Collision early warning method and system adaptive to dynamic collision time, vehicle and medium

Abstract

The invention relates to a collision early warning method and system adaptive to dynamic collision time, a vehicle and a medium, and the method comprises the steps: S1, obtaining the position and state information of the vehicle, transmitting the position and state information of the vehicle to other surrounding vehicles, and receiving the position and state information of other vehicles transmitted by other surrounding vehicles or roadside equipment; s2, according to the position and state information of the vehicle and the position and state information of other surrounding vehicles, the position relation of all the vehicles is obtained; s3, calculating a current collision time threshold value of the vehicle and other surrounding vehicles according to the speed of the current vehicle; and S4, according to the position and state information of each vehicle and the corresponding current collision time threshold, judging whether the two vehicles have a collision risk or not, if the collision risk exists, sending out early warning information, and if the collision risk does not exist, not sending out the early warning information. According to the method, the actual distance can be controlled more accurately during early warning, and early warning is given to the vehicle in advance when the collision risk is predicted.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobile safety, and in particular relates to a collision warning method, system, vehicle and medium for adaptive dynamic collision time. Background Art

[0002] At present, autonomous driving technology is a cutting-edge technology in the field of intelligent transportation, including vehicle environmental perception, path planning, path decision-making and vehicle motion control. In order to reduce vehicle collision problems during autonomous driving and improve vehicle safety, the automobile safety system has become a research hotspot for various research institutions. Automobile safety systems are mainly divided into two categories: automobile passive safety systems and automobile active collision avoidance warning systems; the latter is mainly used before a vehicle collides, to predict an impending collision and remind the autonomous driving system to take timely collision avoidance measures. The active collision avoidance warning system detects surrounding vehicles by carrying laser radar, millimeter-wave radar and cameras, collects surrounding vehicle status information, and then uses the collected information and the vehicle status information as the input of the warning algorithm, which is processed by the warning algorithm to output warning information.

[0003] The vehicle collision avoidance system has high requirements for the accuracy and real-time performance of its warning algorithm. The early time warning algorithm, such as the patent document CN103514758A discloses an efficient road traffic collision avoidance warning method based on vehicle-to-vehicle communication and the patent document RU2017134484A3 discloses a warning framework for the vehicle, sets a default collision time threshold, and determines whether to trigger the warning by calculating whether the time required for the vehicle to collide with surrounding vehicles is greater than the collision time threshold. However, during the actual braking process, the safe collision time range is different for different vehicle speeds. The fixed time threshold will lead to the following problems: the safety distance obtained according to the fixed collision time threshold is not accurate enough, which is mainly reflected in the fact that when the vehicle speed is very small, the safety distance is not short enough, and a warning will still be issued too early; when the vehicle speed is very high, the safety distance is not long enough, resulting in an alarm too late and a missed alarm.

[0004] Therefore, it is necessary to develop a collision warning method, system, vehicle and medium with adaptive dynamic collision time. Summary of the invention

[0005] The purpose of the present invention is to provide a collision warning method, system, vehicle and medium with adaptive dynamic collision time, which can control the actual distance during the warning more accurately and issue a warning to the vehicle in advance when a collision risk is predicted.

[0006] In a first aspect, the collision warning method of the present invention with adaptive dynamic collision time comprises the following steps: S1: Obtain the location and status information of the vehicle, send the location and status information of the vehicle to other surrounding vehicles, and receive the location and status information of other vehicles sent by other surrounding vehicles or roadside equipment; S2: Obtain the position relationship of each vehicle based on the position and status information of the vehicle itself and the position and status information of other surrounding vehicles; S3: Calculate the current collision time threshold between the vehicle and other surrounding vehicles according to the current speed of the vehicle; S4: Based on the position and status information of each vehicle and the corresponding current collision time threshold, determine whether there is a risk of collision between the two vehicles. If there is a risk of collision, issue a warning message; if there is no risk of collision, do not issue a warning message.

[0007] Optionally, the vehicle's position and status information includes longitude, latitude, speed, acceleration and heading angle information.

[0008] Optionally, step S2 includes: S21: Track the motion trajectory of each vehicle by combining the vehicle coordinates, speed, acceleration, and heading angle to obtain trajectory tracking information; S22: using the trajectory tracking information to obtain a predicted trajectory of the vehicle by using trajectory prediction. If the predicted trajectory has an intersection, it indicates that there is a risk of collision between the two vehicles. If the predicted trajectory does not have an intersection, the vehicle information is filtered. S23: Convert the longitude and latitude information of the own vehicle and other surrounding vehicles into coordinates in a rectangular coordinate system, and obtain the position relationship of each vehicle based on the position information of the own vehicle and other surrounding vehicles.

