An adaptive collision avoidance method, system, and vehicle for vehicles crossing the road.

Abstract

This invention relates to an adaptive collision avoidance method, system, and vehicle for vehicles crossing the road. The method includes using collected vehicle status information to determine if the vehicle is in an emergency braking zone and the distance between the vehicle and the crossing vehicle is greater than a safe braking distance. This involves performing emergency braking and determining vehicle speed and lane-changing conditions. If both speed and lane-changing conditions are met, the steering wheel is controlled to steer. According to this invention, the problems of poor driving flexibility and significant damage to the vehicle's braking system caused by the single collision avoidance method in existing technologies can be solved.

Description

Technical Field

[0001] This invention belongs to the field of vehicle-assisted driving, specifically relating to an adaptive collision avoidance method, system, and vehicle for vehicles crossing the road. Background Technology

[0002] In recent years, with the continuous increase in the number of vehicles on the market, there have been more and more traffic accidents, especially those involving vulnerable groups on the road, which often cause serious injuries.

[0003] With the development of vehicle intelligence, to prevent collisions, vehicles often use vision and millimeter-wave radar to detect, identify, and track static and dynamic objects. By combining data from these two sensors with vehicle braking deceleration, the system calculates the collision time and safe distance between the vehicle and the target ahead, and issues a collision warning to the driver or initiates automatic braking as soon as possible. The collision time and safe distance are derived by comprehensively considering parameters such as distance to the target, speed, and braking deceleration.

[0004] Therefore, in existing technologies, once a vehicle enters an emergency braking zone, it is only controlled through emergency braking until it comes to a stop to avoid a collision. While this improves driving safety, it reduces vehicle traffic efficiency and maneuverability. Furthermore, emergency braking causes significant damage to the vehicle's braking system, affecting its lifespan. Summary of the Invention

[0005] This invention provides an adaptive collision avoidance method, system, and vehicle for vehicles crossing the road, which solves the problems of poor driving flexibility and significant damage to the vehicle's braking system caused by the single collision avoidance method in the prior art.

[0006] To address the aforementioned technical problems, this invention provides an adaptive collision avoidance method for vehicles crossing the road, comprising:

[0007] 1) Real-time collection of vehicle status information of the vehicle itself, crossing vehicles, and vehicles in front and behind in the lane changing lane. The vehicle status information includes distance information, speed information, and acceleration information. The lane changing lane is the lane with the opposite direction of travel to the crossing vehicle.

[0008] 2) If the vehicle is in an emergency braking zone, apply emergency braking and determine whether the distance between the vehicle and the crossing vehicle is greater than the safe braking distance. If so, determine the vehicle speed and lane-changing conditions. The safe braking distance refers to the minimum longitudinal distance between the front of the vehicle and the side of the crossing vehicle when the vehicle begins to change lanes.

[0009] 3) If the vehicle speed is less than or equal to the lane-changing speed threshold and the lane-changing conditions are met, then control the steering wheel to steer; otherwise, continue with emergency braking.

[0010] The beneficial effects of the above technical solution are as follows: by utilizing the collected vehicle status information, when it is determined that the vehicle is in an emergency braking zone and the distance between the vehicle and the crossing vehicle is greater than the minimum longitudinal distance, emergency braking operation is performed on the vehicle, and the vehicle speed and lane-changing conditions are determined. When the vehicle speed and lane-changing conditions are met simultaneously, the steering wheel is controlled to steer. Thus, while ensuring vehicle safety, the vehicle can still steer during emergency braking, avoiding the need to rely solely on braking to avoid driving risks when the distance between vehicles is less than the distance to the emergency braking zone. This improves the flexibility and traffic efficiency of vehicle driving and reduces the damage to the vehicle's braking system caused by emergency braking.

[0011] Furthermore, to improve vehicle safety during lane changes, this invention provides an adaptive collision avoidance method for vehicles crossing lanes, further including the minimum longitudinal distance satisfying:

[0012] L ra＝ (v x -v ry )t a +a e t a 2 / 2

[0013] Where L ra For the minimum longitudinal distance, v x v is the lateral speed of this vehicle. ry For the longitudinal speed of the vehicle, t a For the turning time, a e This is to accelerate the vehicle.

[0014] Furthermore, in order to avoid conflict with driver operation, the present invention provides an adaptive collision avoidance method for vehicle crossing, which also includes vehicle status information including steering wheel angle information. In step 3), if the vehicle speed is less than or equal to the lane-changing speed threshold and the lane-changing conditions are met, and a change in steering wheel angle information is detected, then the steering wheel control is abandoned and the vehicle is turned.

