Method and system for dynamic adjustment of forward collision warning time

Abstract

The application discloses a forward collision warning time dynamic adjustment method, comprising the following steps: acquiring a whole vehicle signal of a self-vehicle; obtaining target information acted on by the FCW through environment perception, wherein the target information comprises motion information, position information and shape; determining which one of preset self-vehicle driving scenes the current self-vehicle driving scene belongs to according to the whole vehicle signal of the self-vehicle and the target information; and calculating an adjustment value of a collision time threshold value of the FCW trigger according to the current self-vehicle driving scene, and adjusting the collision time threshold value of the FCW trigger according to the adjustment value. According to the real-time whole vehicle signal, the driving state of the driver and the driving scene obtained by the environment perception sensor, the application dynamically adjusts the timing of the FCW trigger, automatically changes the sensitivity of the FCW trigger condition, and makes the timing of the FCW alarm more reasonable.

Description

Technical Field

[0001] This invention relates to the automotive field, and more particularly to a method for dynamically adjusting the timing of forward collision warning in an active safety driving assistance technology; and a system for dynamically adjusting the timing of forward collision warning in an active safety driving assistance technology. Background Technology

[0002] Forward Collision Warning (FCW) is a crucial component of active safety driving assistance systems. The basic working principle of FCW is as follows: Sensors such as cameras or radar measure in real time the distance, speed, and acceleration of a target ahead relative to the vehicle. Based on the distance and relative speed and acceleration between the target and the vehicle, the system calculates the time to collision (TTC) while maintaining a safe distance. When the TTC is less than a certain threshold (TTC_Cal) and the driver has not taken any action such as applying the brakes or turning the steering wheel, FCW is activated. It alerts the driver to the impending collision through sound, light, and vibration, allowing the driver to take timely measures to avoid a collision. The trigger threshold (TTC_Cal) for FCW is typically a fixed parameter obtained through calibration. This parameter is usually related to the vehicle's speed and the relative speed between the vehicle and the target ahead. Depending on the sensitivity settings configured by the driver through the vehicle's central control platform, the system may use several different fixed TTC_Cal parameters.

[0003] Currently, the methods for determining the triggering timing of the Forward Collision Warning (FCW) function generally have the following shortcomings:

[0004] 1) The collision time threshold (TTC) used to determine whether to trigger the forward collision warning (FCW) function is too fixed and singular. It cannot automatically adjust the sensitivity and timing of the trigger based on the current real-time driving status and driving scenario. In some scenarios where the driver is actively involved in driving (such as driving on curves, urban road conditions, etc.), triggering the forward collision warning (FCW) too early will affect the driver's driving experience.

[0005] 2) The logic for determining whether the Forward Collision Warning (FCW) function is triggered based on driver behavior is too simplistic. For example, if the driver presses the pedal or turns the steering wheel, the FCW will not be triggered. This results in the FCW being triggered too late in some situations when the driver lightly presses the pedal, failing to effectively remind the driver to take more proactive collision avoidance measures. Summary of the Invention

[0006] The summary of this invention introduces a series of simplified concepts, all of which are simplifications of existing technologies in the field, and will be further explained in detail in the detailed description section. This summary is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] The technical problem to be solved by the present invention is to provide a method and system for dynamically adjusting the forward collision warning timing based on the real-time driving scenario and the threshold for triggering FCW collision.

[0008] To solve the above-mentioned technical problems, the present invention provides a method for dynamically adjusting the timing of forward collision warnings, comprising the following steps:

[0009] S1, acquire vehicle signals;

[0010] S2, obtain target information of the FCW through environmental perception, the target information including: motion information, position information and shape;

[0011] S3, based on the vehicle's overall signals and target information, determines which of the preset autonomous vehicle driving scenarios the current autonomous vehicle driving scenario belongs to;

[0012] S4, calculate the adjustment value of the FCW collision time threshold based on the current autonomous vehicle driving scenario, and adjust the FCW collision time threshold according to the adjustment value.

[0013] Alternatively, the method for dynamically adjusting the timing of forward collision warning can be further improved by including:

[0014] S5. The FCW collision time threshold and the collision time TTC are compared. If the FCW collision time threshold is less than the collision time TTC, the forward collision warning FCW is triggered.

[0015] Optionally, the forward collision warning timing dynamic adjustment method includes vehicle signals such as: vehicle speed, longitudinal acceleration, lateral acceleration, brake pedal signal, accelerator pedal signal, steering wheel angle, steering wheel angular velocity, and ACC adaptive cruise control function activation status.

[0016] Optionally, the forward collision warning timing dynamic adjustment method presets the autonomous vehicle driving scenario, including:

[0017] Scenario 1: The driver presses the brake pedal;

[0018] Scenario 2: The driver actively slows down;

[0019] Scenario 3: The driver releases the accelerator pedal;

[0020] Scenario 4: The driver presses the accelerator pedal deeply;

[0021] Scenario 5: The driver actively accelerates;

[0022] Scene 6: The driver turns the steering wheel;

[0023] Scenario 7: The driver brakes due to a target ahead;

[0024] Scenario 8: ACC is in cruise control mode;

[0025] Scenario 9: ACC is in braking mode;

[0026] Scene 10, driving on a curve;

[0027] Scenario 11, Low-speed driving;

[0028] Scene 12, city road;

[0029] Scene 13, Overtaking.

[0030] Optionally, the forward collision warning timing dynamic adjustment method may select the following if the current driving scenario is scenario 1: scenario 1 duration threshold T1, scenario 1 TTC adjustment time upper limit C1_max, and scenario 1 TTC adjustment time lower limit C1_min.

[0031] The adjustment value of the FCW collision time threshold under scenario 1 is calculated according to formula (1). Where t is the duration after entering scene 1.

[0032]

[0033] Optionally, the forward collision warning timing dynamic adjustment method may select the duration threshold T2, the upper limit C2_max of the TTC adjustment time for scenario 2, and the lower limit C2_min of the TTC adjustment time for scenario 2 if the current driving scenario is scenario 2.

[0034] The adjustment value of the FCW collision time threshold under scenario 2 is calculated according to formula (2). Where t is the duration after entering scene 2;

[0035]

[0036] Optionally, the forward collision warning timing dynamic adjustment method may be used if the current driving scenario of the vehicle is scenario 3, in which case the TTC adjustment time C3 under scenario 3 is selected.

[0037] The adjustment value of the FCW collision time threshold under scenario 3 is calculated according to formula (3).

[0038] Optionally, the forward collision warning timing dynamic adjustment method can be configured such that if the current driving scenario is scenario 4, the TTC adjustment time C4 under scenario 4 is selected.

[0039] The adjustment value of the FCW collision time threshold under scenario 4 is calculated according to formula (4).

[0040]

[0041] Optionally, the forward collision warning timing dynamic adjustment method, if the current autonomous vehicle driving scenario is scenario 5, selects the upper limit of TTC adjustment time C5_max, the lower limit of TTC adjustment time C5_min, the minimum time limit T5 required for the adjustment time to change from C5_max to C5_min, the maximum limit of autonomous vehicle longitudinal acceleration ALgt_max and the minimum limit of autonomous vehicle longitudinal acceleration ALgt_min in scenario 5.

