A vehicle abnormal behavior prevention method and system

Abstract

The present application relates to the field of road traffic safety, and in particular to a vehicle abnormal behavior prevention method and system. According to the data of the ego vehicle and the other objects around the ego vehicle, the present application identifies the abnormal behavior of the vehicle, so as to actively control the emergency braking of the vehicle, or limit the power output and automatically shut down, thereby reducing the severity of the consequences of the abnormal behavior.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of road traffic safety, in particular to a vehicle abnormal behavior prevention method and system. BACKGROUND

[0002] Vehicles bring convenience to people's life, but also bring a series of safety and environmental problems. Studies have shown that most traffic accidents are caused by human factors. Therefore, accurately identifying and preventing vehicle abnormal behavior plays an important role in reducing the incidence of traffic accidents. SUMMARY

[0003] In view of the problems in the prior art, the purpose of the present application is to provide a vehicle abnormal behavior prevention method and system.

[0004] In order to achieve the above purpose, the present application adopts the following technical scheme.

[0005] (I) A vehicle abnormal behavior prevention system, comprising a plurality of millimeter wave radars, a vehicle data collector and a single-chip microcomputer;

[0006] The millimeter wave radar is used to collect the relative distance, relative angle and relative speed between the ego vehicle and other surrounding objects;

[0007] The vehicle data collector is used to collect the steering wheel angle and accelerator pedal opening of the ego vehicle;

[0008] The single-chip microcomputer is used to determine whether the ego vehicle has abnormal behavior according to the data collected by the millimeter wave radar and the vehicle data collector, and to control the vehicle to brake in emergency and limit the vehicle power output and control the vehicle to shut down after the abnormal behavior occurs.

[0009] (II) A vehicle abnormal behavior prevention method based on the above vehicle abnormal behavior prevention system, comprising the following steps:

[0010] Step 1, data collection of the ego vehicle and the ego vehicle and other surrounding objects;

[0011] Step 2, calculate the relative position of the surrounding objects and the ego vehicle, and calculate the lateral collision time and longitudinal collision time between the ego vehicle and the surrounding objects;

[0012] Step 3, determine whether the ego vehicle has abnormal behavior;

[0013] Step 4, after the ego vehicle has abnormal behavior, control the vehicle to brake in emergency, limit the vehicle power output and control the vehicle to shut down.

[0014] Compared with the prior art, the application has the beneficial effects that: according to the data of the vehicle and the other objects around the vehicle, the abnormal behavior of the vehicle is recognized, so that the emergency braking of the vehicle is actively controlled, or the power output is limited and the vehicle is automatically turned off, thereby reducing the severity of the consequences of the abnormal behavior. BRIEF DESCRIPTION OF DRAWINGS

[0015] The application will be described in further detail below with reference to the drawings and specific embodiments.

[0016] Figure 1 The application is a schematic diagram of the scene of the method. DETAILED DESCRIPTION

[0017] The embodiments of the application will be described in detail below with reference to the examples, but those skilled in the art will understand that the following examples are only used to illustrate the application and should not be regarded as limiting the scope of the application.

[0018] A vehicle abnormal behavior prevention system, comprising a plurality of millimeter wave radars, a vehicle data collector and a single-chip microcomputer;

[0019] The millimeter wave radars are used to collect the relative distance, the relative angle and the relative speed between the vehicle and the other objects around the vehicle;

[0020] The vehicle data collector is used to collect the steering wheel angle and the accelerator pedal opening degree of the vehicle;

[0021] The single-chip microcomputer is used to determine whether the vehicle has an abnormal behavior according to the data collected by the millimeter wave radars and the vehicle data collector, and to control the emergency braking of the vehicle and limit the power output of the vehicle and control the vehicle to be turned off according to the accelerator pedal opening degree after the abnormal behavior occurs.

[0022] Further, the millimeter wave radars are Delphi ESR millimeter wave radars.

[0023] Further, the vehicle data collector collects the vehicle data through the CAN2.0A protocol.

[0024] Further, the single-chip microcomputer is an MC9S12XS256 type single-chip microcomputer.