[0015] Furthermore, in order to better ensure vehicle driving safety, the present invention provides an adaptive collision avoidance method for vehicles crossing the road, which also includes determining whether lane-changing conditions are met when the vehicle is in the braking and steering area and has not reached the emergency braking area. If the lane-changing conditions are met, the steering wheel is controlled to steer.

[0016] Furthermore, to improve vehicle safety during lane changes, this invention provides an adaptive collision avoidance method for vehicles crossing lanes, which also includes lane-changing conditions including a preceding vehicle condition and a following vehicle condition; the preceding vehicle condition is that the distance between the current vehicle and the preceding vehicle in the lane-changing lane is greater than a first distance; the following vehicle condition is that if the current vehicle's speed is greater than the speed of the following vehicle in the lane-changing lane, the distance between the current vehicle and the following vehicle in the lane-changing lane is greater than a safe distance; if the current vehicle's speed is less than or equal to the speed of the following vehicle in the lane-changing lane, the distance between the current vehicle and the following vehicle in the lane-changing lane is greater than a second distance.

[0017] Furthermore, in order to better ensure vehicle driving safety, the present invention provides an adaptive collision avoidance method for vehicles crossing the road, which also includes issuing an alarm when the vehicle is in a warning zone, wherein the warning zone is determined by the driver's reaction time, deceleration braking time, and emergency braking time.

[0018] Furthermore, in order to ensure vehicle driving safety, the present invention provides an adaptive collision avoidance method for vehicles crossing the road, which also includes adding a safe following distance when determining the minimum longitudinal distance.

[0019] The present invention also provides an adaptive collision avoidance system for vehicles crossing, including a memory and a processor, wherein the processor is used to execute instructions stored in the memory to implement the above-described adaptive collision avoidance method for vehicles crossing.

[0020] The present invention also provides a vehicle, including a vehicle body and a signal acquisition device and an auxiliary controller mounted on the vehicle body. The signal acquisition device is connected to the auxiliary controller. The signal acquisition device includes a vision sensor, radar, a camera, a speed sensor, an acceleration sensor, and a steering wheel angle sensor. The signal acquisition device is used to collect real-time vehicle status information of the vehicle itself, vehicles crossing the lane, and vehicles in front and behind when changing lanes. The vehicle status information includes distance information, speed information, acceleration information, and steering wheel angle information. The auxiliary controller is used to implement the above-mentioned adaptive collision avoidance method for vehicles crossing the lane based on the vehicle status information collected by the signal acquisition device. Attached Figure Description

[0021] Figure 1 This is a structural diagram of the vehicle environment perception system of the present invention;

[0022] Figure 2 This is a schematic diagram of the vehicle cross-traffic adaptive collision avoidance control principle of the present invention;

[0023] Figure 3 This is a flowchart of the adaptive collision avoidance method for vehicles crossing in a straight-ahead scenario according to the present invention. Detailed Implementation

[0024] The basic concept of this invention is as follows: by using the collected vehicle status information, when it is determined that the vehicle is in an emergency braking zone and the distance between the vehicle and the crossing vehicle is greater than the minimum longitudinal distance, emergency braking operation is performed on the vehicle, and the vehicle speed and lane-changing conditions are determined. When the vehicle speed and lane-changing conditions are met simultaneously, the steering wheel is controlled to steer. Thus, while ensuring vehicle safety, the vehicle can still steer during emergency braking, improving the vehicle's driving flexibility and traffic efficiency, and reducing the damage to the vehicle's braking system caused by emergency braking.

[0025] To make the objectives, technical solutions, and technical effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Example of an adaptive collision avoidance method for vehicles crossing the road:

[0027] Figure 1 This is a structural diagram of the vehicle environment perception system of the present invention; Figure 2 This is a schematic diagram of the vehicle cross-traffic adaptive collision avoidance control principle of the present invention; Figure 3 This is a flowchart of the adaptive collision avoidance method for vehicles crossing in a straight-ahead scenario according to the present invention.