[0042] The adjustment value of the FCW collision time threshold under scenario 5 is calculated according to formula (5).

[0043]

[0044] Optionally, the forward collision warning timing dynamic adjustment method can be configured such that if the current driving scenario is scenario 6, the TTC adjustment time C6 under scenario 6 is selected.

[0045] The adjustment value of the FCW collision time threshold under scenario 6 is calculated according to formula (6).

[0046]

[0047] Optionally, the forward collision warning timing dynamic adjustment method can be configured such that if the current driving scenario is scenario 7, the TTC adjustment time C7 under scenario 7 is selected.

[0048] The adjustment value of the FCW collision time threshold under scenario 7 is calculated according to formula (7).

[0049]

[0050] Optionally, the forward collision warning timing dynamic adjustment method can be configured such that if the current driving scenario is scenario 8, the TTC adjustment time C8 under scenario 8 is selected.

[0051] The adjustment value of the FCW collision time threshold under scenario 8 is calculated according to formula (8).

[0052]

[0053] Optionally, the forward collision warning timing dynamic adjustment method, if the current driving scenario is scenario 9, selects the upper limit of TC adjustment time C9_max, the lower limit of TTC adjustment time C9_min, the minimum time limit T9 required for the adjustment time to change from C9_max to C9_min, the maximum limit of longitudinal acceleration ALgt_acc_max and the minimum limit of longitudinal acceleration ALgt_acc_min for the vehicle;

[0054] The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (9). Where aLgt is the longitudinal acceleration value of the vehicle;

[0055]

[0056] Optionally, the forward collision warning time dynamic adjustment method, if the current driving scenario of the autonomous vehicle is scenario 10, selects the upper limit of the TTC adjustment time C10_max, the lower limit of the TTC adjustment time C10_min, the minimum time limit T10 required for the adjustment time to change from C10_max to C10_min, the maximum limit of the lateral acceleration of the autonomous vehicle ALat_max, and the minimum limit of the longitudinal acceleration of the autonomous vehicle ALat_min.

[0057] The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (10). Where aLat is the lateral acceleration value of the vehicle;

[0058]

[0059] Optionally, the forward collision warning timing dynamic adjustment method, if the current driving scenario is scenario 11, refers to looking up parameter table f1 based on the vehicle speed. Parameter table f1 is obtained by calibrating at different vehicle speeds.

[0060] The adjustment value of the FCW collision time threshold under scenario 11 is calculated according to formula (11).

[0061]

[0062] Optionally, the forward collision warning time dynamic adjustment method can be configured such that if the current driving scenario is scenario 12, the TTC adjustment time C12 for scenario 12 is selected.

[0063] The adjustment value of the FCW collision time threshold under scenario 12 is calculated according to formula (12).

[0064]

[0065] Optionally, the forward collision warning time dynamic adjustment method can be configured such that if the current driving scenario is scenario 13, the TTC adjustment time C13 for scenario 13 is selected.

[0066] The adjustment value of the FCW collision time threshold under scenario 13 is calculated according to formula (13).

[0067]

[0068] Alternatively, the forward collision warning time dynamic adjustment method calculates the final FCW collision time threshold according to formulas (14) and (15);

[0069]

[0070] TTC_Cal=TTC_Cal_Level_Fix-TTC_Cal_Adjustment. (15)

[0071] TTC_Cal_Level_Fix is ​​a fixed TTC threshold calibrated based on the sensitivity settings configured by the driver.

[0072] TTC_Cal_Adjustment is the adjustment value for the FCW collision time threshold. n∈[1, 13].

[0073] To solve the above-mentioned technical problems, the present invention provides a forward collision warning timing dynamic adjustment system, comprising:

[0074] The receiving module is used to receive signals from the vehicle as a whole, and to receive target information from environmental perception sensors (e.g., radar or camera) that are acting on the FCW. The target information includes motion information, position information and shape.

[0075] The scenario judgment module has pre-defined autonomous vehicle driving scenarios. It determines which of the pre-defined autonomous vehicle driving scenarios the current autonomous vehicle driving scenario belongs to based on the autonomous vehicle's overall signals and target information.

[0076] The calculation module calculates an adjustment value for the FCW collision time threshold based on the current autonomous vehicle driving scenario, and adjusts the FCW collision time threshold accordingly.

[0077] Optionally, further improvements to the aforementioned forward collision warning timing dynamic adjustment system may include:

[0078] The warning module compares the adjusted FCW collision time threshold with the collision time TTC. If the FCW collision time threshold is less than the collision time TTC, a forward collision warning (FCW) is triggered.

[0079] Optionally, the forward collision warning dynamic adjustment system can be further improved by incorporating vehicle signals, including: vehicle speed, longitudinal acceleration, lateral acceleration, brake pedal signal, accelerator pedal signal, steering wheel angle, steering wheel angular velocity, and ACC adaptive cruise control activation status.

[0080] Optionally, the scenario judgment module can be further improved by pre-setting autonomous driving scenarios, including:

[0081] Scenario 1: The driver presses the brake pedal;

[0082] Scenario 2: The driver actively slows down;

[0083] Scenario 3: The driver releases the accelerator pedal;

[0084] Scenario 4: The driver presses the accelerator pedal deeply;

[0085] Scenario 5: The driver actively accelerates;

[0086] Scene 6: The driver turns the steering wheel;

[0087] Scenario 7: The driver brakes due to a target ahead;

[0088] Scenario 8: ACC is in cruise control mode;

[0089] Scenario 9: ACC is in braking mode;

[0090] Scene 10, driving on a curve;

[0091] Scenario 11, Low-speed driving;

[0092] Scene 12, city road;

[0093] Scene 13, Overtaking.

[0094] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario is scenario 1, the calculation module selects the scenario 1 duration threshold T1, the scenario 1 TTC adjustment time upper limit C1_max, and the scenario 1 TTC adjustment time lower limit C1_min.

[0095] The adjustment value of the FCW collision time threshold under scenario 1 is calculated according to formula (1). Where t is the duration after entering scene 1.

[0096]

[0097] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario is scenario 2, the calculation module selects the duration threshold T2 of scenario 2, the upper limit C2_max of the TTC adjustment time of scenario 2, and the lower limit C2_min of the TTC adjustment time of scenario 2.

[0098] The adjustment value of the FCW collision time threshold under scenario 2 is calculated according to formula (2). Where t is the duration after entering scene 2;

[0099]

[0100] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario of the vehicle is scenario 3, the calculation module selects the TTC adjustment time C3 under scenario 3.

[0101] The adjustment value of the FCW collision time threshold under scenario 3 is calculated according to formula (3).

[0102]

[0103] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario of the vehicle is scenario 4, the calculation module selects the TTC adjustment time C4 under scenario 4.

[0104] The adjustment value of the FCW collision time threshold under scenario 4 is calculated according to formula (4).

[0105]

[0106] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario is scenario 5, the calculation module selects the upper limit of the TTC adjustment time C5_max, the lower limit of the TTC adjustment time C5_min, the minimum time limit T5 required for the adjustment time to change from C5_max to C5_min, the maximum limit of the longitudinal acceleration of the vehicle ALgt_max and the minimum limit of the longitudinal acceleration of the vehicle ALgt_min in scenario 5.

