; the camera mainly obtains information such as objects in front, lane lines, and traffic signs; the laser radar detects and tracks road users such as vehicles, pedestrians, and bicycles, and identifies traffic signs, lane lines, and roadblocks; the IMU obtains linear acceleration in three-dimensional space, angular velocity in three-dimensional space, and the direction of the object;

[0118] The warning processing unit integrates functions of target display, fault monitoring, activation condition judgment, and warning suppression, and processes and responds to the road conditions ahead in real time. The target display receives real-time data from sensors, extracts and displays the type, relative distance, and relative vehicle speed information of the targets ahead. The fault monitoring monitors the status of the remote control system in real time, and detects whether there are faults such as high voltage of the camera, low voltage of the camera, Busoff, controller abnormality, controller not awakened, high temperature fault of the vision chip, abnormal radar operation, camera calibration fault, radar calibration fault, and unavailable relative vehicle speed signal. Once any fault is found, it will be recorded immediately and the corresponding fault handling mechanism will be triggered. The condition activation allows the driver to change the status of the warning function activation switch at the remote control cabin end. When the switch is in the "on" state, the forward collision warning system will monitor the road conditions ahead according to preset conditions such as vehicle speed threshold and gear state, and activate the warning algorithm when a potential collision risk is detected. On the contrary, if the switch is in the "off" state, the forward collision warning function will not be started even if other conditions are met. The warning function suppression includes brake suppression, steering suppression, turn signal suppression, yaw rate suppression, and warning post-cooling time suppression, to avoid repeated or improper warning signals in specific situations such as emergency braking, rapid steering, turning, or just after a warning is issued.

[0119] The TTC calculation unit calculates different time-to-collision (TTC) values for different targets in the algorithm. When the target is a vehicle, there are three calculation methods:

[0120] Set the relative acceleration threshold A of the vehicle. When the relative acceleration of the vehicle is less than A, the calculation formula of TTC is:

[0121] TTC = D / (V r )

[0122] When the relative acceleration of the vehicle is greater than A, the calculation formula of TTC is:

[0123]

[0124] Set the relative distance threshold K. When D < K, it is set as close following. At this time, the calculation formula of TTC is:

[0125] TTC = D / V e ;

[0126] where D represents the relative distance, V r represents the relative vehicle speed, V e represents the vehicle speed of the host vehicle, and a r represents the relative longitudinal acceleration.

[0127] The algorithm warning module adjusts the collision time TTC value in combination with other influencing factors, and sets different warning levels for warning; the remote control driving system communicates through wireless and wired networks, so there will be network delay problems, and the driver's reaction time will also affect the warning effect; therefore, the network delay time during the transmission process and the driver's reaction time are added to the adjustment of the collision time TTC value; the smart camera is PTP timed through the remote control vehicle GPS device, and the smart camera prints the timestamp T1 when the image is generated; the remote control cabin end performs PTP time on the smart camera through the GPS device, and the smart camera prints the timestamp T2 when the image is collected; the network delay T of the one-way link of the remote control vehicle end video transmitted from the smart camera to the remote control cabin end display is calculated delay1 , the calculation formula is as follows:

[0128] T delay1 =T2-T1;

[0129] The obtained T delay1 There will also be a delay in the process of data transmission to the autopilot controller. delay1 At the beginning, print the timestamp T3 and T delay1 The data is packaged and transmitted to the autonomous driving controller through the algorithm. After receiving the data, the autonomous driving controller obtains the timestamp T4 through GPS timing. The network delay T of the data from the remote control cabin to the remote control vehicle is delay2 , the calculation formula is as follows:

[0130] T delay2 =T4-T3;

[0131] Since the driver's reaction time varies according to age, set the driver's reaction time to T reaction , divided into different age groups reaction The driver at the remote control cabin can select his own age group before starting remote control driving, so as to obtain the reaction time T of the driver of the corresponding age. reaction ;

[0132] Finally, according to the reaction time T of the driver at the remote control cabin reaction , Video transmission delay T delay1 , Data return delay T delay2 The two are sent together to the autonomous driving controller to calculate the final collision warning time TTC. end ,TTC end The calculation formula is as follows:

[0133] TTC end =T reaction +T delay1 +T delay2;

[0134] Set three levels of warning: no alarm, level 1 alarm, level 2 alarm; when TTC end When the time period of the corresponding level is reached, the system enters the warning stage of that level; and switches between different states and outputs warning signals according to the system status of the forward collision warning function and the warning level, and finally outputs TTC end value, relative vehicle speed, relative distance, forward collision warning system status, and the warning signal corresponding to the current warning level.

