Early warning method for dynamic vehicle wake display and lateral collision avoidance

Abstract

The invention discloses an early warning method for dynamic vehicle wake display and lateral collision avoidance. The early warning method comprises the following steps: 1) collecting traffic data; traffic data of a main vehicle and surrounding vehicles are collected in real time through microwave radar arrays and road side units (RSU) which are arranged on a tunnel and a bridge at intervals; 2) dynamically evaluating the collision risk; (3) arc-shaped LED units are arranged at equal intervals at the lane line; (4) side wall LED lamp strips are arranged on the outer side wall of the lane at equal intervals, and the visual approximation effect is generated by adjusting the light-emitting length L and the interval D of the side wall LED lamp strips; and (5) early warning is triggered according to the risk grade judgment, calculated in real time, of the main vehicle. According to the method, in the aspect of longitudinal risk control, dynamic wake display enables the braking response time of rear vehicles to be shortened, and the rear-end collision accident rate in the tunnel is remarkably reduced; lateral deviation early warning is linked with optical warning through a millimeter wave radar, the lateral deviation detection error is controlled within a certain range, and side collision accidents of a curve scene can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to intelligent transportation technology, and in particular to a dynamic vehicle wake display and lateral collision avoidance early warning method. Background Art

[0002] Within the transportation system, special sections such as tunnels and bridges are high-accident areas due to limited space, drastic changes in lighting, and narrow driver fields of view. Existing technologies generally use fixed traffic lights or static speed limit signs, without adjusting warning strategies based on the vehicle's real-time status. For example, traditional lane change display systems use only a single color to indicate lane occupancy and fail to reflect the acceleration and deceleration dynamics of the preceding vehicle. Lateral departure warnings often rely on onboard cameras or millimeter-wave radar, but are prone to misjudgment in unusual circumstances, such as curves or in rainy and foggy weather. Furthermore, speed control methods still primarily rely on fixed speed limits, lacking the ability to regulate driver behavior through visual guidance.

[0003] These shortcomings can lead to insufficient reaction time for vehicles behind and increased risk of side collisions, especially at long tunnel entrances and exits, on curved bridges, and on other roads, where the accident rate is significantly higher than on ordinary roads. Therefore, a hybrid safety system is needed that can sense vehicle motion in real time and dynamically adjust optical warning strategies. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method for dynamic vehicle wake display and lateral collision avoidance warning in response to the defects in the prior art.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a dynamic vehicle wake display and lateral collision avoidance warning method, comprising the following steps: 1) Traffic data collection; The microwave radar arrays and roadside units (RSUs) arranged at intervals on tunnels and bridges collect the following traffic data of the main vehicle and surrounding vehicles in real time, including: speed , horizontal coordinate , longitudinal acceleration , lateral acceleration and the vehicle commander ; In the horizontal coordinate system, the positive direction of the x-axis is consistent with the direction of the car's travel, and the horizontal direction perpendicular to the travel direction is defined as the y-axis; 2) Dynamic assessment of collision risk; 2.1) Calculate the collision time between the main vehicle and the preceding vehicle in the same lane based on the relative position of the vehicles : ;

[0006] in, is the x-axis Frenet coordinate of the front vehicle, is the x-axis Frenet coordinate of the following vehicle; is the longitudinal speed of the preceding vehicle; is the longitudinal speed of the following vehicle (m / s) is the length of the preceding vehicle; 2.2) Calculate the vehicle's lateral motion collision time based on the lateral distance between the vehicle and the lane line:

