Accident simulation method considering the impact of intelligent vehicle forward collision warning system

Abstract

The present invention discloses an accident simulation method considering the influence of a forward collision warning system of an intelligent vehicle. The method determines whether an accident can be avoided or mitigated according to the accident simulation influenced by the forward collision warning system of the intelligent vehicle, so as to determine the potential benefits of the system. The method restores the parameters of a real accident case, and according to the categories of vulnerable persons on the road, simulates all types of accident scenarios in which vulnerable persons on the road participate in traffic, considering the parameters of the forward collision warning system, and sorts the parameters of the forward collision warning system by importance according to the accident scenario. The method modifies the accident case parameters, combines different parameters to re-simulate the accident, integrates the forward collision warning system, verifies and evaluates unknown risks or achieves accident avoidance and reduces accident hazards, and determines the expected functional safety of the intelligent vehicle integrated with the influence of the forward collision warning system of the intelligent vehicle.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to an accident simulation method taking into account the influence of a forward collision warning system of an intelligent vehicle. Background Art

[0002] According to the World Health Organization, in 2016, the number of road deaths worldwide reached 1.35 million, of which 26% were pedestrians and cyclists. The number of traffic accidents increased in 2016, and direct property losses have remained at a high level. Global traffic economic losses account for 3%, including losses caused by road traffic accident mortality and casualties, of which the greatest impact is on the economies of low- and middle-income countries. Therefore, countries around the world are working hard to study active safety technologies for intelligent vehicles and realize intelligent driving of vehicles to reduce the number of traffic accidents and economic losses. Drivers play a vital role in the complex system of people-vehicle-road-environment. Because drivers usually do not realize the rapid decrease in the driving distance after the speed increases, they overestimate the distance between the vehicle in front, resulting in insufficient reaction time when danger occurs. The number of traffic accidents in my country has decreased year by year, and the losses have also decreased year by year, but these situations still occur overall, and the problem has not been fundamentally solved. Therefore, curbing the occurrence of accidents in the cradle is the current top priority and an urgent task. Nowadays, more and more vehicles are equipped with automatic emergency systems, such as intelligent car forward collision warning systems, to improve road traffic safety and effectively protect vulnerable road users.

[0003] Safety systems can be divided into two types: active and passive. Active safety systems can avoid or reduce the severity of collisions, while passive safety systems only aim to reduce or minimize the harm after a collision occurs. In active safety functions, drivers are made aware of their surroundings and other road users, such as pedestrians or cyclists, or are warned of dangers. Active safety functions can also send action signals to drivers to respond to emergencies. In the case of intelligent car forward collision warning systems, multiple other factors need to be considered, such as determining the trigger time of the system based on the driver's reaction time to the system, and predicting the collision path between the vehicle and vulnerable road users, and determining the most appropriate trigger time to alert the driver. It can be seen that the effectiveness and timeliness of intelligent car forward collision warning systems are particularly important in avoiding collisions or reducing collision hazards in traffic. Summary of the invention

[0004] In order to solve the limitations and defects of the prior art, the present invention provides an accident simulation method considering the influence of the intelligent vehicle forward collision warning system, comprising:

[0005] collecting data based on motion parameters of the initial accident, the vulnerable road user, and objects in the surrounding environment, wherein the motion parameters include position and velocity at each time step, and the motion parameters are used to determine the position of the vulnerable road user relative to the smart car;

[0006] Setting a detection distance and a detection angle of a forward collision warning system of the smart car on a driving track of the smart car according to the position and the speed to determine whether the vulnerable road user is within a detection range of the forward collision warning system;

[0007] When the vulnerable road user is within the detection range of the forward collision warning system and is not blocked by objects in the surrounding environment, a forward collision warning is triggered at a preset time;

[0008] In the case where the vulnerable road user is obscured by objects in the surrounding environment, when the forward collision warning system detects the vulnerable road user again, delaying the triggering time of the forward collision warning;

[0009] A transmission time of a forward collision warning signal to a driver is determined, and a braking time of the driver is determined according to the transmission time and a reaction time of the driver to the forward collision warning signal.

[0010] Optionally, also include:

[0011] comparing a time of brake activation to a time of said initial incident;

[0012] If the time of brake activation is later than the time of the initial accident, determining that the forward collision warning has no effect, retaining the motion parameters of the initial accident;

[0013] If the brake activation time is earlier than the time of the initial accident, the forward collision warning system recalculates the brake activation time and uses the brake activation time instead of the time of the initial accident.