[0009] Optionally, the step S3 specifically includes: calculating a current collision time threshold according to the vehicle speed, driver reaction time, brake coordination time, brake growth time, tire-ground adhesion coefficient and gravity acceleration.

[0010] Optionally, the calculation formula of the current collision time threshold is as follows: TCC=t 1 +t 2 +t 3 / 2+v / (3.6g*μ) Where: TTC is the current collision time threshold; t 1 is the driver's reaction time; t 2 is the brake coordination time; t 3 is the braking force growth time; v is the current vehicle speed; g is the acceleration of gravity; μ is the tire-ground adhesion coefficient.

[0011] Optionally, the step S4 includes a straight collision warning judgment and a side collision warning judgment; The linear collision warning judgment is specifically as follows: If two vehicles are traveling in the same direction, the speed of the leading vehicle is lower than that of the trailing vehicle, the horizontal distance between the two vehicles is less than the width of the vehicle, and the vertical distance between the two vehicles is within the preset distance, a rear-end collision warning signal will be issued; If two vehicles are traveling in opposite directions, when the horizontal distance between the two vehicles is less than the width of the vehicle and the vertical distance between the two vehicles is within the preset distance, a frontal collision warning signal is issued; The vertical distance within the preset distance means that in the vertical direction, the relative distance between the two vehicles is less than the relative close distance between the two vehicles if they continue to travel within the current collision time threshold plus the safety distance between the two vehicles when they are stationary; The side collision warning judgment is specifically as follows: Record the current position of the vehicle, calculate the position information that the vehicle will reach after continuing to travel at the current speed and heading angle for a preset time, connect the front and rear positions, and compare whether there is an intersection between the position lines of different vehicles. If there is an intersection, a side collision warning is issued and the collision angle information is provided. Otherwise, no warning information is issued.

[0012] The position information reached after continuing to travel for a preset time refers to the position information reached after the vehicle continues to travel at the current speed and heading angle within the current collision time threshold.

[0013] Optionally, the step S4 further includes: the vehicle pushes the warning information to vehicles related to the collision.

[0014] In a second aspect, a collision warning system with adaptive dynamic collision time described in the present invention comprises a memory and a controller, wherein the memory stores a computer-readable program, and when the computer-readable program is called by the controller, it can execute the steps of the collision warning method with adaptive dynamic collision time described in the present invention.

[0015] In a third aspect, a vehicle described in the present invention adopts the collision warning system with adaptive dynamic collision time as described in the present invention.

[0016] In a fourth aspect, a storage medium described in the present invention stores a computer-readable program therein, and when the computer-readable program is called, it can execute the steps of the collision warning method with adaptive dynamic collision time as described in the present invention.

[0017] The present invention has the following advantages: 1. The present invention realizes the determination of the adaptive dynamic collision time threshold according to the vehicle speed information, that is, the TTC threshold changes with the change of the current vehicle speed, and the actual distance during the warning is controlled more accurately without causing false alarms or missed alarms.

[0018] 2. When the present invention predicts a collision risk, it will issue a warning to the vehicle in advance, which can effectively avoid collisions and rear-end collisions, and improve the safety and efficiency of autonomous driving traffic.

[0019] 3. The present invention predicts the trajectory of the target to achieve early warning of future traffic accidents; and predicts the risk of vehicle collision by determining whether the predicted trajectory has possible intersections in the same coordinate system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of this embodiment; Figure 2 is a flow chart of step S2 in this embodiment; Figure 3 is a schematic diagram of a straight line collision warning in this embodiment; Figure 4 Schematic diagram of side collision warning in this embodiment. DETAILED DESCRIPTION

[0022] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0023] like Figure 1 As shown, in this embodiment, a collision warning method for adaptive dynamic collision time includes the following steps: S1: Obtain the location and status information of the vehicle, send the location and status information of the vehicle to other surrounding vehicles, and receive the location and status information of other vehicles sent by other surrounding vehicles or roadside equipment; S2: Obtain the position relationship of each vehicle based on the position and status information of the vehicle itself and the position and status information of other surrounding vehicles; S3: Calculate the current collision time threshold between the vehicle and other surrounding vehicles according to the current speed of the vehicle; S4: Based on the position and status information of each vehicle and the corresponding current collision time threshold, determine whether there is a risk of collision between the two vehicles. If there is a risk of collision, issue a warning message; if there is no risk of collision, do not issue a warning message.