[0028] First, the area between the vehicle and the crossing vehicle in a lateral crossing scenario is divided. Specifically, the area between the vehicle and the crossing vehicle can be divided into a warning area, a braking and steering area, and a safe distance area. The extent of all areas is dynamically changing and depends on the vehicle, the crossing vehicle, speed, and acceleration; for example... Figure 2 As shown, the area between this vehicle and the crossing vehicle can be divided into a warning zone (using the alarm critical time threshold TTC). w (represented by), braking and steering zones and safe distance zones (represented by safe distance L) rs (represented), where the braking steering region includes the active deceleration steering region (using the active deceleration steering distance L). rab (represented by) and emergency braking zone (using emergency braking distance L) rb (indicated), emergency braking zone (L) rb This includes the minimum steering area (using the braking safety distance L). ra (Indicated), the usual safe distance L s The warning zone, ranging from 0.3m to 1m, primarily indicates a potential collision risk between the vehicle and a vehicle crossing the road. The emergency braking zone is the minimum distance at which the vehicle can brake at full power, while the minimum turning zone refers to the minimum longitudinal distance between the front of the vehicle and the side of the vehicle crossing the road when the vehicle begins to change lanes.

[0029] When this vehicle enters different areas, the specific procedures for the adaptive collision avoidance method for vehicles crossing the line are as follows:

[0030] Step 1: Collect real-time vehicle status information of the vehicle itself, vehicles crossing the lane, and vehicles in front and behind when changing lanes.

[0031] In step one, as Figure 3 As shown, the system collects vehicle status information and detects the status information of vehicles crossing the road ahead and vehicles in front and behind in lane-changing areas. Vehicle status information includes geographical location, distance, speed, acceleration, throttle position, brake pedal position, and steering wheel angle. This vehicle status information serves as the basis for subsequent steering, lane-changing, and braking control of the vehicle. This information is acquired in real-time using signal acquisition equipment, where the lane-changing lane is the lane traveling in the opposite direction to the crossing vehicle.

[0032] like Figure 1 As shown, the signal acquisition equipment includes a forward vision sensor, a forward millimeter-wave radar, a 360° surround-view camera, a vehicle-around ultrasonic radar, front and rear angular millimeter-wave radar, an environmental information fusion module, and a steering wheel angle sensor. The forward vision sensor is responsible for classifying, identifying, ranging from, and measuring the speed of vehicles, non-motorized vehicles, and pedestrians ahead. The forward millimeter-wave radar measures the distance and speed of obstacles. The 360° surround-view camera acquires and stitches images around the vehicle to display and warn of obstacles. Sixteen ultrasonic radars are deployed around the vehicle to detect and warn of nearby obstacles. The front and rear millimeter-wave radars acquire information such as the distance, speed, and acceleration of vehicles in the front, rear, and adjacent lanes, providing data for steering and lane changing. The environmental perception fusion module performs multi-source fusion processing on data from the forward vision, forward millimeter-wave radar, vehicle-side ultrasonic radar, and front and rear angular millimeter-wave radars, achieving complementary advantages and mutual verification between different types of sensors. The steering wheel angle sensor module collects the steering rotation angle to obtain the vehicle's actual steering information, forming a closed-loop steering control.

[0033] In step one, based on the vehicle status information of the vehicle itself, crossing vehicles, and vehicles in front and behind in adjacent lanes, the warning time (TTC) and the active deceleration steering distance (L) are calculated. rab Emergency braking distance L rb Safe distance L s Vehicle braking and steering safety parameters.

[0034] Step 2: Select the collision avoidance safety distance mode.

[0035] In step two, since safe traffic conditions require all vehicles on the road to be in a dynamic equilibrium, when the distance and speed between vehicles remain relatively consistent, even if the distance is close, a collision will not occur if the vehicle in front is traveling at the same speed, until the dynamic equilibrium is broken. After the collision avoidance strategy is activated, the distance between the vehicle in front needs to be adjusted promptly to prevent secondary collisions. Therefore, the adaptive collision avoidance control strategy will generate two collision avoidance safety distance modes.

[0036] In step two, select the collision avoidance safety distance mode, which includes a smooth mode and an extreme distance mode. The smooth mode decelerates the vehicle until the safe distance between the two vehicles is outside the warning safety zone, ensuring a sufficient safety distance and creating a safer distance balance. Even if the driving state of the vehicle in front changes drastically, the following vehicle can respond gently in real time. The extreme distance mode is a relatively high-speed driving method that only maintains the distance between the two vehicles outside the emergency braking zone. While ensuring a safe distance, it improves traffic efficiency, but if the state of the vehicle in front changes drastically, a more aggressive response (emergency braking) is required.

[0037] Step 3: Determine whether the vehicle is in the warning zone.

[0038] In step three, such as Figure 3 As shown, when TTC>TTC Lw At this time, meaning before the vehicle enters the warning area and the distance between the vehicle and the crossing vehicle is sufficient, there is no risk of collision, and the vehicle continues driving as intended by the driver. Here, TTC refers to the warning time. Lw This is the alarm threshold time. When the vehicle is in the warning zone, i.e., TTC ≤ TTC... Lw And L > L rab +L rb +L rs If the vehicle continues to travel at the current speed, there may be a risk of collision. At this time, a warning will be issued through the instrument panel collision warning icon, sound, steering wheel vibration, etc., so that the vehicle can change lanes or brake in advance.