[0107] The adjustment value of the FCW collision time threshold under scenario 5 is calculated according to formula (5).

[0108]

[0109] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario of the vehicle is scenario 6, the calculation module selects the TTC adjustment time C6 under scenario 6.

[0110] The adjustment value of the FCW collision time threshold under scenario 6 is calculated according to formula (6).

[0111]

[0112] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario of the vehicle is scenario 7, the calculation module selects the TTC adjustment time C7 under scenario 7.

[0113] The adjustment value of the FCW collision time threshold under scenario 7 is calculated according to formula (7).

[0114]

[0115] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario of the vehicle is scenario 8, the calculation module selects the TTC adjustment time C8 under scenario 8.

[0116] The adjustment value of the FCW collision time threshold under scenario 8 is calculated according to formula (8).

[0117]

[0118] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario of the autonomous vehicle is scenario 9, the calculation module selects the upper limit of TC adjustment time C9_max, the lower limit of TTC adjustment time C9_min, the minimum time limit T9 required for the adjustment time to change from C9_max to C9_min, the maximum limit of longitudinal acceleration ALgt_acc_max of the autonomous vehicle, and the minimum limit of longitudinal acceleration ALgt_acc_min of the autonomous vehicle.

[0119] The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (9). Where aLgt is the longitudinal acceleration value of the vehicle;

[0120]

[0121] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario of the autonomous vehicle is scenario 10, the calculation module selects the upper limit of the TTC adjustment time C10_max, the lower limit of the TTC adjustment time C10_min, the minimum time limit T10 required for the adjustment time to change from C10_max to C10_min, the maximum limit of the lateral acceleration of the autonomous vehicle ALat_max, and the minimum limit of the longitudinal acceleration of the autonomous vehicle ALat_min.

[0122] The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (10). Where aLat is the lateral acceleration value of the vehicle;

[0123]

[0124] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario of the vehicle is scenario 11, the calculation module looks up parameter table f1 based on the vehicle speed. Parameter table f1 is obtained by calibrating under different vehicle speeds.

[0125] The adjustment value of the FCW collision time threshold under scenario 11 is calculated according to formula (11).

[0126]

[0127] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario of the vehicle is scenario 12, the calculation module selects the TTC adjustment time C12 of scenario 12.

[0128] The adjustment value of the FCW collision time threshold under scenario 12 is calculated according to formula (12).

[0129]

[0130] Optionally, the forward collision warning timing dynamic adjustment system can be further improved. If the current driving scenario of the vehicle is scenario 13, the calculation module selects the TTC adjustment time C13 of scenario 13.

[0131] The adjustment value of the FCW collision time threshold under scenario 13 is calculated according to formula (13).

[0132]

[0133] Optionally, the forward collision warning timing dynamic adjustment system can be further improved, and the warning module calculates the final adopted trigger FCW collision time threshold according to formulas (14) and (15).

[0134]

[0135] TTC_Cal=TTC_Cal_Level_Fix-TTC_Cal_Adjustment. (15)

[0136] TTC_Cal_Level_Fix is ​​a fixed TTC threshold calibrated based on the sensitivity settings configured by the driver.

[0137] TTC_Cal_Adjustment is the adjustment value for the FCW collision time threshold. n∈[1, 13].

[0138] This invention dynamically adjusts the timing of Forward Collision Warning (FCW) triggering based on real-time vehicle signals, driver status, and driving scenarios acquired by environmental perception sensors. It automatically changes the sensitivity of FCW triggering conditions, making the timing of FCW alarms more reasonable. In scenarios where the driver is actively engaged in driving and in some normal aggressive driving scenarios, the timing of FCW alarms is delayed to improve the driver experience. Simultaneously, it ensures that FCW alarms are triggered promptly when the driver's actions are insufficient to avoid a collision, reminding the driver to take measures to avoid a collision. This improves the driver experience while ensuring the safety of the FCW system.

[0139] This invention eliminates the need for additional driver monitoring systems and other sensor-based driving scene recognition algorithms, ensuring low cost and enhancing product competitiveness. Attached Figure Description

[0140] The accompanying drawings are intended to illustrate the general characteristics of the methods, structures, and / or materials used in specific exemplary embodiments of the invention, supplementing the description in the specification. However, the drawings are schematic diagrams not drawn to scale and may not accurately reflect the precise structural or performance characteristics of any of the given embodiments. The drawings should not be construed as limiting or restricting the range of numerical values ​​or properties covered by exemplary embodiments of the invention. The invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:

[0141] Figure 1 This is a schematic diagram of the process of this invention. Detailed Implementation

[0142] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can fully understand other advantages and technical effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through different specific embodiments, and the details in this specification can also be applied based on different viewpoints, with various modifications or changes made without departing from the overall design concept of the invention. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. The following exemplary embodiments of the present invention can be implemented in many different forms and should not be construed as being limited to the specific embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the technical solutions of these exemplary embodiments to those skilled in the art.

[0143] First, it should be noted that the parameters of the following embodiments can be obtained through calibration or specification;

[0144] Calibration refers to the dynamic calibration and adjustment based on the performance of FCW in the aforementioned scenarios;

[0145] Specifying refers to specifying based on customer needs or functional requirements;

[0146] First embodiment;

[0147] This invention discloses a method for dynamically adjusting the timing of forward collision warnings, comprising the following steps:

[0148] S1, acquire vehicle signals; for example, acquire vehicle speed, longitudinal acceleration, lateral acceleration, brake pedal signal, accelerator pedal signal, steering wheel angle, steering wheel angular velocity, and ACC adaptive cruise control function activation status via the vehicle CAN bus.

[0149] S2, obtain target information of the FCW through environmental perception. The target information includes: motion information, position information and shape; for example, obtain from sensors such as radar or camera: target lateral and longitudinal acceleration, lateral and longitudinal velocity, yaw rate, target orientation, target position, target length, width and height, category and other information and target ID number.

[0150] S3, based on the vehicle's overall signals and target information, determines which of the preset autonomous vehicle driving scenarios the current autonomous vehicle driving scenario belongs to;

[0151] S4, calculate the adjustment value of the FCW collision time threshold based on the current autonomous vehicle driving scenario, and adjust the FCW collision time threshold according to the adjustment value.

[0152] Furthermore, it should be understood that although the terms "first," "second," etc., may be used herein to describe different elements, parameters, components, regions, layers, and / or portions, these elements, parameters, components, regions, layers, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, parameter, component, region, layer, or portion from another element, parameter, component, region, layer, or portion. Therefore, without departing from the teachings of exemplary embodiments according to the present invention, the first element, parameter, component, region, layer, or portion discussed below may also be referred to as the second element, parameter, component, region, layer, or portion.

[0153] Second embodiment;

[0154] The present invention provides a method for dynamically adjusting the timing of forward collision warnings, which is a further improvement on the first embodiment described above, and further includes:

[0155] S5. The FCW collision time threshold and the collision time TTC are compared. If the FCW collision time threshold is less than the collision time TTC, the forward collision warning FCW is triggered.

