Millimeter-Wave Radar-Based Vehicle Collision Warning System

Abstract

The present invention relates to the field of vehicle safety and discloses a vehicle collision prevention warning system based on millimeter-wave radar. The key points of its technical solution include a millimeter-wave radar, a data acquisition end, a data processing end, a reminder module, and a speed regulation module. The speed regulation module is used to adjust the speed of its own vehicle. The data acquisition end includes a data acquisition module, which is provided with a millimeter-wave radar to obtain the distances between its own vehicle and the vehicle in front and the vehicle behind in real time according to the millimeter-wave radar. The data acquisition end generates the front vehicle distance data and the rear vehicle distance data, calculates the driving speeds of the front vehicle and the rear vehicle, and then obtains the front vehicle collision time and the rear vehicle collision time. A preset safety time range is set in the data processing end, and the speed regulation module is used to adjust the speed of its own vehicle so that the first absolute difference is within the safety time range to ensure the distances between its own vehicle and the vehicles in front and behind and prevent collisions from occurring.

Description

Technical Field

[0001] The present invention relates to the field of vehicle safety, and more specifically to a vehicle collision avoidance warning system based on millimeter-wave radar. Background Art

[0002] An automotive automatic collision avoidance system is part of an intelligent car. An automotive collision avoidance system is an intelligent device that prevents a vehicle from colliding. It can automatically detect vehicles, pedestrians, or other obstacle objects that may collide with the vehicle, issue an alarm, or simultaneously take measures such as braking or avoidance to avoid a collision.

[0003] In the prior art, when a vehicle is driving, generally when the vehicle encounters a possible collision with the vehicle in front, the automotive automatic collision avoidance system will take emergency braking. During the emergency braking process, there may be insufficient braking distance, resulting in a collision with the vehicle in front, or due to the emergency braking, the vehicle behind may collide with its own vehicle. Summary of the Invention

[0004] Aiming at the deficiencies existing in the prior art, the purpose of the present invention is to provide a vehicle collision avoidance warning system based on millimeter-wave radar for controlling the distance between vehicles.

[0005] To achieve the above object, the present invention provides the following technical solution: A vehicle collision avoidance warning system based on millimeter-wave radar includes a millimeter-wave radar, a data acquisition end, a data processing end, a reminder module, and a speed regulation module. The speed regulation module is used to adjust the speed of its own vehicle.

[0006] The data acquisition end includes a data acquisition module. The data acquisition module uses the millimeter-wave radar to continuously obtain the distance between its own vehicle and the vehicle in front in real time and generate the distance data of the vehicle in front, and continuously obtain the distance between its own vehicle and the vehicle behind in real time and generate the distance data of the vehicle behind, and send the distance data of the vehicle in front and the distance data of the vehicle behind to the data processing end.

[0007] A safety time range is preset in the data processing end. The data processing end generates the collision time of the vehicle in front according to the distance data of the vehicle in front, and generates the collision time of the vehicle behind according to the distance data of the vehicle behind.

[0008] The data processing end includes a comparison module. The absolute value of the difference between the collision time of the vehicle in front and the collision time of the vehicle behind is the first absolute difference. The comparison module compares the first absolute difference with the safety time range and sends the first comparison value to the speed regulation module. The speed regulation module adjusts the speed of its own vehicle according to the first comparison value so that the first absolute difference is within the safety time range.

[0009] A collision warning time is preset in the data processing terminal. The comparison module compares the front vehicle collision time and the rear vehicle collision time with the collision warning time respectively. When the front vehicle collision time or the rear vehicle collision time is less than the collision warning time, the reminder module sends a reminder signal to the driver.

[0010] As a further improvement of the present invention, the data acquisition module uses the millimeter-wave radar to obtain the distance between the vehicle itself and the vehicle on the left in real time and generates left vehicle distance data, obtains the distance between the vehicle itself and the vehicle on the right in real time and generates right vehicle distance data, and sends the left vehicle distance data and the right vehicle distance data to the data processing terminal. A no-vehicle distance data is preset in the data processing terminal. The comparison module compares the no-vehicle distance data with the left vehicle distance data and the right vehicle distance data respectively. When the left vehicle distance data is greater than the no-vehicle distance data, it means there is no vehicle on the left side of the vehicle itself. When the right vehicle distance data is greater than the no-vehicle distance data, it means there is no vehicle on the right side of the vehicle itself.