[0135] The algorithm function execution module performs visual, auditory and tactile reminders on the remote control vehicle side according to the warning level. In the case of a first-level warning, the vehicle-side instrument displays a red exclamation mark and the buzzer sounds at a slower frequency; in the case of a second-level warning, the frequency of the red exclamation mark displayed on the vehicle-side instrument and the frequency of the buzzer ringing are accelerated, and the steering wheel vibrates at the same time; the visual, auditory and tactile reminders of the remote control vehicle side are transmitted to the remote control cabin side in the form of video and signals, and the video information collected by the camera is transmitted to the screen of the remote control cabin side, and the driver performs risk avoidance operations according to the reminders.

[0136] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A forward collision warning method based on a remote control driving system, characterized in that: The method comprises the following steps: Step S100: The remote control driving system includes a remote control cabin, a cloud server, a vehicle-side router, a main vehicle-mounted processor, an automatic driving controller, and a vehicle chassis actuator. The driver operates the control device at the remote control cabin, and the local processor collects the driver's operation data at the remote control cabin for pre-processing and encryption and transmits it to the cloud server; Step S200: The cloud server processes the received encrypted operation data and transmits the processed data to the vehicle-side router; the vehicle-side router is connected to the main vehicle-mounted processor via a network cable, transmits the data to the main vehicle-mounted processor for processing and generates corresponding control instructions; the main vehicle-mounted processor then transmits the control instructions to the automatic driving controller via the CAN protocol, and the automatic driving controller converts the control instructions into control signals and transmits them to the chassis actuator to control the vehicle to perform the operation; Step S300: deploying a forward collision warning algorithm in the automatic driving controller, obtaining perception information through sensors and inputting it into the algorithm, and automatically activating the forward collision warning algorithm when an obstacle is detected in front of the vehicle and the preset activation conditions are met, and calculating the collision time TTC value; Step S400: adjusting the collision time TTC value in combination with other influencing factors, setting different warning levels for warning and outputting warning signals; Step S500: Visual, auditory and tactile reminders are given at the remote control vehicle according to the warning signal. The reminders at the remote control vehicle will be synchronized to the remote control cabin, and the driver will perform risk avoidance operations according to the reminders.

2. The forward collision warning method based on the remote control driving system according to claim 1, characterized in that: In step S100, the driver operates the control device at the remote control cabin, and the local processor pre-processes the collected driver operation data at the remote control cabin, and encrypts the pre-processed data, and the encrypted operation data is transmitted to the cloud server via wireless network communication.

3. The forward collision warning method based on the remote control driving system according to claim 1, characterized in that: The S200 cloud server decrypts and verifies the received operation data and transmits it; Step S201: The cloud server transmits the operation data to the vehicle-side router through the MQTT protocol. The transmission process includes setting up the MQTT proxy, client connection, publishing and subscribing to messages, and processing messages; Step S202: The vehicle-side router is connected to the main vehicle-mounted processor via a network cable, and the operation data is transmitted to the main vehicle-mounted processor via the IP protocol and a corresponding control instruction is generated. The transmission process includes hardware connection, IP address configuration, network setting, and data communication; Step S203: The main vehicle processor transmits the control instruction to the automatic driving controller through the CAN protocol, and the automatic driving controller converts the control instruction into a control signal and transmits it to the chassis actuator to control the vehicle to perform the operation.

4. The forward collision warning method based on the remote control driving system according to claim 1, characterized in that: The S300 deploys a forward collision warning algorithm in the automatic driving controller, and the algorithm includes the following steps: Step S301: acquiring sensing information through sensors and inputting it into a forward collision warning algorithm; Step S302: integrating forward target display, fault monitoring, conditional activation and early warning function suppression into the algorithm to process and respond to the forward road conditions in real time; Step S303: In the algorithm, different collision time TTC values ​​are calculated for different targets; when the target is a vehicle, there are three calculation methods: Set the vehicle relative acceleration threshold A. When the relative acceleration of the vehicle is less than A, the calculation formula for TTC is: TTC=D / (V r ); When the relative acceleration of the vehicle is greater than A, the calculation formula for TTC is: Set the relative distance threshold K. When D < K, it is set as close - range following. At this time, the calculation formula for TTC is: TTC=D / V e ; Where D represents the relative distance, V r Relative vehicle speed, V e represents the vehicle speed, a r Relative longitudinal acceleration.