[0039] Specifically, the warning area adopts a time parameter model based on TTC. When TTC is less than the alarm critical time threshold TTC set by the system, Lw When the collision is detected, the system will issue a collision hazard alarm. The alarm threshold time (TTC) is [not specified]. Lw It consists of driver reaction time, deceleration and braking time, and emergency braking time. The alarm critical time threshold (TTC) is also included. Lw for:

[0040] TTC Lw =TTCt +[((v y+ v rx ) 2 +2a y L rab ) 1 / 2 ] / a y +[((v y+ v rx ) 2 +2a max L rb ) 1 / 2 -2v y ] / a max

[0041] From the formulas for velocity and displacement in uniformly accelerated linear motion, we can see that L rab =(v y+ v rx )T rab +a y T rab 2 / 2;L rb =(v y+ v rx )T rb +a max T rb 2 / 2. Where TTC t The driver's reaction time is typically set to 1.5 seconds. y v is the longitudinal speed of the vehicle. rx Let a be the target lateral velocity (i.e., the lateral velocity across the vehicle). y L is the longitudinal acceleration of the vehicle. rab To actively reduce steering distance, a max L is the maximum deceleration of this vehicle. rb For emergency braking safety distance, T rab T is the deceleration and braking time. rb This refers to the emergency braking time.

[0042] In step three, the time t1 for the vehicle to cross the lane can also be calculated. From the formula for displacement in uniformly accelerated linear motion, we know that L1 + L... re =v ry t1+a te t1 2 / 2, therefore the time t1 for vehicles to cross the lane satisfies:

[0043] t1={[v ry 2 +2a te (L1+L re )] 1 / 2 -v ry} / a te

[0044] Where, in the formula v ry Let a be the longitudinal velocity of the target. te L is the deceleration of the vehicle crossing the lane, L1 is the width of the lane where the vehicle is located, and L re v is the length of the vehicle crossing in the transverse direction. ry The target longitudinal velocity (i.e., the longitudinal velocity across the vehicle). When t1 > TTC t No alarm is triggered if t1≤TTC t Call the alarm.

[0045] Step 4: If the vehicle enters the warning area, continue to determine whether the vehicle has entered the braking and steering area but has not reached the emergency braking area.

[0046] In step four, when the vehicle is in the braking and steering zone but has not reached the emergency braking zone, that is, when L... rb +L rs <L≤L rab +L rb +L rs When the vehicle enters the active deceleration and steering zone, it uses front and rear angular millimeter-wave radar, 360-degree surround view, and ultrasonic radar to detect vehicles in the rear and side lanes to determine if lane-changing conditions are met. If the conditions are met, the steering wheel is controlled to steer (this is a single-stage collision avoidance maneuver). Lane-changing conditions include the condition of the vehicle before the lane change and the condition of the vehicle after the lane change; the condition of the vehicle before the lane change is the distance L between the vehicle and the vehicle in front in the adjacent lane. f The distance between the vehicle and the vehicle following it in the adjacent lane is greater than the first safe following distance; the following conditions apply when changing lanes: if the vehicle's speed is greater than the speed of the vehicle following it in the adjacent lane, the distance between the vehicle and the vehicle following it in the adjacent lane is greater than the safe following distance; if the vehicle's speed is less than or equal to the speed of the vehicle following it in the adjacent lane, the distance between the vehicle and the vehicle following it in the adjacent lane is L. r The distance is greater than the second vehicle distance. This improves vehicle safety when changing lanes. If the lane-changing conditions are not met, partial braking and deceleration are applied based on the selected collision avoidance safety distance mode. Specifically, according to the collision avoidance safety distance mode, the vehicle automatically adjusts its distance from the vehicle in front to ensure that both vehicles are at a safe distance and prevent secondary collisions.

[0047] In step four, the first vehicle distance satisfies:

[0048] L f ≥(v y -v Lfy )t r +(a y -a Lfy )t r 2 / 2+L e +L rs

[0049] t r =[(4v x 2 +8L2a x ) 1 / 2 -2v x ] / 2a x

[0050] In the formula L f v represents the distance between this vehicle and the vehicle in front in the changing lane. Lfy a is the longitudinal speed of the vehicle ahead in the lane-changing lane. Lfy For the longitudinal acceleration of the vehicle in front of the lane changer, t r For lane change time, L e L is the length of this vehicle. rs For a safe distance, v x v is the lateral speed of this vehicle. y L1 represents the vehicle's longitudinal speed, L2 represents the lane width of the lane changing lane, and a represents the lane speed of the vehicle. x Let a be the lateral acceleration of the vehicle. y This is the longitudinal acceleration of the vehicle.