[0024] In this embodiment, the vehicle's position and status information, including longitude, latitude, speed, acceleration and heading angle information, are acquired in real time through vehicle-side and road-side sensors. The sensor can not only provide relevant information about itself, but also detect information about objects in the vicinity.

[0025] In this embodiment, laser radar and visual sensors are placed at the road end to achieve target tracking, and target detection and tracking algorithms (such as visual multi-target tracking methods) are used to effectively track targets within a preset range.

[0026] like Figure 2 As shown, in this embodiment, step S2 includes: S21: Track the motion trajectory of each vehicle by combining the vehicle coordinates, speed, acceleration, and heading angle to obtain trajectory tracking information; S22: using the trajectory tracking information to obtain a predicted trajectory of the vehicle through trajectory prediction. If the predicted trajectory has an intersection, it means that there is a risk of collision between the two vehicles, and the corresponding vehicle information is put into a fusion list; if the predicted trajectory does not have an intersection, the vehicle information is filtered; S23: Convert the longitude and latitude information of the own vehicle and other surrounding vehicles into coordinates in a rectangular coordinate system, and obtain the position relationship of each vehicle based on the position information of the own vehicle and other surrounding vehicles.

[0027] In this embodiment, the fusion of GPS trajectory and visual tracking trajectory is used to effectively improve the accuracy of obtaining the target trajectory.

[0028] In this embodiment, the WGS-84 coordinates (in the form of longitude and latitude) received by the vehicle are converted into Gaussian plane coordinates through Gauss-Lüve projection. The projection of the central meridian is taken as the x-axis, with the north direction being positive, and the projection of the equator is taken as the y-axis, with the east direction being positive. To avoid negative horizontal coordinates, the horizontal coordinate is added by 500 km. The positional relationship of each vehicle is obtained based on the coordinates of each vehicle.

[0029] In this embodiment, the step S3 is specifically: calculating the current collision time threshold according to the vehicle speed, driver reaction time, brake coordination time, brake growth time, tire-ground adhesion coefficient and gravity acceleration. The calculation formula of the current collision time threshold is as follows: TCC=t 1 +t 2 +t 3 / 2+v / (3.6g*μ) Where: TTC is the current collision time threshold (i.e., safe collision avoidance time); t 1 is the driver’s reaction time (on a certain vehicle, t 1 t 2 is the brake coordination time; t 3 is the braking force growth time; t 2 ,t 3 Set different values ​​according to the performance of the vehicle's braking system, such as t 2 =0.2s, t 3 =0.2s; v is the current vehicle speed; g is the acceleration due to gravity; μ is the tire-ground adhesion coefficient.

[0030] According to the calculation formula of the current collision time threshold, it can be concluded that when the vehicle speed is low, the dynamic collision time threshold is small, and when the vehicle speed is high, the current collision time threshold is large. Therefore, the actual distance during the warning can be controlled more accurately without causing false alarms or missed alarms.

[0031] In this embodiment, in step S4, it is determined whether there is a risk of collision between the vehicles in the fusion list, including a straight-line collision warning determination and a side collision warning determination.

[0032] like Figure 3 As shown, in this embodiment, the straight line collision warning judgment is specifically as follows: With the line connecting the centers of the two vehicles as the hypotenuse, a right triangle is drawn based on the vehicle heading angle information. If the two vehicles are traveling in the same direction, the speed of the current vehicle is less than the speed of the rear vehicle, the horizontal distance between the two vehicles is less than the width of the vehicle, and the vertical distance between the two vehicles is within the preset distance, a rear-end collision warning signal is issued. If the two vehicles are traveling in opposite directions, when the horizontal distance between the two vehicles is less than the width of the vehicle, and the vertical distance between the two vehicles is within the preset distance, a frontal collision warning signal is issued. The vertical distance within the preset distance means that in the vertical direction, the relative distance between the two vehicles is less than the relative close distance of the two vehicles continuing to travel within the current collision time threshold plus the safety distance of the two vehicles being stationary.