[0025] A vehicle abnormal behavior prevention method based on the above vehicle abnormal behavior prevention system, comprising the following steps:

[0026] Step 1, collecting the data of the vehicle and the other objects around the vehicle;

[0027] Specifically, the relative distance, the relative angle and the relative speed between the vehicle and the other objects around the vehicle are collected, and the steering wheel angle and the accelerator pedal opening degree of the vehicle are collected.

[0028] Step 2, the relative position between the surrounding other objects and the ego vehicle is calculated, and the lateral collision time and the longitudinal collision time between the ego vehicle and the surrounding other objects are calculated;

[0029] The relative position is calculated, specifically, the collected relative distance and relative angle are converted to a rectangular coordinate system with the ego vehicle as the origin, the vertical direction of the ego vehicle driving direction as the x-axis, and the ego vehicle driving direction as the y-axis by formula (1);

[0030]

[0031] In the formula, p is the relative distance between the surrounding other objects and the ego vehicle, and q is the relative angle between the surrounding other objects and the ego vehicle.

[0032] The calculation formula of the lateral collision time is shown in formula (2);

[0033]

[0034] In the formula, S x is the component of the relative distance between the surrounding other objects and the ego vehicle on the x-axis, and v x is the component of the relative speed between the surrounding other objects and the ego vehicle on the x-axis.

[0035] The calculation formula of the longitudinal collision time is shown in formula (3);

[0036]

[0037] In the formula, S y is the component of the relative distance between the surrounding other objects and the ego vehicle on the y-axis, and v y is the component of the relative speed between the surrounding other objects and the ego vehicle on the y-axis.

[0038] Step 3, it is judged whether the ego vehicle has abnormal behavior;

[0039] Specifically, the area between the extension lines of the front of the vehicle and the left and right sides of the vehicle body of the ego vehicle is defined as the longitudinal driving area; the area between the extension lines of the front and rear sides of the vehicle body of the ego vehicle is defined as the lateral driving area; the rotation speed of the steering wheel when the steering wheel rotates clockwise is positive, and the rotation speed of the steering wheel when the steering wheel rotates counterclockwise is positive;

[0040] When other objects enter the longitudinal driving area, such as vehicle ① in Figure 1 , and there is a longitudinal collision time TTC y <2.8s (shorter time left for risk avoidance), a longitudinal relative distance S y <0.5m (too close to the front vehicle), and a longitudinal relative speed v yIf the vehicle speed is >30km / h (excessive vehicle speed), and the accelerator pedal opening is <70% and the absolute value of the steering wheel speed |w| > 50° / s, meaning the vehicle is slightly accelerating or not accelerating but has turned, it indicates the vehicle is taking emergency evasive action and is not considered abnormal behavior. If the accelerator pedal opening is <70% and the absolute value of the steering wheel speed |w| ≤ 50° / s, meaning the vehicle is slightly accelerating or not accelerating but has not turned to avoid danger, it is considered abnormal behavior. If the accelerator pedal opening is ≥70%, meaning the vehicle accelerates suddenly regardless of the steering wheel speed, it is considered abnormal behavior.

[0041] When other objects are located on the left side of the vehicle and enter the lateral driving area, such as Figure 1 Vehicle ② in the picture, and there is a lateral collision time (TTC) between the vehicle and the other vehicle. x <2.3s (short time left for avoidance), lateral relative distance S x If the distance to the left vehicle is less than 0.3m (too close to the left vehicle), and the steering wheel rotation speed of the vehicle is less than -50° / s at this time, it is considered an abnormal behavior.

[0042] When other objects are located to the right of the vehicle and enter the lateral driving area, such as Figure 1 Vehicle ③ in the picture, and there is a lateral collision time (TTC) between the vehicle and the other vehicle. x <2.3s (short time left for avoidance), lateral relative distance S x If the distance to the vehicle on the right is less than 0.5m (too close), and the steering wheel speed of the vehicle is greater than 50° / s at this time, it is considered an abnormal behavior.

[0043] When other objects have not entered the longitudinal or lateral driving area, such as Figure 1 If the absolute value of the steering wheel rotation speed of vehicle ④ is greater than 50° / s, then abnormal behavior is considered to have occurred.