[0156] For example, the first and second embodiments described above presuppose a self-driving vehicle scenario, including:

[0157] Scenario 1: When the driver presses the brake pedal, the signals involved include: brake pedal signal, involving one threshold D1 (specified acquisition), which determines whether the brake pedal is pressed or not.

[0158] Scenario 2: The driver actively decelerates, and the signals involved include: brake pedal signal - involving one threshold D1 (obtained by specification) to determine whether the brake pedal is pressed or not; brake master cylinder pressure - involving one threshold D2 (obtainable through calibration) to determine whether the driver's braking force demand exceeds the threshold; vehicle longitudinal acceleration - involving one threshold D3 (obtainable through calibration) to determine whether the vehicle has a braking response.

[0159] Scenario 3: When the driver releases the accelerator pedal, the signals involved include: accelerator pedal opening signal – involving a threshold D4 (which can be obtained through calibration) to determine whether the accelerator pedal opening is below the threshold; ACC function status signal – involving a threshold D5 (which can be obtained by specification) to determine whether the driver is driving.

[0160] Scenario 4: The driver presses the accelerator pedal deeply. The signals involved include: - a threshold D6 (which can be obtained through calibration) to determine whether the rate of change of accelerator opening is greater than the threshold; and vehicle speed signal - a threshold D7 (which can be obtained through calibration) to determine whether the vehicle speed is greater than the threshold.

[0161] Scenario 5: Driver actively accelerates. The signals involved include: longitudinal acceleration of the target under FCW action—involving one threshold D71 (obtainable through calibration) to determine if the target is braking urgently; accelerator pedal opening signal—involving one threshold D8 (obtainable through calibration) to determine if the accelerator pedal opening is greater than the threshold; ACC function status signal—involving one threshold D9 (obtainable by specification) to determine if the driver is driving; and longitudinal acceleration of the vehicle—involving one threshold D10 (obtainable through calibration) to determine if the vehicle has already accelerated.

[0162] Scenario 6: When the driver turns the steering wheel, the signals involved include: steering wheel angular velocity - determining whether the steering wheel angular velocity is greater than the threshold D11 (which can be obtained through calibration);

[0163] Scenario 7: The driver brakes due to a target ahead. The signals involved include: calculating the longitudinal acceleration A1 required to maintain a safe distance from the FCW target at the TTC time based on the distance between the vehicle and the FCW target, relative speed, relative acceleration, safe distance parameters, driver reaction time parameters, and braking delay time parameters. The driver depresses the brake pedal when the master cylinder pressure exceeds the threshold value obtained from the table based on A1; or when A1 is less than the threshold value D12 (obtainable through calibration); or when A1 is less than the threshold value D13 (obtainable through calibration). All three scenarios are considered scenarios where the driver brakes due to a target ahead.

[0164] Scenario 8: ACC is in cruise control mode. The signals involved include: ACC function status signal - involving one threshold D14 (obtained by specification) to determine whether the ACC function is activated; vehicle longitudinal acceleration signal - involving one threshold D15 (obtainable through calibration) to determine whether the vehicle is not braking.

[0165] Scenario 9: ACC is in braking mode. The signals involved include: ACC function status signal - involving one threshold D16 (obtained by specification) to determine whether the ACC function is activated; vehicle longitudinal acceleration signal - involving one threshold D17 (obtainable through calibration) to determine whether the vehicle has a braking response.

[0166] Scenario 10, driving on a curve, involves the following signals: vehicle lateral acceleration – whether it exceeds threshold D18 (which can be obtained through calibration); vehicle speed – whether it exceeds threshold D19 (which can be obtained through calibration).

[0167] Scenario 11, low-speed driving, the signals involved include: vehicle speed - whether it is less than the threshold D20 (specified);

[0168] Scenario 12, urban road, the signals involved include: vehicle speed – whether it is less than threshold D21 (obtained by specification); within the threshold T1 time period (obtainable through calibration), steering wheel angle – whether it exceeds threshold D22 (obtainable through calibration), or steering wheel angular velocity – whether it exceeds threshold D23 (obtainable through calibration); FCW target ID is greater than 0, FCW target vehicle speed – whether it is less than threshold D24 (obtained by specification);

[0169] Scenario 13, overtaking, involves the following signals: longitudinal acceleration of the target vehicle (FCW), lateral velocity of the target vehicle (FCW), turn signal of the vehicle, and vehicle speed of the vehicle. The system determines whether the longitudinal acceleration of the target vehicle (FCW) is greater than threshold D25 (which can be obtained through calibration), whether the sign of the turn signal of the vehicle and the lateral velocity of the target vehicle (FCW) meets threshold D26 (which can be obtained through calibration), and whether the vehicle speed of the vehicle is greater than threshold D27 (which can be obtained through calibration).

[0170] It should be further clarified that the above scenarios are exemplary choices made based on system accuracy requirements and should not be construed as limitations on the implementation of this invention. The more scenarios designed, the higher the control accuracy. This invention can also solve the technical problem of triggering FCW collision time thresholds based on real-time driving scenarios, but the technical effect is not as accurate as multiple scenario divisions. Correspondingly, too many scenario divisions will burden the system, increasing the requirements for hardware equipment and hindering integration and industrialization. Furthermore, the above scenarios are not choices made by those skilled in the art based on conventional understanding; theoretically, there are countless possibilities for scenario division. With countless possibilities, the scenario division is unpredictable, and the optimal solution cannot be obtained through a limited number of experiments. Considering both accuracy and industrialization requirements such as hardware and software, this invention believes that the scenario division provided by this invention is the optimal solution.

[0171] Based on the above exemplary scenario divisions, the following implementation methods for each scenario are provided:

[0172] 1) If the current autonomous driving scenario is scenario 1, then select the scenario 1 duration threshold T1 (which can be obtained through calibration), the scenario 1 TTC adjustment time upper limit C1_max (which can be obtained through calibration), and the scenario 1 TTC adjustment time lower limit C1_min (which can be obtained through calibration);

[0173] The adjustment value of the FCW collision time threshold under scenario 1 is calculated according to formula (1). Where t is the duration after entering scene 1.

[0174]

[0175] 2) If the current autonomous driving scenario is scenario 2, then select the duration threshold T2 of scenario 2 (which can be obtained through calibration), the upper limit of TTC adjustment time C2_max of scenario 2 (which can be obtained through calibration), and the lower limit of TTC adjustment time C2_min of scenario 2 (which can be obtained through calibration).

[0176] The adjustment value of the FCW collision time threshold under scenario 2 is calculated according to formula (2). Where t is the duration after entering scene 2;

[0177]

[0178] 3) If the current autonomous driving scenario is scenario 3, then select the TTC adjustment time C3 under scenario 3 (which can be obtained through calibration);

[0179] The adjustment value of the FCW collision time threshold under scenario 3 is calculated according to formula (3).

[0180]

[0181] 4) If the current autonomous driving scenario is scenario 4, then select the TTC adjustment time C4 under scenario 4 (which can be obtained through calibration);

[0182] The adjustment value of the FCW collision time threshold under scenario 4 is calculated according to formula (4).