[0007] is the lateral distance between the vehicle and the lane line; is the vehicle heading angle deviation; are the longitudinal and lateral speeds of the vehicle, respectively; 2.3) The risk level of the main vehicle is determined based on the preset thresholds as follows: Vertical high risk: ; Vertical medium risk: When hour; Vertical low risk: ; Lateral high risk: or ; 3) At the lane markings, arc-shaped LED units are arranged at equal intervals, including the following logic control displays: 3.1) Red warning: Light up the LED in the area from the front of the moving vehicle to the rear of the preceding vehicle in red; 3.2) Yellow warning: Light up the LEDs in the area from the front of the moving vehicle to the rear of the preceding vehicle in yellow; 3.3) Green release: The LED light strip in the range from the front of the moving vehicle to the rear of the preceding vehicle lights up green and lasts Later gradually disappeared ; 4) Side wall LED light strips are arranged at equal intervals on the outer side wall of the lane, and the luminous length of the side wall LED light strips is adjusted With interval , generate a visual approach effect: 5) Trigger an early warning based on the real-time calculated risk level of the host vehicle; specifically: Triggering longitudinal warning: Based on longitudinal high risk, longitudinal medium risk and longitudinal low risk, the arc LED unit at the lane line triggers red warning, yellow warning and green cancellation respectively; Triggering lateral warning: According to the high lateral risk, the arc-shaped LED unit on the corresponding side turns red and the side wall LED light strips arranged at equal intervals on the outer wall of the lane are triggered according to the vehicle speed to warn.

[0008] According to the above solution, in step 3), when rainy and foggy weather is detected, The judgment threshold is set at 1.2 times the original threshold.

[0009] According to the above solution, the interval between the arc-shaped LED units in step 3) is set to 10m.

[0010] According to the above solution, the distance between the light-emitting units in the LED light strip in step 4) is set to 5m.

[0011] According to the above solution, in step 4), by adjusting the luminous length of the side wall LED light strip With interval , generate visual approach effect, the specific settings are as follows: Edge Rate

[0012] When triggered, according to the main vehicle speed Dynamically adjust the luminous length of the side wall LED light strip corresponding to the main vehicle With interval : .

[0013] According to the above scheme, in step 1), the installation height of the microwave radar array is , the detection angle in the horizontal direction is , the detection angle vertical direction is , .

[0014] According to the above scheme, the arc-shaped LED unit in step 3) adopts PWM dimming technology, and the brightness adjustment range is , chromaticity coordinates meet the CIE 1931 standard.

[0015] The beneficial effects produced by the present invention are: In terms of longitudinal risk control, the method of the present invention uses dynamic wake display to shorten the braking response time of the rear vehicle, significantly reducing the rear-end collision accident rate in tunnels; the lateral deviation warning is linked to the millimeter-wave radar and optical warning to control the lateral offset detection error within a certain range, which can effectively reduce side collision accidents in curve scenarios.

[0016] The speed control strategy dynamically adjusts the edge rate so that the vehicle can enter the tunnel The curved LED unit design ensures the visibility of warnings at different viewing angles. It can still maintain the perception of continuous light bands at vehicle speeds, breaking through the visual afterimage limitations of traditional strip LEDs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which: Figure 1 is a flow chart of a method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of an early warning in a tunnel scenario according to an embodiment of the present invention; Figure 3 This is a schematic diagram of an early warning in a bridge scenario according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] like Figure 1 As shown, a dynamic vehicle trail display and lateral collision avoidance warning method includes the following steps: 1) Traffic data collection; The microwave radar arrays and roadside units (RSUs) arranged at intervals on tunnels and bridges collect the following traffic data of the main vehicle and surrounding vehicles in real time, including: speed , horizontal coordinate , longitudinal acceleration , lateral acceleration and the vehicle commander ; In the horizontal coordinate system, the positive direction of the x-axis is consistent with the direction of the car's travel, and the horizontal direction perpendicular to the travel direction is defined as the y-axis; The installation height of the microwave radar array is , the detection angle in the horizontal direction is , the detection angle vertical direction is , .