[0014] Optionally, the forward collision warning system recalculates the brake activation time, and the step of using the brake activation time to replace the time of the initial accident includes:

[0015] Calculating a new speed of the smart car according to a preset braking deceleration value;

[0016] Calculating a new position of the smart car according to the new speed and the original trajectory of the smart car;

[0017] Determining whether a bounding box of the smart car and a bounding box of the vulnerable road user intersect according to a new position and a new speed of the smart car and sizes of the smart car and the vulnerable road user;

[0018] If the bounding box of the smart car and the bounding box of the vulnerable road user do not intersect, determining that the accident will be avoided;

[0019] If the bounding box of the smart car and the bounding box of the vulnerable road user intersect, it is determined that the accident will be mitigated.

[0020] The present invention has the following beneficial effects:

[0021] The accident simulation method considering the influence of the forward collision warning system of an intelligent vehicle provided by the present invention can reconstruct accident cases and restore the parameters of real accident cases; according to the accident scene and the category of vulnerable road users, all types of vulnerable road users participating in traffic are simulated according to the detection distance of the forward collision warning system, the detection angle of the forward collision warning system, the trigger time of the forward collision warning system, and the driver's reaction time, and the importance of the forward collision warning system parameters is sorted according to the accident scene; by modifying the accident case parameters, combining different parameters to re-simulate the accident, integrating the forward collision warning system, and according to the selection of the detection distance of the forward collision warning system, the detection angle of the forward collision warning system, the trigger time of the forward collision warning system, and the driver's reaction time, the unknown risks are verified and evaluated or the accident avoidance and the reduction of accident hazards are achieved, and the expected functional safety of the intelligent vehicle integrated with the influence of the forward collision warning system of the intelligent vehicle is determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1a A structural block diagram of an accident simulation taking into account the influence of a forward collision warning system of an intelligent vehicle provided in the first embodiment of the present invention.

[0023] Figure 1b Another structural block diagram of an accident simulation taking into account the influence of a forward collision warning system of an intelligent vehicle provided in the first embodiment of the present invention.

[0024] Figure 2 A schematic diagram of a trigger model of a forward collision warning system provided in Embodiment 1 of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solution of the present invention, the accident simulation method considering the influence of the intelligent vehicle forward collision warning system provided by the present invention is described in detail below with reference to the accompanying drawings.

[0026] Embodiment 1

[0027] The problem to be solved by the present invention is: whether the intelligent vehicle forward collision warning system can effectively improve road traffic safety, for the protection of vulnerable road users, the idea of ​​reconstructing accident cases is introduced, and the potential benefits of the system are determined by judging whether the accident can be avoided or mitigated by considering the accident simulation affected by the intelligent vehicle forward collision warning system. Based on the reconstruction of real accidents, the benefits of the intelligent vehicle forward collision warning system for different vulnerable road users are evaluated according to different accident configurations.

[0028] The present invention provides a simulation method, which integrates the influence of the intelligent vehicle forward collision warning system into the motion parameters of the reconstructed accident case, analyzes the relationship between various traffic scenes and road users and the intelligent vehicle forward collision warning system, and relieves traffic pressure by increasing the effectiveness of the intelligent vehicle forward collision warning system, thereby improving the reliability and intelligence level of the automobile safety auxiliary driving system.

[0029] This embodiment provides an accident simulation method that takes into account the impact of the forward collision warning system of an intelligent vehicle. Using this simulation method, parameter analysis is performed to determine the benefits that the forward collision warning system can achieve in avoiding or mitigating collisions. In the method, different input parameters can be modified, which will involve the selection of the forward collision warning system detection distance, the forward collision warning system detection angle, the forward collision warning system trigger time, and the driver's reaction time. The performance of the forward collision warning system varies with different input parameters. Through the changes in different parameters, the potential impact of these parameter combinations on the output results (avoidance, mitigation, or no impact) can be understood.

[0030] (1) Collect the motion parameters and scenarios required for the initial accident simulation

[0031] Data is collected from the initial accident motion parameters (position, velocity) and vulnerable road users and objects in the surrounding environment. The objects in the surrounding environment will help determine when the vulnerable road user can be detected by the smart car forward collision warning system. The motion parameters consisting of position and velocity at each time step will be used to determine the position of the vulnerable road user relative to the smart car. When considering the impact of the forward collision warning system, the forward collision warning system is used to calculate the new vehicle position and velocity. Based on the position of the car, the detection distance and detection angle of the forward collision warning system on the car are placed on the driving trajectory of the car to determine whether the vulnerable road user is within the detection range of the forward collision warning system.