5. The forward collision warning method based on the remote control driving system according to claim 1, characterized in that: In step S400, the value of the collision time TTC is adjusted by combining other influencing factors. The specific steps are as follows: Step S401: The remote - control driving system communicates through wireless and wired networks, so there will be a problem of network delay. At the same time, the driver's reaction time will also affect the warning effect. Therefore, the network delay time during the transmission process and the driver's reaction time are added to the adjustment of the TTC value. The intelligent camera is PTP - timed by the GPS device on the remote - control vehicle end, and the intelligent camera prints the time stamp T1 at the image generation moment. The remote control cabin uses the GPS device to perform PTP timing on the smart camera, and the smart camera prints the timestamp T2 when the image is captured; calculate the network delay T of the one-way link from the remote control vehicle end video to the remote control cabin end display through the smart camera delay1 , the calculation formula is as follows: T delay1 =T2-T1; Step S402: The obtained T delay1 There will also be a delay in the process of data transmission to the autopilot controller. delay1 At the beginning, print the timestamp T3 and T delay1 The data is packaged and transmitted to the autonomous driving controller through the algorithm. After receiving the data, the autonomous driving controller obtains the timestamp T4 through GPS timing. The network delay T of the data from the remote control cabin to the remote control vehicle is delay2 , the calculation formula is as follows: T delay2 =T4-T3; Step S403: Since the driver's reaction time varies according to age, the driver's reaction time is set to T reaction , divided into different age groups reaction The driver at the remote control cabin can select his own age group before starting remote control driving, so as to obtain the reaction time T of the driver of the corresponding age. reaction ; Step S404: Finally, according to the reaction time T of the remote control cabin driver reaction , Video transmission delay T delay1 , Data return delay T delay2 The two are sent together to the autonomous driving controller to calculate the final collision warning time TTC. end ,TTC end The calculation formula is as follows: TTC end =T reaction +T delay1 +T delay2 ; Step S405: Set three levels of warning: no alarm, level 1 alarm, level 2 alarm; when TTC end When the time period of the corresponding level is reached, the system enters the warning stage of that level; and switches between different states and outputs warning signals according to the system status of the forward collision warning function and the warning level, and finally outputs TTC end value, relative vehicle speed, relative distance, forward collision warning system status, and the warning signal corresponding to the current warning level.

6. A forward collision warning system based on a remote control driving system, characterized in that: The warning system includes: a data - processing module, a data - transmission module, an algorithm - calculation module, an algorithm - warning module, and an algorithm - function execution module. The data - processing module: The local processor collects the driver's operation data at the remote - control cabin end, pre - processes and encrypts it, and then transmits it to the cloud server. The data - transmission module: The cloud server processes the received encrypted operation data and transmits the processed data to the vehicle - end router. The vehicle - end router is connected to the main vehicle - mounted processor through a network cable, transmits the data to the main vehicle - mounted processor for processing, and generates corresponding control instructions. The main vehicle - mounted processor then transmits the control instructions to the autonomous - driving controller through the CAN protocol, and the autonomous - driving controller converts the control instructions into control signals and transmits them to the vehicle chassis actuator to control the vehicle to execute operations. The algorithm - calculation module: Deploy the forward - collision warning algorithm in the autonomous - driving controller. Input the perception information obtained by the sensor into the algorithm. When it is detected that there is an obstacle in front of the vehicle or there is a potential collision risk and the preset activation conditions are met, the forward - collision warning algorithm is automatically activated to calculate the value of the collision time TTC. The algorithm - warning module: Adjust the value of the collision time TTC by combining other influencing factors and set different warning levels for warning. The algorithm - function execution module: Give visual, auditory, and tactile reminders at the remote - control vehicle end according to the warning level. The reminders at the remote - control vehicle end will be synchronized to the remote - control cabin end, and the driver takes evasive actions according to the reminders.