[0020] The roadside unit is equipped with a GNSS / INS combined positioning system. , ,

[0021] 2) Dynamic assessment of collision risk; 2.1) Calculate the collision time between the main vehicle and the preceding vehicle in the same lane based on the relative position of the vehicles : ; ) is the x-axis Frenet coordinate of the front vehicle, is the x-axis Frenet coordinate of the front of the rear vehicle; Frenet coordinates are obtained by transforming the horizontal coordinate system: Assume that the parameterized representation of the road centerline in the UTM coordinate system is:

[0022] Where s is the length of the arc along the reference line For the vehicle's current position , Frenet coordinate transformation needs to be solved:

[0023]

[0024] in is the reference normal Solved by Newton's iterative method

[0025] in

[0026]

[0027] The transformed Frenet coordinates are marked as ( , ); is the longitudinal speed of the preceding vehicle; is the longitudinal speed of the following vehicle (m / s) is the length of the preceding vehicle; 2.2) Calculate the vehicle's lateral motion collision time based on the lateral distance between the vehicle and the lane line:

[0028] is the lateral distance between the vehicle and the lane line; is the vehicle heading angle deviation; are the longitudinal and lateral speeds of the vehicle, respectively; 2.3) The risk level of the main vehicle is determined based on the preset thresholds as follows: Vertical high risk: ; Vertical medium risk: When hour; Vertical low risk: ; Lateral high risk: or ; When rainy or foggy weather is detected, The judgment threshold is set to 1.2 times the original threshold 3) At the lane line or lane divider The arc-shaped LED units are arranged at equal intervals, including the following logic control displays: 3.1) Red warning: Light up the LED in the area from the front of the moving vehicle to the rear of the preceding vehicle in red; 3.2) Yellow warning: Light up the LEDs in the area from the front of the moving vehicle to the rear of the preceding vehicle in yellow; 3.3) Green release: The LED light strip in the range from the front of the moving vehicle to the rear of the preceding vehicle lights up green and lasts Later gradually disappeared

[0029] The arc-shaped LED unit adopts PWM dimming technology, and the brightness adjustment range is , the chromaticity coordinates meet the CIE 1931 standard: red:

[0030] yellow:

[0031] green: ; 4) Lane outer wall is evenly spaced (every Arrangement) Arrange the side wall LED light strips and adjust the luminous length of the side wall LED light strips With interval , generate a visual approach effect: 5) If Figure 2 and Figure 3 , based on the real-time calculated risk level of the main vehicle, trigger an early warning; specifically: Triggering longitudinal warning: Based on longitudinal high risk, longitudinal medium risk and longitudinal low risk, the arc LED unit at the lane line triggers red warning, yellow warning and green cancellation respectively; Red alert: When When the LEDs in the range from the front of the vehicle to the rear of the preceding vehicle are all on , the color is red; Yellow alert: When the LED is lit (brightness ), the color is yellow; Green Release: The light is green and keeps on Then it gradually disappeared; ; Triggering lateral warning: According to the high lateral risk, the arc-shaped LED unit on the corresponding side turns red and the side wall LED light strips arranged at equal intervals on the outer wall of the lane are triggered according to the vehicle speed to warn.

[0032] Figure 2 Figure 3 The system deployment in tunnel and bridge scenarios is demonstrated respectively, focusing on the light strip change logic for longitudinal risk warning (full red light), transition state (segmented yellow light display) and safe state (green light gradually fading), while marking the lane line red light warning area when lateral deviation is triggered.