[0032] (2) Forward Collision Warning System Detects Vulnerable Road Users

[0033] In the case where the vulnerable road user is within the detection range of the FCV system and is not obstructed by objects in the scene, the FCV system can be triggered at a predefined theoretical time. In the case where the vulnerable road user is obstructed, the FCV system triggering time will be delayed when the vulnerable road user is detected by the FCV system again. In this way, the moment when the FCV system signal is transmitted to the driver can be determined in the simulation. Taking into account the driver's reaction time to the FCV system warning, the driver's braking time is determined.

[0034] The calculated brake activation is compared with the brake activation time of the original accident. If the brake activation occurs later than the initial accident, the FCA is considered to have no impact. In this case, the motion parameters of the original accident are retained. Otherwise, the brake activation time is recalculated by the FCA system instead of the initial accident brake activation time: the new speed of the smart car is calculated from the brake activation using a reasonable brake deceleration value; the new position of the smart car is calculated based on the original trajectory, but taking into account the new speed; the impact of the FCA on the real case is determined based on the position and speed of the smart car recalculated by the FCA system and the sizes of the smart car and the vulnerable road user, and the bounding boxes of the smart car and the vulnerable road user are used to determine whether they intersect. If they do not intersect, the accident can be avoided. Otherwise, the accident is mitigated. The size of the car is the size of the car involved in the real accident, defined in rectangular form; in the case of collision mitigation, the speed of the deceleration is calculated.

[0035] Figure 1a A structural block diagram of an accident simulation taking into account the influence of a forward collision warning system of an intelligent vehicle provided in the first embodiment of the present invention. Figure 1b Another structural block diagram of an accident simulation considering the influence of the intelligent vehicle forward collision warning system provided in the first embodiment of the present invention. Figure 1a and Figure 1b As shown, this embodiment uses the simulation method to perform parameter analysis to determine the benefits that the forward collision warning system can achieve in avoiding or mitigating collisions. In the method, different input parameters can be modified, which will involve the selection of the forward collision warning system detection distance, the forward collision warning system detection angle, the forward collision warning system trigger time, and the driver's reaction time. The performance of the forward collision warning system varies with different input parameters. Through the changes in different parameters, the potential impact of these parameter combinations on the output results (avoidance, mitigation, or no impact) can be understood.

[0036] This embodiment collects data from the initial accident motion parameters (position, speed) and vulnerable road users and objects in the surrounding environment, which will help determine when the vulnerable road user can be detected by the smart car forward collision warning system. The motion parameters consisting of position and speed at each time step will be used to determine the position of the vulnerable road user relative to the smart car.

[0037] When the FCA is considered, the FCA is used to calculate the new vehicle position and speed. Based on the vehicle's position, the FCA detection distance and detection angle on the vehicle are placed on the vehicle's driving trajectory to determine if a vulnerable road user is within the FCA detection range.

[0038] Figure 2 Schematic diagram of a trigger model of a forward collision warning system provided in Embodiment 1 of the present invention. Figure 2 As shown in the figure, the FCA trigger model shows that the FCA can be triggered at a predefined theoretical time when the vulnerable road user is in the FCA detection range and is not blocked by objects in the scene. In the case where the vulnerable road user is blocked, the FCA trigger time will be delayed when the vulnerable road user is detected by the FCA again. In this way, the moment when the FCA signal is transmitted to the driver can be determined in the simulation. Taking into account the driver's reaction time to the FCA warning, the driver's braking time is determined.

[0039] In this embodiment, if the forward collision warning system sets the collision time 2.5s earlier than the theoretical time and the driver reacts 1.1s, the brakes will be applied at a collision time (TTC) of 2.5s-1.1s=1.4s. If the vulnerable road user is obscured until the impact 1.8s ago, the brakes will be applied at a collision time of 1.8s-1.1s=0.7s.

[0040] The calculated brake activation is compared to the brake activation time of the original accident. If the brake activation occurs later than the original accident, the FCA is considered to have no effect. In this case, the motion parameters of the original accident are retained. Otherwise, the brake activation time recalculated by the FCA replaces the original accident brake activation time.

[0041] This embodiment uses reasonable brake deceleration values ​​to calculate the new speed of the smart car from the brake activation. The new position of the smart car is calculated based on the original trajectory, but taking into account the new speed. Based on the position and speed of the smart car recalculated by the forward collision warning system and the size of the smart car and the vulnerable road user, the bounding boxes of the smart car and the vulnerable road user are used to determine whether they intersect, and the impact of the forward collision warning system on the real case is judged.