[0051] In step four, the second vehicle distance satisfies:

[0052] L r ≥(v Lby -v y )t r +(a Lby -a y )t r 2 / 2+L rs

[0053] t r =[(4v x 2 +8L2a x ) 1 / 2 -2v x ] / 2a x

[0054] In the formula L r v represents the distance between this vehicle and the vehicle behind it in the changing lane. Lby v is the longitudinal speed of the vehicle after changing lanes. y The longitudinal speed of the vehicle is t. r For lane change time, a Lby For the longitudinal acceleration of the vehicle after changing lanes, a y L is the longitudinal acceleration of the vehicle. rs This is to maintain a safe distance. Therefore, it can significantly improve vehicle safety when changing lanes.

[0055] In step four, when the lane-changing conditions are met, it is also necessary to determine whether the vehicle speed meets the requirements. If the speed meets the requirements, the steering wheel is controlled to steer. For example, the vehicle speed must be ≤60km / h. If the speed does not meet the requirements, partial braking is applied to reduce speed, and deceleration stops when the crossing vehicle has left.

[0056] In step four, if the lane-changing conditions are not met, the time t1 for the vehicle to cross the current lane and the time t2 for the vehicle to reach the emergency braking area are calculated. If t1 < t2, the vehicle can continue to travel at its current speed without slowing down. If t1 ≥ t2, the vehicle will slow down until the target leaves the current lane.

[0057] In step four, the distance of the braking steering area is the active deceleration steering distance L. rab Emergency braking distance L rb The sum of the distances between the two areas. Emergency braking distance L rb It is related to the vehicle's speed, maximum deceleration, and the time it takes for the target to cross the road. Emergency braking distance L rb For: L rb =(v y +v rx )t1-a max t1 2 / 2.

[0058] In step four, the expected active deceleration steering distance L rab The relative distance traveled during time t1 by actively decelerating and turning is L, which is decelerated at 1 / 4 of the maximum deceleration. rab for:

[0059] L rab =v y t1-a rab t1 2 / 2

[0060] Among them, a rab The expected braking deceleration of the vehicle is usually selected as 1 / 4 of the maximum braking deceleration.

[0061] In practice, if the vehicle is crossing the braking and steering zone, the displacement and velocity formulas for uniformly accelerated linear motion show that LL ra -L rs =(v y +v rx )T rab +a rae T rab 2 / 2, -v rx =v y –a rae T rab Then the actual deceleration of the vehicle is a.rae for:

[0062] a rae =3(v y +v rx ) 2 +[2(LL ra -L rs )-8(LL ra (v) y +v rx ) 2 )] 1 / 2 / 4(LL ra -L rs )t rae ≤t1

[0063] a rae =0t rae >t1

[0064] Among them, a rae The actual braking deceleration of this vehicle is given by t, where L is the distance between this vehicle and the crossing vehicle, and t is the distance between the vehicle and the crossing vehicle. rae This refers to the deceleration and braking time. The vehicle's speed is adaptively adjusted based on the target distance, speed, and acceleration to achieve optimal matching. When t... rae When ≤t1, with deceleration a rae Decelerate, when t rae When the speed exceeds t1, maintain the current speed.

[0065] In step four, before controlling the steering wheel to turn, it is necessary to use the steering wheel angle sensor to determine whether the driver has turned the steering wheel. If the driver has turned the steering wheel, then the steering wheel is turned according to the driver's intention, and the driver abandons the control of the steering wheel to turn.

[0066] Step 5: If the vehicle enters the emergency braking zone, determine whether the vehicle has entered the minimum steering zone.

[0067] In step five, if the vehicle is in an emergency braking zone and the distance to the crossing vehicle is relatively short, a braking priority strategy should be adopted first, and full braking (i.e., emergency braking) should be applied immediately, meaning the vehicle decelerates at maximum deceleration. Then, it should be determined whether the vehicle has entered the minimum turning zone (i.e., determining L). ra +L rs <L≤L rb +L rs If the minimum turning zone (i.e., L) is not yet satisfied, then... ra +L rs <L≤L rb +L rsIf the vehicle's speed is less than or equal to the lane-changing speed threshold and the lane-changing conditions are met, the steering wheel is turned; otherwise, emergency braking continues. During emergency braking, the emergency braking zone between the vehicle and crossing vehicles changes due to the decrease in vehicle speed, and the corresponding t2 also changes. t1 and t2 are calculated in real time. When t1 < t2, deceleration stops, and the current speed is maintained. This prevents driving safety issues caused by high-speed lane changes.