[0011] As a further improvement of the present invention, the left vehicle distance data includes first front vehicle head distance data and first rear vehicle tail distance data. The first front vehicle head distance data represents the interval distance between the front of the vehicle itself and the front of the left vehicle. The first rear vehicle tail distance data represents the interval distance between the rear of the vehicle itself and the rear of the left vehicle. The difference between the first front vehicle head distance data and the first rear vehicle tail distance data is the first difference. The left vehicle steering angle is calculated through the change rate of the first difference. The right vehicle distance data includes second front vehicle head distance data and second rear vehicle tail distance data. The second front vehicle head distance data represents the interval distance between the front of the vehicle itself and the front of the right vehicle. The second rear vehicle tail distance data represents the interval distance between the rear of the vehicle itself and the rear of the right vehicle. The difference between the second front vehicle head distance data and the second rear vehicle tail distance data is the second difference. The right vehicle steering angle is calculated through the change rate of the second difference.

[0012] As a further improvement of the present invention, when the first front vehicle head distance data is greater than the first rear vehicle tail distance data, the first difference is positive. When the second front vehicle head distance data is greater than the second rear vehicle tail distance data, the second difference is positive. An anti-collision distance is preset in the data acquisition module. When the first difference is positive, the first rear vehicle tail distance data is greater than the anti-collision distance, and both the front vehicle collision time and the rear vehicle collision time are less than the collision warning time, the vehicle itself drives into the left lane. When the second difference is positive, the second rear vehicle tail distance data is greater than the anti-collision distance, and both the front vehicle collision time and the rear vehicle collision time are less than the collision warning time, the vehicle itself drives into the right lane.

[0013] As a further improvement of the present invention, the anti-collision distance includes the width of the own vehicle and the spacing distance, the range of the spacing distance is one-fifth to one-third of the width of the own vehicle, the data acquisition module collects the driving data of the left vehicle in real time through the millimeter-wave radar, and the driving data of the left vehicle represents the vertical distance between the rear end of the left vehicle and the rear end of the own vehicle or the vertical distance between the front end of the left vehicle and the front end of the own vehicle in the driving direction of the own vehicle. The comparison module calculates the driving speed of the left vehicle based on the driving data of the left vehicle and the speed of the own vehicle, and generates a speed difference of the left vehicle. The data acquisition module collects the driving data of the right vehicle in real time through the millimeter-wave radar, and the driving data of the right vehicle represents the distance between the rear end of the right vehicle and the rear end of the own vehicle or the distance between the front end of the right vehicle and the front end of the own vehicle in the driving direction of the own vehicle. The comparison module calculates the driving speed of the right vehicle based on the driving data of the right vehicle and the speed of the own vehicle, and generates a speed difference of the right vehicle. The data processing end is configured with a speed difference table, and the speed difference table is configured with spacing distance data. The data processing end retrieves the corresponding spacing distance from the speed difference table according to the speed difference of the left vehicle or the speed difference of the right vehicle.

[0014] As a further improvement of the present invention, it further includes a steering module. A close safety range is preset in the data processing end, and the close safety range represents the safety distance range between the own vehicle and the left and right vehicles. The data processing end generates a left vehicle collision time based on the left vehicle distance data and generates a right vehicle collision time based on the right vehicle distance data. The absolute value of the difference between the left vehicle collision time and the right vehicle collision time is the second absolute difference. The comparison module compares the second absolute difference with the close safety range and sends the second comparison value to the steering module. The steering module steers the own vehicle according to the second comparison value so that the second absolute difference is within the close safety range.

[0015] As a further improvement of the present invention, a head-on collision distance is preset in the data processing end. When the first difference is negative and the first head distance data is less than the head-on collision distance, the steering module controls the own vehicle to turn towards the right. When the second difference is negative and the second head distance data is less than the head-on collision distance, the steering module controls the own vehicle to turn towards the left.

[0016] As a further improvement of the present invention, a rear-end collision distance and a steering angle are preset in the data processing end. When the first difference is positive and the first rear-end distance is less than the rear-end collision distance, the steering module turns towards the left according to the steering angle. When the second difference is positive and the second rear-end distance is less than the rear-end collision distance, the steering module turns towards the right according to the steering angle.