[0042] If they do not intersect, the accident can be avoided. Otherwise, the accident is mitigated. The dimensions of the car are the dimensions of the car involved in the real accident, defined as a rectangular form. According to the Euro NCAP test protocol, the dimensions of a bicycle are a rectangular box with a length of 1900mm and a width of 500mm. The dimensions of a pedestrian are a rectangular box with a length of 800mm and a width of 400mm. In the case of collision mitigation, the speed of deceleration is calculated.

[0043] Generally, the road environment is relatively complex, and the vulnerable road users are mainly bicycles and pedestrians. According to relevant statistical analysis, the importance of forward collision warning system performance parameters to vulnerable road users varies. According to the road user category and calibration results, the importance of forward collision warning system important parameters is ranked as shown in Table 1 and Table 2:

[0044] Table 1 Ranking of importance of parameters in all cases of bicycles

[0045]

[0046] Table 2 Parameter importance ranking for all pedestrian cases

[0047]

[0048] The present embodiment discloses an accident simulation method considering the influence of a forward collision warning system of an intelligent vehicle, introduces the idea of ​​reconstructing an accident case, and determines the potential benefits of the system by simulating an accident considering the influence of a forward collision warning system of an intelligent vehicle to determine whether the accident can be avoided or mitigated; restores the parameters of a real accident case, and simulates all types of accident scenarios in which road vulnerable persons participate in traffic according to the categories of road vulnerable persons, considering the parameters of the forward collision warning system such as the detection distance of the forward collision warning system, the detection angle of the forward collision warning system, the trigger time of the forward collision warning system, and the driver's reaction time, and then sorts the importance of the parameters of the forward collision warning system according to the accident scenario; modifies the accident case parameters, combines different parameters to re-simulate the accident, integrates the forward collision warning system, and considers the selection of the detection distance of the forward collision warning system, the detection angle of the forward collision warning system, the trigger time of the forward collision warning system, and the driver's reaction time, so as to verify and evaluate unknown risks or achieve accident avoidance and reduce accident hazards, and determine the expected functional safety of the intelligent vehicle integrated with the influence of the forward collision warning system of the intelligent vehicle.

[0049] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. An accident simulation method considering the influence of a forward collision warning system of an intelligent vehicle, characterized in that: include: collecting data based on motion parameters of the initial accident, the vulnerable road user, and objects in the surrounding environment, wherein the motion parameters include position and velocity at each time step, and the motion parameters are used to determine the position of the vulnerable road user relative to the smart car; Setting a detection distance and a detection angle of a forward collision warning system of the smart car on a driving track of the smart car according to the position and the speed to determine whether the vulnerable road user is within a detection range of the forward collision warning system; When the vulnerable road user is within the detection range of the forward collision warning system and is not blocked by objects in the surrounding environment, a forward collision warning is triggered at a preset time; In the case where the vulnerable road user is obscured by objects in the surrounding environment, when the forward collision warning system detects the vulnerable road user again, delaying the triggering time of the forward collision warning; A transmission time of a forward collision warning signal to a driver is determined, and a braking time of the driver is determined according to the transmission time and a reaction time of the driver to the forward collision warning signal.

2. The accident simulation method considering the influence of the intelligent vehicle forward collision warning system according to claim 1 is characterized in that: Also includes: comparing a time of brake activation to a time of said initial incident; If the time of brake activation is later than the time of the initial accident, determining that the forward collision warning has no effect, retaining the motion parameters of the initial accident; If the brake activation time is earlier than the time of the initial accident, the forward collision warning system recalculates the brake activation time and uses the brake activation time instead of the time of the initial accident.

3. The accident simulation method considering the influence of the intelligent vehicle forward collision warning system according to claim 1 is characterized in that: The step of recalculating the brake activation time by the forward collision warning system and using the brake activation time instead of the time of the initial accident comprises: Calculating a new speed of the smart car according to a preset braking deceleration value; Calculating a new position of the smart car according to the new speed and the original trajectory of the smart car; Determining whether a bounding box of the smart car and a bounding box of the vulnerable road user intersect according to a new position and a new speed of the smart car and sizes of the smart car and the vulnerable road user; If the bounding box of the smart car and the bounding box of the vulnerable road user do not intersect, determining that the accident will be avoided; If the bounding box of the smart car and the bounding box of the vulnerable road user intersect, it is determined that the accident will be mitigated.

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