[0068] In this embodiment, the lane-changing conditions involve not only vehicles in the lane changing lane, but also whether they are in a non-turning area (solid ground line, intersection, single lane, etc.).

[0069] Additionally, in step five, if the vehicle speed is low, for example, below the low speed threshold, the emergency braking distance is less than the minimum steering distance. If the vehicle speed is high, for example, greater than or equal to the low speed threshold, the emergency braking distance is greater than the minimum steering distance. The low speed threshold is, for example, 20 km / h. During deceleration, when the vehicle speed is ≤20 km / h, the vehicle in the emergency braking zone only applies full braking and does not actively steer. When the vehicle speed is ≥20 km / h, the vehicle will first apply full braking. During braking, if lane-changing conditions are met, the steering wheel can be controlled to steer (secondary steering for collision avoidance). Secondary steering can effectively avoid collision damage, reduce the risk of rear-end collisions caused by emergency braking, reduce additional injuries to occupants caused by emergency braking, and improve vehicle safety. If the vehicle enters the minimum steering zone, emergency braking continues.

[0070] In step five, if the vehicle's speed is less than or equal to the lane-changing speed threshold and the lane-changing conditions are met, and a change in steering wheel angle information is detected (i.e., the driver's driving intention is detected), then the driver relinquishes control of the steering wheel and proceeds with the turn. This avoids conflicts with the driver's actions.

[0071] In step five, the minimum turning area refers to the minimum longitudinal distance L between the front of the vehicle and the side of the vehicle crossing the lane when the lane change begins. ra When a vehicle crosses the road, the vehicle will steer towards the opposite lane of the target's movement. This will occur when the vehicle's lateral movement exceeds the lateral safety distance L. rs Afterwards, it indicates that the vehicle has completed the collision avoidance steering, with a minimum longitudinal distance L. ra satisfy:

[0072] L ra＝ (v x -v ry )t a +a e t a 2 / 2

[0073] L rs＝ t a 2 (a e +a r ) / 2+(v x -v ry )t a

[0074] Wherein, t a For the turning time, a e For the acceleration of this vehicle, a r For the target acceleration (i.e., the acceleration across the vehicle), L ra This is the minimum longitudinal distance (i.e., the braking safety distance); L rs This is the minimum lateral safety distance (i.e., the distance within the safety distance zone). L rs The length of the vehicle that crosses the road is greater than or equal to the length of the vehicle.

[0075] The adaptive collision avoidance method for vehicles crossing the road, based on this embodiment, obtains multi-level and comprehensive road traffic information through the fusion of multiple sensors deployed on the vehicle in complex traffic scenarios. This includes data such as the type, distance, speed, and acceleration of the vehicle and other vehicles in front. After filtering and fusing this target data, and based on the coupling relationship between the warning time (TTC), braking safety distance, and steering safety distance, combined with the surrounding road traffic environment and the driving status of vehicles ahead, an adaptive collision avoidance strategy is selected, employing methods such as graded braking and active steering. In this scenario, while ensuring vehicle safety, the vehicle can still steer during emergency braking, avoiding the need to rely solely on braking to avoid driving risks when the distance to another vehicle is less than the emergency braking zone. This improves vehicle maneuverability and traffic efficiency, reduces damage to the vehicle's braking system during emergency braking, and minimizes the impact on the braking system's lifespan. It solves the problems of poor maneuverability and significant damage to the braking system caused by a single collision avoidance method in existing technologies. This enables vehicle collision warning and collision avoidance control to better reflect real-world traffic scenarios, achieving optimal matching of road environment, vehicle handling, driving and braking timing, and steering timing. This improves driving safety and comfort, providing multi-layered, comprehensive safety protection for both the vehicle and the driver, maximizing driving safety. It addresses issues such as simplistic collision avoidance control strategies, frequent false braking, and failure to reflect actual driving intentions, achieving optimal matching of driving, braking, and steering control, thus enhancing driving safety and comfort.