[0183]

[0184] 5) If the current autonomous vehicle driving scenario is scenario 5, then select the upper limit of TTC adjustment time C5_max (which can be obtained through calibration), the lower limit of TTC adjustment time C5_min (which can be obtained through calibration), the minimum time limit T5 required for the adjustment time to change from C5_max to C5_min (which can be obtained through calibration), the maximum limit of autonomous vehicle longitudinal acceleration ALgt_max (which can be obtained through calibration), and the minimum limit of autonomous vehicle longitudinal acceleration ALgt_min (which can be obtained through calibration) for scenario 5.

[0185] The adjustment value of the FCW collision time threshold under scenario 5 is calculated according to formula (5).

[0186]

[0187] 6) If the current autonomous driving scenario is scenario 6, then select the TTC adjustment time C6 under scenario 6 (which can be obtained through calibration);

[0188] The adjustment value of the FCW collision time threshold under scenario 6 is calculated according to formula (6).

[0189]

[0190] 7) If the current autonomous driving scenario is scenario 7, then select the TTC adjustment time C7 under scenario 7 (which can be obtained through calibration);

[0191] The adjustment value of the FCW collision time threshold under scenario 7 is calculated according to formula (7).

[0192]

[0193] 8) If the current autonomous driving scenario is scenario 8, then select the TTC adjustment time C8 under scenario 8 (which can be obtained through calibration);

[0194] The adjustment value of the FCW collision time threshold under scenario 8 is calculated according to formula (8).

[0195]

[0196] 9) If the current autonomous vehicle driving scenario is scenario 9, then select the TC adjustment time upper limit C9_max (which can be obtained through calibration), the TTC adjustment time lower limit C9_min (which can be obtained through calibration), the minimum time limit T9 required for the adjustment time to change from C9_max to C9_min (which can be obtained through calibration), the maximum longitudinal acceleration limit ALgt_acc_max (which can be obtained through calibration), and the minimum longitudinal acceleration limit ALgt_acc_min (which can be obtained through calibration) for scenario 9.

[0197] The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (9). Where aLgt is the longitudinal acceleration value of the vehicle;

[0198]

[0199] 10) If the current autonomous vehicle driving scenario is scenario 10, then select the upper limit of TTC adjustment time C10_max (which can be obtained through calibration), the lower limit of TTC adjustment time C10_min (which can be obtained through calibration), the minimum time limit T10 required for the adjustment time to change from C10_max to C10_min (which can be obtained through calibration), the maximum limit of lateral acceleration ALat_max (which can be obtained through calibration), and the minimum limit of longitudinal acceleration ALat_min (which can be obtained through calibration) for autonomous vehicle.

[0200] The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (10). Where aLat is the lateral acceleration value of the vehicle;

[0201]

[0202] 11) If the current driving scenario is scenario 11, look up parameter table f1 according to the vehicle speed. Parameter table f1 is obtained by calibrating the vehicle at different speeds. For example, by driving the vehicle at different speeds vehicle_speed (m / s), calibrate f1(vehicle_speed)(s).

[0203] An example of parameter table f1 is as follows:

[0204] vehicle_speed (m / s) f1(vehicle_speed) (s) 0 -0.6 2 -0.6 2.1 -0.4 5.5 -0.4 5.6 -0.4 15.2 -0.3 15.3 0 70 0

[0205] Optionally, the vehicle speed can be interpolated and the parameter table f1 can be consulted.

[0206] The adjustment value of the FCW collision time threshold under scenario 11 is calculated according to formula (11).

[0207]

[0208] 12) If the current autonomous driving scenario is scenario 12, then select the TTC adjustment time C12 for scenario 12 (which can be obtained through calibration);

[0209] The adjustment value of the FCW collision time threshold under scenario 12 is calculated according to formula (12).

[0210]

[0211] 13) If the current autonomous driving scenario is scenario 13, then select the TTC adjustment time C13 for scenario 13 (which can be obtained through calibration);

[0212] The adjustment value of the FCW collision time threshold under scenario 12 is calculated according to formula (12).

[0213]

[0214] In a further improvement, in the first and second embodiments described above, when implementing step S4 based on the above exemplary scene division, the final adopted trigger FCW collision time threshold is calculated according to formulas (14) and (15);

[0215]

[0216] TTC_Cal=TTC_Cal_Level_Fix-TTC_Cal_Adjustment. (15)

[0217] TTC_Cal_Level_Fix is ​​a fixed TTC threshold calibrated based on the sensitivity settings configured by the driver.

[0218] TTC_Cal_Adjustment is the adjustment value for the FCW collision time threshold. n∈[1, 13].

[0219] Third embodiment;

[0220] This invention provides a forward collision warning timing dynamic adjustment system, which can be implemented based on existing hardware combined with computer programming techniques, including:

[0221] The receiving module is used to receive signals from the vehicle as a whole, and to receive target information from the FCW (Forward Collision Warning) sensor. The target information includes motion information, position information, and shape.

[0222] For example, it can obtain vehicle speed, longitudinal acceleration, lateral acceleration, brake pedal signal, accelerator pedal signal, steering wheel angle, steering wheel angular velocity, and ACC adaptive cruise control function activation status from the vehicle's CAN bus.

[0223] Acquire from sensors such as radar or cameras: target lateral and longitudinal acceleration, lateral and longitudinal velocity, yaw rate, target orientation, target position, target length, width and height, category and target ID number;

[0224] The scenario judgment module has pre-defined autonomous vehicle driving scenarios. It determines which of the pre-defined autonomous vehicle driving scenarios the current autonomous vehicle driving scenario belongs to based on the autonomous vehicle's overall signals and target information.

[0225] The calculation module calculates an adjustment value for the FCW collision time threshold based on the current autonomous vehicle driving scenario, and adjusts the FCW collision time threshold accordingly.

[0226] Fourth embodiment;

[0227] The present invention discloses a forward collision warning timing dynamic adjustment system, which is a further improvement on the third embodiment described above, and further includes:

[0228] The warning module compares the adjusted FCW collision time threshold with the collision time TTC. If the FCW collision time threshold is less than the collision time TTC, a forward collision warning (FCW) is triggered.

[0229] For example, the third and fourth embodiments described above presuppose a self-driving vehicle scenario, including:

[0230] Scenario 1: When the driver presses the brake pedal, the signals involved include: brake pedal signal, involving one threshold D1 (specified acquisition), which determines whether the brake pedal is pressed or not.

[0231] Scenario 2: The driver actively decelerates, and the signals involved include: brake pedal signal - involving one threshold D1 (obtained by specification) to determine whether the brake pedal is pressed or not; brake master cylinder pressure - involving one threshold D2 (obtainable through calibration) to determine whether the driver's braking force demand exceeds the threshold; vehicle longitudinal acceleration - involving one threshold D3 (obtainable through calibration) to determine whether the vehicle has a braking response.

[0232] Scenario 3: When the driver releases the accelerator pedal, the signals involved include: accelerator pedal opening signal – involving a threshold D4 (which can be obtained through calibration) to determine whether the accelerator pedal opening is below the threshold; ACC function status signal – involving a threshold D5 (which can be obtained by specification) to determine whether the driver is driving.