[0017] As a further improvement of the present invention, the data processing end is preset with a speedometer and a safe speed, the speedometer is configured with a speed angle value, the data processing end retrieves the corresponding speed angle value based on the speed of the own vehicle, the speed angle value is inversely proportional to the speed of the own vehicle, the speed angle value includes a safety angle value, when the speed of the own vehicle is greater than or equal to the safe speed, the steering angle takes the safety angle value.

[0018] As a further improvement of the present invention, a safe deceleration value is preset in the speed control module. When the first difference and the second difference are both negative, and the first vehicle front distance data and the second vehicle front distance data are both less than the vehicle front collision distance, the speed control module decelerates its own vehicle according to the safe deceleration value.

[0019] Beneficial effects of the present invention: The present invention is provided with a millimeter-wave radar, and the distance between the own vehicle and the front vehicle and the rear vehicle is obtained in real time according to the millimeter-wave radar, and the front vehicle distance data and the rear vehicle distance data are generated through the data acquisition end, and the driving speeds of the front vehicle and the rear vehicle are calculated, thereby obtaining the front vehicle collision time and the rear vehicle collision time, and presetting a safe time range in the data processing end, and adjusting the speed of the own vehicle through the speed control module so that the first absolute difference is within the safe time range, so as to ensure the distance between the own vehicle and the front and rear vehicles and prevent collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural block diagram of the present invention.

[0021] Figure numerals: 1. millimeter wave radar; 2. data acquisition end; 3. data processing end; 4. reminder module; 5. speed control module; 6. steering module. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The same parts are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "bottom surface" and "top surface", "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0023] Reference Figure 1 As shown, the vehicle anti-collision warning system based on millimeter wave radar of this embodiment includes a millimeter wave radar 1, a data acquisition terminal 2, a data processing terminal 3, a reminder module 4 and a speed control module 5, and the speed control module 5 is used to adjust the speed of the vehicle itself;

[0024] The data acquisition terminal 2 includes a data acquisition module. The data acquisition module uses the millimeter-wave radar 1 to obtain the distance between its own vehicle and the vehicle ahead in real time and generates the distance data of the vehicle ahead. Based on multiple sets of the distance data of the vehicle ahead, it compares the distance data of the vehicle ahead in the previous time period with that in the subsequent time period to calculate the change in the distance between the vehicle ahead and its own vehicle, and determines whether the vehicle ahead is approaching or moving away from its own vehicle. Then, based on the driving speed of its own vehicle, it further obtains the driving speed of the vehicle ahead. It also obtains the distance between its own vehicle and the vehicle behind in real time and generates the distance data of the vehicle behind. Based on multiple sets of the distance data of the vehicle behind, it compares the distance data of the vehicle behind in the previous time period with that in the subsequent time period to calculate the change in the distance between the vehicle behind and its own vehicle, and determines whether the vehicle behind is approaching or moving away from its own vehicle. Then, based on the driving speed of its own vehicle, it obtains the driving speed of the vehicle behind. It sends the distance data of the vehicle ahead and the distance data of the vehicle behind to the data processing terminal 3;

[0025] The data processing terminal 3 presets a safety time range, which refers to the time range required for its own vehicle to brake. The data processing terminal 3 generates the time to collision of the vehicle ahead based on the distance data of the vehicle ahead and generates the time to collision of the vehicle behind based on the distance data of the vehicle behind. The data processing terminal 3 calculates the speed difference based on the driving speeds of the vehicle ahead and the vehicle behind and the speed of its own vehicle. Based on the speed difference and the distance between the vehicle ahead or the vehicle behind and its own vehicle, it obtains the time to collision of the vehicle ahead and the time to collision of the vehicle behind;