[0076] In this embodiment, the minimum turning zone and the safe distance zone are two separate zones. If the vehicle enters the emergency braking zone but has not yet entered the minimum turning zone, the distance between the vehicle and the crossing vehicle is greater than the sum of the minimum longitudinal distance and the safe distance, but less than the sum of the emergency braking distance and the safe distance. In other embodiments, a safe distance is added to the minimum turning zone. In this case, if the vehicle enters the emergency braking zone but has not yet entered the minimum turning zone, the distance between the vehicle and the crossing vehicle is greater than the minimum longitudinal distance and less than the emergency braking distance.

[0077] Example of an adaptive collision avoidance system for vehicles crossing the road:

[0078] This embodiment discloses an adaptive collision avoidance system for vehicles crossing the road. The adaptive collision avoidance system for vehicles crossing the road based on this embodiment can solve the problems of poor driving flexibility and significant damage to the vehicle's braking system caused by the single collision avoidance method in the prior art.

[0079] In this embodiment, the adaptive collision avoidance system for vehicle crossing includes a processor and a memory. The processor executes instructions stored in the memory to implement the adaptive collision avoidance method for vehicle crossing as described in the method embodiment of the present invention. This adaptive collision avoidance method for vehicle crossing has been described in detail in the above method embodiment. Those skilled in the art can generate corresponding computer instructions based on this adaptive collision avoidance method for vehicle crossing to obtain the adaptive collision avoidance system for vehicle crossing, which will not be repeated here. The memory stores the computer instructions generated based on the adaptive collision avoidance method for vehicle crossing.

[0080] In this embodiment, the processor can be a microprocessor (MCU), a programmable logic device (FPGA), or other processing device. The memory can be various types of memory that store information using electrical energy (e.g., RAM, ROM), various types of memory that store information using magnetic energy (e.g., hard disk, floppy disk, magnetic tape, magnetic core memory, bubble memory, USB flash drive), or various types of memory that store information using optical methods (e.g., CD, DVD). Of course, the memory can also be other types of memory (e.g., quantum memory, graphene memory).

[0081] Vehicle Example:

[0082] This embodiment also provides a vehicle, which may include a vehicle body and a signal acquisition device and an auxiliary controller mounted on the vehicle body. The signal acquisition device is connected to the auxiliary controller.

[0083] The signal acquisition equipment includes vision sensors, radar, cameras, speed sensors, acceleration sensors, and steering wheel angle sensors. For example, the signal acquisition equipment includes forward-facing vision sensors, forward-facing millimeter-wave radar, forward and backward millimeter-wave angular radar, ultrasonic radar, and steering wheel angle sensors. The signal acquisition equipment is used to collect real-time vehicle status information of the vehicle itself, vehicles crossing the road, and vehicles in front and behind when changing lanes. Vehicle status information includes distance information, speed information, acceleration information, and steering wheel angle information. The signal acquisition equipment has been described in detail in the above method embodiments and will not be repeated here.

[0084] The auxiliary controller is used to implement the adaptive collision avoidance method for vehicle crossing in the method embodiments of the present invention based on the vehicle status information collected by the signal acquisition device. The adaptive collision avoidance method for vehicle crossing has been described in detail in the above method embodiments and will not be repeated here.

[0085] The vehicle based on this embodiment can solve the problems of poor driving flexibility caused by the single collision avoidance method in the prior art and the significant damage to the vehicle's braking system during emergency braking. The vehicle in this embodiment includes, but is not limited to, transport vehicles, such as cars, buses, and trucks.

Claims

1. A method of adaptive collision avoidance for a vehicle crossing, characterized by, include: 1) Real-time collection of vehicle status information of the vehicle itself, crossing vehicles, and vehicles in front and behind in the lane changing lane. Vehicle status information includes distance information, speed information, and acceleration information. The lane changing lane is the lane with the opposite direction of travel of the crossing vehicle. 2) Determine the area where the vehicle is located relative to the crossing vehicle based on the vehicle status information. The area is divided into warning area, active deceleration and steering area, emergency braking area and safe distance area along the direction of the vehicle's travel. The emergency braking area includes the minimum steering area, which is the minimum distance for the vehicle to brake at full force. The minimum steering area refers to the minimum longitudinal distance between the front of the vehicle and the side of the crossing vehicle when the vehicle starts changing lanes. 3) If the vehicle is in the active deceleration and steering zone, determine whether the lane change conditions are met. If they are met, control the steering wheel to steer. Otherwise, perform partial braking and deceleration based on the selected collision safety distance mode. The collision safety distance mode includes smooth mode and extreme distance mode. In smooth mode, the vehicle decelerates until the safe distance between the two vehicles is outside the warning zone. In extreme distance mode, the distance between the two vehicles is kept outside the emergency braking zone. If the vehicle is in the emergency braking zone, apply full braking immediately and determine if the vehicle has entered the minimum turning zone. If not, assess the vehicle's speed and lane-changing conditions. If the vehicle's speed is less than or equal to the lane-changing speed threshold and the lane-changing conditions are met, steer the vehicle by controlling the steering wheel; otherwise, continue emergency braking.