[0233] Scenario 4: The driver presses the accelerator pedal deeply. The signals involved include: accelerator pedal opening signal - involving one threshold D6 (which can be obtained through calibration) to determine whether the rate of change of accelerator pedal opening is greater than the threshold; vehicle speed signal - involving one threshold D7 (which can be obtained through calibration) to determine whether the vehicle speed is greater than the threshold.

[0234] Scenario 5: Driver actively accelerates. The signals involved include: longitudinal acceleration of the target under FCW action—involving one threshold D71 (obtainable through calibration) to determine if the target is braking urgently; accelerator pedal opening signal—involving one threshold D8 (obtainable through calibration) to determine if the accelerator pedal opening is greater than the threshold; ACC function status signal—involving one threshold D9 (obtainable by specification) to determine if the driver is driving; and longitudinal acceleration of the vehicle—involving one threshold D10 (obtainable through calibration) to determine if the vehicle has already accelerated.

[0235] Scenario 6: When the driver turns the steering wheel, the signals involved include: steering wheel angular velocity - determining whether the steering wheel angular velocity is greater than the threshold D11 (which can be obtained through calibration);

[0236] Scenario 7: The driver brakes due to a target ahead. The signals involved include: calculating the longitudinal acceleration A1 required to maintain a safe distance from the FCW target at the TTC time based on the distance between the vehicle and the FCW target, relative speed, relative acceleration, safe distance parameters, driver reaction time parameters, and braking delay time parameters. The driver depresses the brake pedal when the master cylinder pressure exceeds the threshold value obtained from the table based on A1; or when A1 is less than the threshold value D12 (obtainable through calibration); or when A1 is less than the threshold value D13 (obtainable through calibration). All three scenarios are considered scenarios where the driver brakes due to a target ahead.

[0237] Scenario 8: ACC is in cruise control mode. The signals involved include: ACC function status signal - involving one threshold D14 (obtained by specification) to determine whether the ACC function is activated; vehicle longitudinal acceleration signal - involving one threshold D15 (obtainable through calibration) to determine whether the vehicle is not braking.

[0238] Scenario 9: ACC is in braking mode. The signals involved include: ACC function status signal - involving one threshold D16 (obtained by specification) to determine whether the ACC function is activated; vehicle longitudinal acceleration signal - involving one threshold D17 (obtainable through calibration) to determine whether the vehicle has a braking response.

[0239] Scenario 10, driving on a curve, involves the following signals: vehicle lateral acceleration – whether it exceeds threshold D18 (which can be obtained through calibration); vehicle speed – whether it exceeds threshold D19 (which can be obtained through calibration).

[0240] Scenario 11, low-speed driving, the signals involved include: vehicle speed - whether it is less than the threshold D20 (specified);

[0241] Scenario 12, urban road, the signals involved include: vehicle speed – whether it is less than threshold D21 (obtained by specification); within the threshold T1 time period (obtainable through calibration), steering wheel angle – whether it exceeds threshold D22 (obtainable through calibration), or steering wheel angular velocity – whether it exceeds threshold D23 (obtainable through calibration); FCW target ID is greater than 0, FCW target vehicle speed – whether it is less than threshold D24 (obtained by specification);

[0242] Scenario 13, overtaking, involves the following signals: longitudinal acceleration of the target vehicle (FCW), lateral velocity of the target vehicle (FCW), turn signal of the vehicle, and vehicle speed of the vehicle. The system determines whether the longitudinal acceleration of the target vehicle (FCW) is greater than threshold D25 (which can be obtained through calibration), whether the sign of the turn signal of the vehicle and the lateral velocity of the target vehicle (FCW) meets threshold D26 (which can be obtained through calibration), and whether the vehicle speed of the vehicle is greater than threshold D27 (which can be obtained through calibration).

[0243] Based on the above exemplary scenario divisions, the following implementation methods for each scenario are provided:

[0244] 1) If the current autonomous driving scenario is scenario 1, then select the scenario 1 duration threshold T1, the scenario 1 TTC adjustment time upper limit C1_max (which can be obtained through calibration), and the scenario 1 TTC adjustment time lower limit C1_min (which can be obtained through calibration);

[0245] The adjustment value of the FCW collision time threshold under scenario 1 is calculated according to formula (1). Where t is the duration after entering scene 1.

[0246]

[0247] 2) If the current autonomous driving scenario is scenario 2, then select the duration threshold T2 of scenario 2 (which can be obtained through calibration), the upper limit of TTC adjustment time C2_max of scenario 2 (which can be obtained through calibration), and the lower limit of TTC adjustment time C2_min of scenario 2 (which can be obtained through calibration).

[0248] The adjustment value of the FCW collision time threshold under scenario 2 is calculated according to formula (2). Where t is the duration after entering scene 2;

[0249]

[0250] 3) If the current autonomous driving scenario is scenario 3, then select the TTC adjustment time C3 under scenario 3 (which can be obtained through calibration);

[0251] The adjustment value of the FCW collision time threshold under scenario 3 is calculated according to formula (3).

[0252]

[0253] 4) If the current autonomous driving scenario is scenario 4, then select the TTC adjustment time C4 under scenario 4 (which can be obtained through calibration);

[0254] The adjustment value of the FCW collision time threshold under scenario 4 is calculated according to formula (4).

[0255]

[0256] 5) If the current autonomous vehicle driving scenario is scenario 5, then select the upper limit of TTC adjustment time C5_max (which can be obtained through calibration), the lower limit of TTC adjustment time C5_min (which can be obtained through calibration), the minimum time limit T5 required for the adjustment time to change from C5_max to C5_min (which can be obtained through calibration), the maximum limit of autonomous vehicle longitudinal acceleration ALgt_max (which can be obtained through calibration), and the minimum limit of autonomous vehicle longitudinal acceleration ALgt_min (which can be obtained through calibration) for scenario 5.

[0257] The adjustment value of the FCW collision time threshold under scenario 5 is calculated according to formula (5).

[0258]

[0259] 6) If the current autonomous driving scenario is scenario 6, then select the TTC adjustment time C6 under scenario 6 (which can be obtained through calibration);

[0260] The adjustment value of the FCW collision time threshold under scenario 6 is calculated according to formula (6).

[0261]

[0262] 7) If the current autonomous driving scenario is scenario 7, then select the TTC adjustment time C7 under scenario 7 (which can be obtained through calibration);

[0263] The adjustment value of the FCW collision time threshold under scenario 7 is calculated according to formula (7).

[0264]

[0265] 8) If the current autonomous driving scenario is scenario 8, then select the TTC adjustment time C8 under scenario 8 (which can be obtained through calibration);

[0266] The adjustment value of the FCW collision time threshold under scenario 8 is calculated according to formula (8).

[0267]

[0268] 9) If the current autonomous vehicle driving scenario is scenario 9, then select the TC adjustment time upper limit C9_max (which can be obtained through calibration), the TTC adjustment time lower limit C9_min (which can be obtained through calibration), the minimum time limit T9 required for the adjustment time to change from C9_max to C9_min (which can be obtained through calibration), the maximum longitudinal acceleration limit ALgt_acc_max (which can be obtained through calibration), and the minimum longitudinal acceleration limit ALgt_acc_min (which can be obtained through calibration) for scenario 9.