[0026] The data processing terminal 3 includes a comparison module. The absolute value of the difference between the collision time of the vehicle in front and the collision time of the vehicle behind is the first absolute difference. The comparison module compares the first absolute difference with the safe time range and sends the first comparison value to the speed regulation module 5. If the collision time of the vehicle in front is 5 seconds and the collision time of the vehicle behind is 3 seconds, the first absolute difference is 2 seconds. If the safe time range is from 0 to 0.5 seconds and the first comparison value is the difference between 2 and 0 or 0.5, then the value of the first absolute difference needs to be adjusted so that it is within the range of 0 to 0.5 seconds. The speed regulation module 5 adjusts the speed of its own vehicle according to the first comparison value so that the first absolute difference is within the safe time range, ensuring a safe distance between its own vehicle and the vehicles in front and behind, enabling its own vehicle to have enough distance to brake and also avoiding the vehicle behind from rear-ending when its own vehicle brakes. It also includes a steering module 6 which is used to steer its own vehicle. There is a preset close-to-safe range in the data processing terminal 3, and the close-to-safe range represents the safe distance range between its own vehicle and the vehicles on the left and right. The data processing terminal 3 generates the collision time of the vehicle on the left according to the distance data of the vehicle on the left and generates the collision time of the vehicle on the right according to the distance data of the vehicle on the right. The absolute value of the difference between the collision time of the vehicle on the left and the collision time of the vehicle on the right is the second absolute difference. The comparison module compares the second absolute difference with the close-to-safe range and sends the second comparison value to the steering module 6. If the collision time of the vehicle on the left is 5 seconds and the collision time of the vehicle on the right is 3 seconds, the second absolute difference is 2 seconds. If the safe time range is from 0.5 to 1 second and the second comparison value is the difference between 2 and 0.5 or 1, then the value of the second absolute difference needs to be adjusted so that it is within the range of 0.5 to 1 second. The steering module 6 steers its own vehicle according to the second comparison value, adjusting the position of its own vehicle between the vehicles on the left and right by steering so that the second absolute difference is within the close-to-safe range and preventing its own vehicle from colliding with the vehicles on the left and right sides.

[0027] There is a preset collision warning time in the data processing terminal 3. The comparison module compares the collision time of the vehicle in front and the collision time of the vehicle behind with the collision warning time respectively. If the collision time of the vehicle in front is 3 seconds and the collision time of the vehicle behind is 6 seconds, and the collision warning time is 4 seconds, then the collision time of the vehicle in front, 3 seconds, is less than the collision warning time of 4 seconds, and the reminder module 4 sends out a reminder signal. When the collision time of the vehicle in front or the collision time of the vehicle behind is less than the collision warning time, the reminder module 4 sends a reminder signal to the driver. When the reminder module 4 sends out a reminder signal, the driver can choose to change lanes or remind the vehicles in front and behind to avoid collisions.

[0028] The data acquisition module obtains the distance between its own vehicle and the vehicle on the left in real time through the millimeter-wave radar 1 and generates the left vehicle distance data, obtains the distance between its own vehicle and the vehicle on the right in real time and generates the right vehicle distance data, and sends the left vehicle distance data and the right vehicle distance data to the data processing end 3. There is preset no-vehicle distance data in the data processing end 3. The comparison module compares the no-vehicle distance data with the left vehicle distance data and the right vehicle distance data respectively. When the left vehicle distance data is greater than the no-vehicle distance data, it means there is no vehicle on the left side of its own vehicle. When the right vehicle distance data is too small, it can choose to turn towards the left. When the right vehicle distance data is greater than the no-vehicle distance data, it means there is no vehicle on the right side of its own vehicle. When the right vehicle distance data is too small, it can choose to turn towards the right to avoid collisions with the vehicles on both the left and right sides. If the left vehicle distance data is 10 meters and the no-vehicle distance data is determined to be 8 meters, it means there is no vehicle in the left lane. If the left vehicle distance data is 2 meters and the right vehicle distance data is 10 meters, then its own vehicle turns and shifts to the right.

[0029] The left vehicle distance data includes the first front vehicle distance data and the first rear vehicle distance data. The first front vehicle distance data represents the interval distance between the front of its own vehicle and the front of the left vehicle. The interval distance represents the distance in the direction perpendicular to the driving direction of its own vehicle. The first rear vehicle distance data represents the interval distance between the rear of its own vehicle and the rear of the left vehicle. The difference between the first front vehicle distance data and the first rear vehicle distance data is the first difference. The left vehicle steering angle is calculated through the change rate of the first difference. When the first difference is positive, the left vehicle travels away from its own vehicle. When the first difference is negative, the left vehicle travels closer to its own vehicle. The right vehicle distance data includes the second front vehicle distance data and the second rear vehicle distance data. The second front vehicle distance data represents the interval distance between the front of its own vehicle and the front of the right vehicle. The second rear vehicle distance data represents the interval distance between the rear of its own vehicle and the rear of the right vehicle. The difference between the second front vehicle distance data and the second rear vehicle distance data is the second difference. The right vehicle steering angle is calculated through the change rate of the second difference. When the second difference is positive, the right vehicle travels away from its own vehicle. When the second difference is negative, the right vehicle travels closer to its own vehicle.