[0033] After receiving the warning signal, the on-board OBU performs graded braking control: Level 1 warning : Trigger dashboard warning icon and sound prompt Level 2 warning : Automatically apply Slow braking emergency braking : Activate the AEB system (Automatic Emergency Braking System) Full brake It should be understood that those skilled in the art can make improvements or changes based on the above description, and all such improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A dynamic vehicle wake display and lateral collision avoidance warning method, characterized in that: The following steps are involved: 1) Traffic data collection; The microwave radar arrays and roadside units (RSUs) arranged at intervals on tunnels and bridges collect the following traffic data of the main vehicle and surrounding vehicles in real time, including: speed, horizontal coordinates , longitudinal acceleration, lateral acceleration and vehicle length; In the horizontal coordinate system, the positive direction of the x-axis is consistent with the direction of the car's travel, and the horizontal direction perpendicular to the travel direction is defined as the y-axis; 2) Dynamic assessment of collision risk; 2.1) Calculate the collision time between the main vehicle and the preceding vehicle in the same lane based on the relative position of the vehicles : 2.2) Calculate the vehicle's lateral motion collision time based on the lateral distance between the vehicle and the lane line : 2.3) The risk level of the main vehicle is determined based on the preset thresholds as follows: Vertical high risk: ; Vertical medium risk: When hour; Vertical low risk: ; Lateral high risk: or ; 3) At the lane markings, arc-shaped LED units are arranged at equal intervals, including the following logic control displays: 3.1) Red warning: Light up the LED in the area from the front of the moving vehicle to the rear of the preceding vehicle in red; 3.2) Yellow warning: Light up the LEDs in the area from the front of the moving vehicle to the rear of the preceding vehicle in yellow; 3.3) Green release: The LED light strip in the range from the front of the moving vehicle to the rear of the preceding vehicle lights up green and lasts Gradually disappear ; 4) Side wall LED light strips are arranged at equal intervals on the outer side wall of the lane, and the luminous length of the side wall LED light strips is adjusted With interval , generate a visual approach effect: 5) Trigger an early warning based on the real-time calculated risk level of the host vehicle; specifically: Triggering longitudinal warning: Based on longitudinal high risk, longitudinal medium risk and longitudinal low risk, the arc LED unit at the lane line triggers red warning, yellow warning and green cancellation respectively; Triggering lateral warning: According to the high lateral risk, the arc-shaped LED unit on the corresponding side turns red and the side wall LED light strips arranged at equal intervals on the outer wall of the lane are triggered according to the vehicle speed to warn.

2. The method for dynamic vehicle wake display and lateral collision avoidance according to claim 1, characterized in that: In step 2), the collision time between the main vehicle and the preceding vehicle in the same lane is calculated. , using the following formula: ; ； is the x-axis Frenet coordinate of the front vehicle, is the x-axis Frenet coordinate of the following vehicle; is the longitudinal speed of the preceding vehicle; is the longitudinal speed of the following vehicle; The length of the main vehicle.

3. The method for dynamic vehicle wake display and lateral collision avoidance according to claim 1, characterized in that: In step 2), calculate the vehicle's lateral motion collision time , using the following formula: is the lateral distance between the vehicle and the lane line; is the vehicle heading angle deviation; are the longitudinal and lateral velocities of the vehicle, respectively.

4. The method for dynamic vehicle wake display and lateral collision avoidance according to claim 1, characterized in that: In step 3), when rainy or foggy weather is detected, The judgment threshold is set at 1.2 times the original threshold.

5. The method for dynamic vehicle wake display and lateral collision avoidance according to claim 1, characterized in that: In step 3), the interval between the arc-shaped LED units is set to 10m.

6. The method for dynamic vehicle wake display and lateral collision avoidance according to claim 1, characterized in that: In step 4), the distance between the light-emitting units in the LED light strip is set to 5m.

7. The method for dynamic vehicle wake display and lateral collision avoidance according to claim 1, characterized in that: In step 4), by adjusting the luminous length of the side wall LED light strip With interval , generate visual approach effect, the specific settings are as follows: Edge Rate in, When triggered, according to the main vehicle speed Dynamically adjust the luminous length of the side wall LED light strip corresponding to the main vehicle With interval : 。 8. The method for dynamic vehicle wake display and lateral collision avoidance according to claim 1, characterized in that: In step 1), the installation height of the microwave radar array is , the detection angle in the horizontal direction is , the detection angle vertical direction is , .

9. The method for dynamic vehicle wake display and lateral collision avoidance according to claim 1, characterized in that: In step 3), the arc-shaped LED unit adopts PWM dimming technology, and the brightness adjustment range is , chromaticity coordinates meet the CIE 1931 standard.

10. An electronic device, characterized in that: include: one or more processors; as well as a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors are enabled to perform the method according to any one of claims 1 to 9.

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