[0269] The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (9). Where aLgt is the longitudinal acceleration value of the vehicle;

[0270]

[0271] 10) If the current autonomous vehicle driving scenario is scenario 10, then select the upper limit of TTC adjustment time C10_max (which can be obtained through calibration), the lower limit of TTC adjustment time C10_min (which can be obtained through calibration), the minimum time limit T10 required for the adjustment time to change from C10_max to C10_min (which can be obtained through calibration), the maximum limit of lateral acceleration ALat_max (which can be obtained through calibration), and the minimum limit of longitudinal acceleration ALat_min (which can be obtained through calibration) for autonomous vehicle.

[0272] The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (10). Where aLat is the lateral acceleration value of the vehicle;

[0273]

[0274] 11) If the current driving scenario is scenario 11, look up the parameter table f1 based on the vehicle speed (which can be obtained through calibration);

[0275] The adjustment value of the FCW collision time threshold under scenario 11 is calculated according to formula (11).

[0276]

[0277] 12) If the current autonomous driving scenario is scenario 12, then select the TTC adjustment time C12 for scenario 12 (which can be obtained through calibration);

[0278] The adjustment value of the FCW collision time threshold under scenario 12 is calculated according to formula (12).

[0279]

[0280] 13) If the current autonomous driving scenario is scenario 13, then select the TTC adjustment time C13 for scenario 13 (which can be obtained through calibration);

[0281] The adjustment value of the FCW collision time threshold under scenario 12 is calculated according to formula (12).

[0282]

[0283] In a further improvement, in the fourth embodiment described above, based on the exemplary scene division described above, the warning module calculates the final adopted trigger FCW collision time threshold according to formulas (14) and (15);

[0284]

[0285] TTC_Cal=TTC_Cal_Level_Fix-TTC_Cal_Adjustment. (15)

[0286] TTC_Cal_Level_Fix is ​​a fixed TTC threshold calibrated based on the sensitivity settings configured by the driver.

[0287] TTC_Cal_Adjustment is the adjustment value for the FCW collision time threshold. n∈[1, 13].

[0288] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It will also be understood that, unless expressly defined herein, terms such as those defined in a general dictionary shall be interpreted as having the meaning consistent with their meaning in the relevant field context, and not as having an idealized or overly formal meaning.

[0289] The present invention has been described in detail above through specific embodiments and examples, but these are not intended to limit the invention. Many modifications and improvements can be made by those skilled in the art without departing from the principles of the invention, and these should also be considered within the scope of protection of the present invention.

Claims

1. A method for dynamically adjusting the timing of forward collision warning, characterized in that, Includes the following steps: S1, acquire vehicle signals; S2, obtain target information of the FCW through environmental perception, the target information including: motion information, position information and shape; S3, based on the vehicle's overall signals and target information, determines which of the preset autonomous driving scenarios the current autonomous driving scenario belongs to; preset autonomous driving scenarios include: Scenario 1: The driver presses the brake pedal; Scenario 2: The driver actively slows down; Scenario 3: The driver releases the accelerator pedal; Scenario 4: The driver presses the accelerator pedal deeply; Scenario 5: The driver actively accelerates; Scene 6: The driver turns the steering wheel; Scenario 7: The driver brakes due to a target ahead; Scenario 8: ACC is in cruise control mode; Scenario 9: ACC is in braking mode; Scene 10, driving on a curve; Scenario 11, Low-speed driving; Scene 12, city road; Scene 13, Overtaking; If the current autonomous driving scenario is scenario 1, then select the scenario 1 duration threshold T1, the scenario 1 TTC adjustment time upper limit C1_max, and the scenario 1 TTC adjustment time lower limit C1_min; The adjustment value of the FCW collision time threshold under scenario 1 is calculated according to formula (1). , where t is the duration after entering scene 1; Formula (1); S4, calculate the adjustment value of the FCW collision time threshold based on the current autonomous vehicle driving scenario, and adjust the FCW collision time threshold according to the adjustment value.

2. The method for dynamically adjusting the forward collision warning time as described in claim 1, characterized in that, Also includes: S5. The FCW collision time threshold and the collision time TTC are compared. If the FCW collision time threshold is less than the collision time TTC, the forward collision warning FCW is triggered.

3. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: Vehicle signals include: vehicle speed, longitudinal acceleration, lateral acceleration, brake pedal signal, accelerator pedal signal, steering wheel angle, steering wheel angular velocity, and ACC adaptive cruise control activation status signal.

4. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current autonomous driving scenario is scenario 2, then select the duration threshold T2 of scenario 2, the upper limit of the TTC adjustment time C2_max of scenario 2, and the lower limit of the TTC adjustment time C2_min of scenario 2. The adjustment value of the FCW collision time threshold under scenario 2 is calculated according to formula (2). , where t is the duration after entering scene 2; Official (2).

5. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current driving scenario is scenario 3, then select the TTC adjustment time C3 under scenario 3. The adjustment value of the FCW collision time threshold under scenario 3 is calculated according to formula (3). ; Official (3).

6. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current driving scenario is scenario 4, then select the TTC adjustment time C4 under scenario 4. The adjustment value of the FCW collision time threshold under scenario 4 is calculated according to formula (4). ; Official (4).

7. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current autonomous vehicle driving scenario is scenario 5, then select the upper limit of TTC adjustment time C5_max, the lower limit of TTC adjustment time C5_min, the minimum time limit T5 required for the adjustment time to change from C5_max to C5_min, the maximum limit of autonomous vehicle longitudinal acceleration ALgt_max and the minimum limit of autonomous vehicle longitudinal acceleration ALgt_min for scenario 5. The adjustment value of the FCW collision time threshold under scenario 5 is calculated according to formula (5). ; Official (5).

8. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current driving scenario is scenario 6, then select the TTC adjustment time C6 under scenario 6. The adjustment value of the FCW collision time threshold under scenario 6 is calculated according to formula (6). ; Official (6).

9. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current driving scenario is scenario 7, then select the TTC adjustment time C7 under scenario 7. The adjustment value of the FCW collision time threshold under scenario 7 is calculated according to formula (7). ; Official (7).

10. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current driving scenario is scenario 8, then select the TTC adjustment time C8 under scenario 8. The adjustment value of the FCW collision time threshold under scenario 8 is calculated according to formula (8). ; Official (8).

11. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current autonomous vehicle driving scenario is scenario 9, then select the TC adjustment time upper limit C9_max, the TTC adjustment time lower limit C9_min, the minimum time limit T9 required for the adjustment time to change from C9_max to C9_min, the maximum longitudinal acceleration limit ALgt_acc_max, and the minimum longitudinal acceleration limit ALgt_acc_min of the autonomous vehicle. The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (9). , where aLgt is the longitudinal acceleration value of the vehicle; Official (9).

12. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current autonomous vehicle driving scenario is scenario 10, then select the upper limit of TTC adjustment time C10_max, the lower limit of TTC adjustment time C10_min, the minimum time limit T10 required for the adjustment time to change from C10_max to C10_min, the maximum limit of lateral acceleration ALat_max, and the minimum limit of longitudinal acceleration ALat_min for autonomous vehicle; The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (10). , where aLat is the lateral acceleration value of the vehicle; Official (10).

13. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current autonomous vehicle driving scenario is scenario 11, look up parameter table f1 based on the vehicle speed. Parameter table f1 is obtained by calibrating the form at different vehicle speeds. The adjustment value of the FCW collision time threshold under scenario 11 is calculated according to formula (11). ; Official (11).

14. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current autonomous driving scenario is scenario 12, then select the TTC adjustment time C12 for scenario 12; The adjustment value of the FCW collision time threshold under scenario 12 is calculated according to formula (12). ; Official (12).

15. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: If the current autonomous driving scenario is scenario 13, then select the TTC adjustment time C13 for scenario 13; The adjustment value of the FCW collision time threshold under scenario 13 is calculated according to formula (13). ; Official (13).

16. The method for dynamically adjusting the timing of forward collision warning as described in claim 1, characterized in that: The final FCW collision time threshold is calculated according to formulas (14) and (15); Official (14); Official (15); It is a fixed TTC threshold obtained by calibration based on the sensitivity set by the driver. It is the adjustment value of the FCW collision time threshold. , .

17. A forward collision warning timing dynamic adjustment system, characterized in that, include: The receiving module is used to receive signals from the vehicle as a whole, and to receive target information from the FCW (Forward Collision Warning) sensor. The target information includes motion information, position information, and shape. The scenario judgment module pre-stores defined autonomous vehicle driving scenarios. Based on the vehicle's overall signals and target information, it determines which of the pre-stored scenarios the current autonomous vehicle driving scenario belongs to. The scenario judgment module presets autonomous vehicle driving scenarios, including: Scenario 1: The driver presses the brake pedal; Scenario 2: The driver actively slows down; Scenario 3: The driver releases the accelerator pedal; Scenario 4: The driver presses the accelerator pedal deeply; Scenario 5: The driver actively accelerates; Scene 6: The driver turns the steering wheel; Scenario 7: The driver brakes due to a target ahead; Scenario 8: ACC is in cruise control mode; Scenario 9: ACC is in braking mode; Scene 10, driving on a curve; Scenario 11, Low-speed driving; Scene 12, city road; Scene 13, Overtaking; If the current autonomous driving scenario is scenario 1, the calculation module selects the scenario 1 duration threshold T1, the scenario 1 TTC adjustment time upper limit C1_max, and the scenario 1 TTC adjustment time lower limit C1_min. The adjustment value of the FCW collision time threshold under scenario 1 is calculated according to formula (1). , where t is the duration after entering scene 1; Formula (1); The calculation module calculates an adjustment value for the FCW collision triggering time threshold based on the current autonomous vehicle driving scenario, and adjusts the FCW collision triggering time threshold according to the adjustment value.

18. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that, Also includes: The warning module compares the adjusted FCW collision time threshold with the collision time TTC. If the FCW collision time threshold is less than the collision time TTC, a forward collision warning (FCW) is triggered.

19. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: Vehicle signals include: vehicle speed, longitudinal acceleration, lateral acceleration, brake pedal signal, accelerator pedal signal, steering wheel angle, steering wheel angular velocity, and ACC adaptive cruise control activation status signal.

20. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous driving scenario is scenario 2, the calculation module selects the duration threshold T2 of scenario 2, the upper limit of the TTC adjustment time C2_max of scenario 2, and the lower limit of the TTC adjustment time C2_min of scenario 2. The adjustment value of the FCW collision time threshold under scenario 2 is calculated according to formula (2). , where t is the duration after entering scene 2; Official (2).

21. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous driving scenario is scenario 3, the calculation module selects the TTC adjustment time C3 under scenario 3. The adjustment value of the FCW collision time threshold under scenario 3 is calculated according to formula (3). ; Official (3).

22. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous driving scenario is scenario 4, the calculation module selects the TTC adjustment time C4 under scenario 4. The adjustment value of the FCW collision time threshold under scenario 4 is calculated according to formula (4). ; Official (4).

23. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous vehicle driving scenario is scenario 5, the calculation module selects the upper limit of TTC adjustment time C5_max, the lower limit of TTC adjustment time C5_min, the minimum time limit T5 required for the adjustment time to change from C5_max to C5_min, the maximum limit of autonomous vehicle longitudinal acceleration ALgt_max and the minimum limit of autonomous vehicle longitudinal acceleration ALgt_min for scenario 5. The adjustment value of the FCW collision time threshold under scenario 5 is calculated according to formula (5). ; Official (5).

24. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous driving scenario is scenario 6, the calculation module selects the TTC adjustment time C6 under scenario 6. The adjustment value of the FCW collision time threshold under scenario 6 is calculated according to formula (6). ; Official (6).

25. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous driving scenario is scenario 7, the calculation module selects the TTC adjustment time C7 under scenario 7. The adjustment value of the FCW collision time threshold under scenario 7 is calculated according to formula (7). ; Official (7).

26. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous driving scenario is scenario 8, the calculation module selects the TTC adjustment time C8 under scenario 8. The adjustment value of the FCW collision time threshold under scenario 8 is calculated according to formula (8). ; Official (8).

27. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous vehicle driving scenario is scenario 9, the calculation module selects the upper limit of TC adjustment time C9_max, the lower limit of TTC adjustment time C9_min, the minimum time limit T9 required for the adjustment time to change from C9_max to C9_min, the maximum limit of autonomous vehicle longitudinal acceleration ALgt_acc_max, and the minimum limit of autonomous vehicle longitudinal acceleration ALgt_acc_min for scenario 9. The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (9). , where aLgt is the longitudinal acceleration value of the vehicle; Official (9).

28. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous vehicle driving scenario is scenario 10, the calculation module selects the upper limit of TTC adjustment time C10_max, the lower limit of TTC adjustment time C10_min, the minimum time limit T10 required for the adjustment time to change from C10_max to C10_min, the maximum limit of lateral acceleration ALat_max, and the minimum limit of longitudinal acceleration ALat_min for autonomous vehicle in scenario 10. The adjustment value of the FCW collision time threshold in this scenario is calculated according to the following formula (10). , where aLat is the lateral acceleration value of the vehicle; Official (10).

29. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous vehicle driving scenario is scenario 11, the calculation module looks up parameter table f1 based on the vehicle speed. Parameter table f1 is obtained by calibrating the form at different vehicle speeds. The adjustment value of the FCW collision time threshold under scenario 11 is calculated according to formula (11). ; Official (11).

30. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous driving scenario is scenario 12, the calculation module selects the TTC adjustment time C12 for scenario 12; The adjustment value of the FCW collision time threshold under scenario 12 is calculated according to formula (12). ; Official (12).

31. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: If the current autonomous driving scenario is scenario 13, the calculation module selects the TTC adjustment time C13 for scenario 13; The adjustment value of the FCW collision time threshold under scenario 13 is calculated according to formula (13). ; Official (13).

32. The forward collision warning timing dynamic adjustment system as described in claim 17, characterized in that: The warning module calculates the final trigger FCW collision time threshold based on formulas (14) and (15); Official (14); Official (15); It is a fixed TTC threshold obtained by calibration based on the sensitivity set by the driver. It is the adjustment value of the FCW collision time threshold. , .

Images