[0030] When the first front vehicle distance data is greater than the first rear vehicle distance data, the first difference is positive. At this time, the left vehicle travels away from its own vehicle. When the second front vehicle distance data is greater than the second rear vehicle distance data, the second difference is positive. At this time, the right vehicle travels away from its own vehicle. There is a preset anti-collision distance in the data acquisition module. When the first difference is positive, the first rear vehicle distance data is greater than the anti-collision distance, and both the front vehicle collision time and the rear vehicle collision time are less than the collision warning time, the own vehicle drives into the left lane, increasing the distance between the own vehicle and the right vehicle to prevent collisions. When the second difference is positive, the second rear vehicle distance data is greater than the anti-collision distance, and both the front vehicle collision time and the rear vehicle collision time are less than the collision warning time, the own vehicle drives into the right lane, increasing the distance between the own vehicle and the left vehicle to prevent collisions with the left vehicle.

[0031] The anti-collision distance includes the width of the own vehicle and the interval distance. The range of the interval distance is one-fifth to one-third of the width of the own vehicle. If the width of the own vehicle is 1.8 meters, the interval distance can be set to any value between 0.36 and 0.6 meters. The setting of the interval distance prevents the distance between the own vehicle and the vehicles on both the left and right sides from being too close due to the driver's judgment error, providing a safeguard for the driver's judgment error. The data acquisition module uses millimeter-wave radar 1 to collect the driving data of the left vehicle in real time. The driving data of the left vehicle represents the vertical distance between the rear of the left vehicle and the rear of the own vehicle or the vertical distance between the front of the left vehicle and the front of the own vehicle in the driving direction of the own vehicle. The comparison module calculates the driving speed of the left vehicle based on the driving data of the left vehicle and the speed of the own vehicle and generates a speed difference of the left vehicle. The data acquisition module uses millimeter-wave radar 1 to collect the driving data of the right vehicle in real time. The driving data of the right vehicle represents the distance between the rear of the right vehicle and the rear of the own vehicle or the distance between the front of the right vehicle and the front of the own vehicle in the driving direction of the own vehicle. The comparison module calculates the driving speed of the right vehicle based on the driving data of the right vehicle and the speed of the own vehicle and generates a speed difference of the right vehicle. The data processing terminal 3 is configured with a speed difference table, and the speed difference table is configured with interval distance data. The data processing terminal 3 retrieves the corresponding interval distance from the speed difference table according to the speed difference of the left vehicle or the speed difference of the right vehicle.

[0032] The data processing terminal 3 has a preset front vehicle collision distance. When the first difference is negative and the first front vehicle distance data is less than the front vehicle collision distance, the steering module 6 controls the own vehicle to turn towards the right. When the second difference is negative and the second front vehicle distance data is less than the front vehicle collision distance, the steering module 6 controls the own vehicle to turn towards the left.

[0033] The data processing terminal 3 is preset with a rear-end collision distance and a steering angle. When the first difference is positive and the first rear distance is less than the rear-end collision distance, the steering module 6 rotates towards the left according to the steering angle. When the second difference is positive and the second rear distance is less than the rear-end collision distance, the steering module 6 rotates towards the right according to the steering angle.

[0034] The data processing terminal 3 is preset with a speedometer and a safe vehicle speed. The speedometer is configured with speed angle values. The data processing terminal 3 retrieves the corresponding speed angle value according to the speed of its own vehicle. The speed angle value is inversely proportional to the speed of its own vehicle. The speed angle value includes a safe angle value. When the speed of its own vehicle is greater than or equal to the safe vehicle speed, the steering angle takes the value of the safe angle value. The setting of the safe angle value prevents the vehicle from tipping over when the vehicle turns due to the excessive speed of its own vehicle. The safe vehicle speed is set at 60 km / h. At this time, the safe angle value is 25 degrees. If the current vehicle speed exceeds 60 km / h, the maximum steering angle of the vehicle is 25 degrees.