[0044] Step 4: After the vehicle exhibits abnormal behavior, apply emergency braking to the vehicle, while simultaneously limiting the vehicle's power output and shutting off the engine.

[0045] Although the present invention has been described in detail in this specification with general description and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention are within the scope of protection claimed by the present invention.

Claims

1. A method for preventing abnormal vehicle behavior, characterized in that, Includes the following steps: Step 1: Collect data on the vehicle and its relationship with other objects in the surrounding environment; specifically, collect the relative distance, relative angle, and relative speed between the vehicle and other objects in the surrounding environment, as well as the steering wheel angle and accelerator pedal opening of the vehicle. Step 2: Calculate the relative positions of other surrounding objects to the vehicle, and calculate the lateral collision time and longitudinal collision time between the vehicle and other surrounding objects. Step 3: Determine if the vehicle exhibits any abnormal behavior; Specifically, the area between the front of the vehicle and the extended lines of the left and right sides of the vehicle body is defined as the longitudinal driving area; the area between the extended lines of the front and rear sides of the vehicle body is defined as the lateral driving area. Define the speed as positive when the steering wheel is turned clockwise and positive when the steering wheel is turned counterclockwise; When other objects enter the longitudinal driving zone, and there is a longitudinal collision time between the vehicle and the other vehicle. Longitudinal relative distance Longitudinal relative velocity If the accelerator pedal opening is less than 70% and the absolute value of the steering wheel speed |w| is greater than 50° / s, then abnormal behavior is not considered to have occurred. If the accelerator pedal opening is less than 70% and the absolute value of the steering wheel rotation speed |w| is less than 50° / s, then abnormal behavior is considered to have occurred. If the accelerator pedal opening is ≥70% at this time, it is considered to be abnormal behavior; When another object is located to the left of the vehicle and enters the lateral driving area, and there is a lateral collision time between the vehicle and the other vehicle. Horizontal relative distance If the steering wheel rotation speed w < -50° / s at this time, it is considered that abnormal behavior has occurred; When another object is located to the right of the vehicle and enters the lateral driving area, and there is a lateral collision time between the vehicle and the other vehicle. Horizontal relative distance If the steering wheel speed w > 50° / s at this time, it is considered that abnormal behavior has occurred; If the absolute value of the vehicle's steering wheel rotation speed |w| > 50° / s, and no other object has entered the longitudinal or lateral driving area, then abnormal behavior is considered to have occurred. Step 4: After the vehicle exhibits abnormal behavior, apply emergency braking to the vehicle, while simultaneously limiting the vehicle's power output and shutting off the engine.

2. The method for preventing abnormal vehicle behavior according to claim 1, characterized in that, In step 2, the relative position is calculated. Specifically, the collected relative distance and relative angle are converted into a rectangular coordinate system with the vehicle as the origin, the vertical direction of the vehicle's driving direction as the x-axis, and the vehicle's driving direction as the y-axis using equation (1). （1） In the formula, This refers to the relative distance between the vehicle and other surrounding objects. The relative angle between the vehicle and other surrounding objects.

3. A system for implementing the vehicle abnormal behavior prevention method according to any one of claims 1-2, comprising multiple millimeter-wave radars, a vehicle data acquisition unit, and a microcontroller; Millimeter-wave radar is used to collect the relative distance, relative angle, and relative speed between the vehicle and other surrounding objects; The vehicle data acquisition unit is used to collect the steering wheel angle and accelerator pedal opening of the vehicle. The microcontroller is used to determine whether the vehicle is exhibiting abnormal behavior based on data collected by millimeter-wave radar and vehicle data acquisition device, and to control the vehicle to brake suddenly and limit the vehicle's power output based on the accelerator pedal opening and shut down the vehicle.

4. The vehicle abnormal behavior prevention system according to claim 3, characterized in that, The millimeter-wave radar mentioned is the Delphi ESR millimeter-wave radar.

5. The vehicle abnormal behavior prevention system according to claim 3, characterized in that, The vehicle data acquisition device collects vehicle data via the CAN2.0A protocol.

6. The vehicle abnormal behavior prevention system according to claim 3, characterized in that, The microcontroller is an MC9S12XS256 microcontroller.

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