2. The adaptive collision avoidance method for vehicle crossing as described in claim 1, characterized in that, The minimum longitudinal distance satisfies: L ra= ( v x - v ry ) t a + a e t a 2 / 2 in L ra Minimum vertical distance v x This is the lateral speed of the vehicle. v ry The speed at which the vehicle moves across its longitudinal direction. t a For the turning time, a e This is to accelerate the vehicle.

3. The adaptive collision avoidance method for vehicles crossing the road according to claim 1, characterized in that, The vehicle status information includes steering wheel angle information. In step 3), if the vehicle speed is less than or equal to the lane-changing speed threshold and the lane-changing conditions are met, and a change in steering wheel angle information is detected, then control of the steering wheel is abandoned to turn.

4. The adaptive collision avoidance method for vehicles crossing the road according to claim 1, characterized in that, Lane-changing conditions include the condition of the vehicle before changing lanes and the condition of the vehicle after changing lanes. The condition of the vehicle before changing lanes is that the distance between the current vehicle and the vehicle in front of it in the lane-changing lane is greater than the first distance. The condition of the vehicle after changing lanes is that if the current vehicle's speed is greater than the speed of the vehicle behind it in the lane-changing lane, the distance between the current vehicle and the vehicle behind it in the lane-changing lane is greater than the safe distance. If the current vehicle's speed is less than or equal to the speed of the vehicle behind it in the lane-changing lane, the distance between the current vehicle and the vehicle behind it in the lane-changing lane is greater than the second distance.

5. The adaptive collision avoidance method for vehicle crossing as described in claim 4, characterized in that, First vehicle distance is satisfied: L f ≥( v y - v Lfy ) t r +( a y - a Lfy ) t r 2 / 2+ L e +L rs t r =[(4v x 2 +8L 2 a x ) 1 / 2 -2v x ] / 2a x The second vehicle distance is satisfied: L r ≥( v Lby - v y ) t r +( a Lby - a y ) t r 2 / 2 +L rs t r =[(4 v x 2 +8 L 2 a x ) 1 / 2 -2 v x ] / 2 a x in, L f This refers to the distance between this vehicle and the vehicle in front in the changing lane. v Lfy The longitudinal speed of the vehicle ahead in the lane change lane. a Lfy For the longitudinal acceleration of the vehicle in front when changing lanes, t r For lane changing time, L e This is the length of the vehicle. L rs For a safe distance, v x This is the lateral speed of the vehicle. v y This is the longitudinal speed of the vehicle. L 2 The lane width for lane changing. a x This is the lateral acceleration of the vehicle. a y This is the longitudinal acceleration of the vehicle. L r This refers to the distance between this vehicle and the vehicle following in the changing lane. v Lby The longitudinal speed of the vehicle after changing lanes. a Lby This refers to the longitudinal acceleration of the vehicle after changing lanes.

6. The adaptive collision avoidance method for vehicle crossing as described in claim 1, characterized in that, An alarm will be triggered when the vehicle is in the warning zone. The warning zone is determined by the driver's reaction time, deceleration braking time, and emergency braking time.

7. The adaptive collision avoidance method for vehicle crossing as described in claim 1, characterized in that, When determining the minimum longitudinal distance, a safe following distance also needs to be added.

8. An adaptive collision avoidance system for vehicles crossing the road, characterized in that, include: A memory and a processor, the processor being configured to execute instructions stored in the memory to implement the adaptive collision avoidance method for vehicle crossing as described in any one of claims 1-7.

9. A vehicle, characterized in that, include: The vehicle body and the signal acquisition equipment and auxiliary controller installed on the vehicle body, with the signal acquisition equipment connected to the auxiliary controller; The signal acquisition equipment includes a vision sensor, radar, camera device, speed sensor, acceleration sensor and steering wheel angle sensor. The signal acquisition equipment is used to collect real-time vehicle status information of the vehicle itself, vehicles crossing the road and vehicles in front and behind when changing lanes. The vehicle status information includes distance information, speed information, acceleration information and steering wheel angle information. The auxiliary controller is used to implement the adaptive collision avoidance method for vehicle crossing as described in any one of claims 1-7 based on the vehicle status information collected by the signal acquisition device.

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