[0035] The speed regulation module 5 is preset with a safe deceleration value. When both the first difference and the second difference are negative, and both the first front distance data and the second front distance data are less than the front-end collision distance, the speed regulation module 5 decelerates its own vehicle according to the safe deceleration value. After deceleration, the rear of its own vehicle moves backward relative to the vehicles on both sides, preventing its own vehicle from being collided by the vehicles on both sides.

[0036] The above is only the preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. A vehicle collision avoidance warning system based on a millimeter-wave radar, comprising a millimeter-wave radar (1), a data acquisition terminal (2), a data processing terminal (3), a reminder module (4) and a speed regulation module (5), characterized in that: The speed regulation module (5) is used to regulate the speed of its own vehicle; The data acquisition end (2) includes a data acquisition module. The data acquisition module uses the millimeter-wave radar (1) to obtain the distance between its own vehicle and the vehicle in front in real time and generate the distance data of the vehicle in front, obtain the distance between its own vehicle and the vehicle behind in real time and generate the distance data of the vehicle behind, and send the distance data of the vehicle in front and the distance data of the vehicle behind to the data processing end (3); A safety time range is preset in the data processing end (3). The data processing end (3) generates the time to collision of the vehicle in front according to the distance data of the vehicle in front, and generates the time to collision of the vehicle behind according to the distance data of the vehicle behind; The data processing end (3) includes a comparison module. The absolute value of the difference between the time to collision of the vehicle in front and the time to collision of the vehicle behind is the first absolute difference. The comparison module compares the first absolute difference with the safety time range and sends the first comparison value to the speed regulation module (5). The speed regulation module (5) regulates the speed of its own vehicle according to the first comparison value so that the first absolute difference is within the safety time range; A collision warning time is preset in the data processing end (3). The comparison module compares the time to collision of the vehicle in front and the time to collision of the vehicle behind with the collision warning time respectively. When the time to collision of the vehicle in front or the time to collision of the vehicle behind is less than the collision warning time, the reminder module (4) sends a reminder signal to the driver; The data acquisition module uses the millimeter-wave radar (1) to obtain the distance between its own vehicle and the vehicle on the left in real time and generate the distance data of the vehicle on the left, obtain the distance between its own vehicle and the vehicle on the right in real time and generate the distance data of the vehicle on the right, and send the distance data of the vehicle on the left and the distance data of the vehicle on the right to the data processing end (3). A no-vehicle distance data is preset in the data processing end (3). The comparison module compares the no-vehicle distance data with the distance data of the vehicle on the left and the distance data of the vehicle on the right respectively. When the distance data of the vehicle on the left is greater than the no-vehicle distance data, it means there is no vehicle on the left side of its own vehicle. When the distance data of the vehicle on the right is greater than the no-vehicle distance data, it means there is no vehicle on the right side of its own vehicle; The left vehicle distance data includes first front vehicle head distance data and first rear vehicle head distance data. The first front vehicle head distance data represents the interval distance between the front vehicle head of its own vehicle and the front vehicle head of the left vehicle. The first rear vehicle head distance data represents the interval distance between the rear vehicle head of its own vehicle and the rear vehicle head of the left vehicle. The difference between the first front vehicle head distance data and the first rear vehicle head distance data is the first difference. The left vehicle steering angle is calculated through the change rate of the first difference. The right vehicle distance data includes second front vehicle head distance data and second rear vehicle head distance data. The second front vehicle head distance data represents the interval distance between the front vehicle head of its own vehicle and the front vehicle head of the right vehicle. The second rear vehicle head distance data represents the interval distance between the rear vehicle head of its own vehicle and the rear vehicle head of the right vehicle. The difference between the second front vehicle head distance data and the second rear vehicle head distance data is the second difference. The right vehicle steering angle is calculated through the change rate of the second difference.