7. The forward collision warning system based on the remote control driving system according to claim 6, characterized in that: The data - processing module: The local processor pre - processes the collected driver's operation data at the remote - control cabin end and encrypts the pre - processed data. The encrypted operation data is transmitted to the cloud server through wireless network communication.

8. The forward collision warning system based on the remote control driving system according to claim 6, characterized in that: The data - transmission module: The cloud server decrypts and verifies the received operation data and transmits the operation data to the vehicle - end router through the MQTT protocol. The transmission process includes setting up the MQTT broker, client connection, publishing and subscribing to messages, and processing messages. The vehicle-end router is connected to the main vehicle-mounted processor through a network cable, and transmits operation data to the main vehicle-mounted processor through the IP protocol and generates corresponding control instructions. The transmission process includes hardware connection, IP address configuration, network setting, and data communication. The main vehicle-mounted processor then transmits the control instructions to the autonomous driving controller through the CAN protocol, and the autonomous driving controller converts the control instructions into control signals and transmits them to the vehicle chassis actuator to control the vehicle to execute operations.

9. The forward collision warning system based on the remote control driving system according to claim 6, characterized in that: The algorithm calculation module includes an input unit, a warning processing unit, and a TTC calculation unit; The input unit obtains perception information through sensors and inputs it into the forward collision warning algorithm; The warning processing unit integrates functions such as target display, fault monitoring, activation condition judgment, and warning suppression, and processes and responds to the road conditions ahead in real time; The TTC calculation unit calculates different time-to-collision TTC values for different targets in the algorithm; when the target is a vehicle, there are three calculation methods: Set the vehicle relative acceleration threshold A. When the relative acceleration of the vehicle is less than A, the calculation formula for TTC is: TTC=D / (V r ); When the relative acceleration of the vehicle is greater than A, the calculation formula for TTC is: Set the relative distance threshold K. When D < K, it is set as close following. At this time, the calculation formula for TTC is: TTC=D / V e ; Where D represents the relative distance, V r Relative vehicle speed, V e represents the vehicle speed, a r Relative longitudinal acceleration.

10. The forward collision warning system based on the remote control driving system according to claim 6, characterized in that: In the algorithm warning module, since the remote control driving system communicates through wireless and wired networks, there will be a problem of network delay. At the same time, the driver's reaction time will also affect the warning effect. Therefore, the network delay time and the driver's reaction time during the transmission process are added to the adjustment of the time-to-collision TTC value. The intelligent camera is PTP time-synchronized by the remote control vehicle-end GPS device, and the intelligent camera prints the time stamp T1 at the moment of image generation; The remote control cabin uses the GPS device to perform PTP timing on the smart camera, and the smart camera prints the timestamp T2 when the image is captured; calculate the network delay T of the one-way link from the remote control vehicle end video to the remote control cabin end display through the smart camera delay1 , the calculation formula is as follows: T delay1 =T2-T1; The obtained T delay1 There will also be a delay in the process of data transmission to the autopilot controller. delay1 At the beginning, print the timestamp T3 and T delay1 The data is packaged and transmitted to the autonomous driving controller through the algorithm. After receiving the data, the autonomous driving controller obtains the timestamp T4 through GPS timing. The network delay T of the data from the remote control cabin to the remote control vehicle is delay2 , the calculation formula is as follows: T delay2 =T4-T3; Since the driver's reaction time varies according to age, set the driver's reaction time to T reaction , divided into different age groups reaction The driver at the remote control cabin can select his own age group before starting remote control driving, so as to obtain the reaction time T of the driver of the corresponding age. reaction ; Finally, according to the reaction time T of the driver at the remote control cabin reaction , Video transmission delay T delay1 , Data return delay T delay2 The two are sent together to the autonomous driving controller to calculate the final collision warning time TTC. end ,TTC end The calculation formula is as follows: TTC end =T reaction +T delay1 +T delay2 ; Set three levels of warning: no alarm, level 1 alarm, level 2 alarm; when TTC end When the time period of the corresponding level is reached, the system enters the warning stage of that level; and switches between different states and outputs warning signals according to the system status of the forward collision warning function and the warning level, and finally outputs TTC end value, relative vehicle speed, relative distance, forward collision warning system status, and the warning signal corresponding to the current warning level.

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