2. The vehicle collision avoidance warning system based on millimeter-wave radar according to claim 1, wherein: When the first front vehicle head distance data is greater than the first rear vehicle head distance data, the first difference is positive. When the second front vehicle head distance data is greater than the second rear vehicle head distance data, the second difference is positive. A collision avoidance distance is preset in the data acquisition module. When the first difference is positive, the first rear vehicle head distance data is greater than the collision avoidance distance, and both the front vehicle collision time and the rear vehicle collision time are less than the collision warning time, its own vehicle enters the left lane. When the second difference is positive, the second rear vehicle head distance data is greater than the collision avoidance distance, and both the front vehicle collision time and the rear vehicle collision time are less than the collision warning time, its own vehicle enters the right lane.

3. The vehicle collision avoidance warning system based on millimeter-wave radar according to claim 2, wherein: The collision avoidance distance includes the width of its own vehicle and an interval distance. The range of the interval distance is one-fifth to one-third of the width of its own vehicle. The data acquisition module collects the left vehicle driving data in real time through the millimeter wave radar (1). The left vehicle driving data represents the vertical distance between the rear vehicle head of the left vehicle and the rear vehicle head of its own vehicle or the vertical distance between the front vehicle head of the left vehicle and the front vehicle head of its own vehicle in the driving direction of its own vehicle. The comparison module calculates the left vehicle driving speed based on the left vehicle driving data and the speed of its own vehicle, and generates a left vehicle speed difference. The data acquisition module collects the right vehicle driving data in real time through the millimeter wave radar (1). The right vehicle driving data represents the distance between the rear vehicle head of the right vehicle and the rear vehicle head of its own vehicle or the distance between the front vehicle head of the right vehicle and the front vehicle head of its own vehicle in the driving direction of its own vehicle. The comparison module calculates the right vehicle driving speed based on the right vehicle driving data and the speed of its own vehicle, and generates a right vehicle speed difference. The data processing terminal (3) is configured with a speed difference table, and the speed difference table is configured with interval distance data. The data processing terminal (3) retrieves the corresponding interval distance from the speed difference table according to the left vehicle speed difference or the right vehicle speed difference.

4. The vehicle collision avoidance warning system based on millimeter wave radar according to claim 2, characterized in that: The vehicle further comprises a steering module (6). The data processing end (3) is preset with a close safety range, wherein the close safety range represents a safe distance range between the vehicle itself and the left and right vehicles. The data processing end (3) generates a left vehicle collision time according to the left vehicle distance data, and generates a right vehicle collision time according to the right vehicle distance data. The absolute value of the difference between the left vehicle collision time and the right vehicle collision time is a second absolute difference. The comparison module compares the second absolute difference with the close safety range, and sends the second comparison value to the steering module (6). The steering module (6) steers the vehicle itself according to the second comparison value so that the second absolute difference is within the close safety range.

5. The vehicle collision avoidance warning system based on millimeter-wave radar according to claim 4, wherein: The data processing end (3) is preset with a frontal collision distance. When the first difference is negative and the first frontal distance data is smaller than the frontal collision distance, the steering module (6) controls the vehicle to turn to the right. When the second difference is negative and the second frontal distance data is smaller than the frontal collision distance, the steering module (6) controls the vehicle to turn to the left.

6. The vehicle collision avoidance warning system based on millimeter-wave radar according to claim 4, characterized in that: The data processing end (3) is preset with a rear-end collision distance and a steering angle. When the first difference is positive and the first rear-end distance is smaller than the rear-end collision distance, the steering module (6) rotates toward the left according to the steering angle. When the second difference is positive and the second rear-end distance is smaller than the rear-end collision distance, the steering module (6) rotates toward the right according to the steering angle.

7. The vehicle collision avoidance warning system based on millimeter wave radar according to claim 6, characterized in that: The data processing end (3) is preset with a speedometer and a safe vehicle speed, the speedometer is configured with a speed angle value, the data processing end (3) retrieves the corresponding speed angle value based on the own vehicle speed, the speed angle value is inversely proportional to the own vehicle speed, the speed angle value includes a safety angle value, and when the own vehicle speed is greater than or equal to the safe vehicle speed, the steering angle takes the safety angle value.

8. The vehicle collision avoidance warning system based on millimeter wave radar according to claim 5, characterized in that: The speed control module (5) is preset with a safe deceleration value. When the first difference and the second difference are both negative, and the first vehicle head distance data and the second vehicle head distance data are both less than the vehicle head collision distance, the speed control module (5) decelerates the own vehicle according to the safe deceleration value.

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