[0033] like Figure 4 As shown, in this embodiment, when the vehicles are not traveling in parallel and the heading angles are the same, it belongs to the vehicle side collision warning judgment logic type. When there is a risk of collision between two vehicles, the angle information of each vehicle collision is inferred through the vehicle position and heading angle information; combined with the vehicle information in the fusion list, it is determined whether a collision may occur between the vehicles. The side collision warning judgment is specifically as follows: The current position of the vehicle is recorded, and the position information that the vehicle will reach after continuing to travel at the current speed and heading angle for a preset time is calculated. The front and rear positions are connected, and the position lines of different vehicles are compared to see if there is an intersection. If there is an intersection, a side collision warning is issued and the collision angle information is provided. Otherwise, no warning information is issued. Among them, the position information that is reached after continuing to travel for a preset time refers to the position information that the vehicle will reach after continuing to travel at the current speed and heading angle within the current collision time threshold.

[0034] In this embodiment, step S4 further includes: the vehicle pushes the warning information to vehicles related to the collision, that is, the warning information is not only displayed on the vehicle, but also pushed to other vehicles and roads.

[0035] In this embodiment, a collision warning system with adaptive dynamic collision time includes a memory and a controller. The memory stores a computer-readable program. When the computer-readable program is called by the controller, it can execute the steps of the collision warning method with adaptive dynamic collision time as described in this embodiment.

[0036] In this embodiment, a vehicle adopts the collision warning system with adaptive dynamic collision time as described in this embodiment.

[0037] In this embodiment, a storage medium stores a computer-readable program, and when the computer-readable program is called, the steps of the collision warning method of adaptive dynamic collision time as described in this embodiment can be executed.

[0038] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A collision warning method with adaptive dynamic collision time, characterized in that: The following steps are involved: S1: Obtain the location and status information of the vehicle, send the location and status information of the vehicle to other surrounding vehicles, and receive the location and status information of other vehicles sent by other surrounding vehicles or roadside equipment; S2: Obtain the position relationship of each vehicle based on the position and status information of the vehicle itself and the position and status information of other surrounding vehicles; S3: Calculate the current collision time threshold between the vehicle and other surrounding vehicles according to the current speed of the vehicle; S4: Based on the position and status information of each vehicle and the corresponding current collision time threshold, determine whether there is a risk of collision between the two vehicles. If there is a risk of collision, issue a warning message; if there is no risk of collision, do not issue a warning message.

2. The method for self-adapting dynamic collision time collision warning according to claim 1, characterized in that: The vehicle's position and status information includes longitude, latitude, speed, acceleration and heading angle information.

3. The method for self-adapting dynamic collision time collision warning according to claim 2, characterized in that: The step S2 comprises: S21: Track the motion trajectory of each vehicle by combining the vehicle coordinates, speed, acceleration, and heading angle to obtain trajectory tracking information; S22: using the trajectory tracking information to obtain a predicted trajectory of the vehicle by using trajectory prediction. If the predicted trajectory has an intersection, it indicates that there is a risk of collision between the two vehicles. If the predicted trajectory does not have an intersection, the vehicle information is filtered. S23: Convert the longitude and latitude information of the own vehicle and other surrounding vehicles into coordinates in a rectangular coordinate system, and obtain the position relationship of each vehicle based on the position information of the own vehicle and other surrounding vehicles.

4. The method for self-adapting dynamic collision time collision warning according to claim 2, characterized in that: The step S3 specifically includes: calculating the current collision time threshold according to the vehicle speed, driver reaction time, brake coordination time, brake growth time, tire-ground adhesion coefficient and gravity acceleration.

5. The method for self-adapting dynamic collision time collision warning according to claim 4, characterized in that: The calculation formula of the current collision time threshold is as follows: TCC=t1+t2+t3 / 2+v / (3.6g*μ) Where: TTC is the current collision time threshold; t1 is the driver's reaction time; t2 is the brake coordination time; t3 is the braking force growth time; v is the current vehicle speed; g is the gravity acceleration; μ is the tire-ground adhesion coefficient.

6. The method for self-adapting dynamic collision time collision warning according to claim 3, characterized in that: The step S4 includes a straight collision warning judgment and a side collision warning judgment; The linear collision warning judgment is specifically as follows: If two vehicles are traveling in the same direction, the speed of the leading vehicle is lower than that of the trailing vehicle, the horizontal distance between the two vehicles is less than the width of the vehicle, and the vertical distance between the two vehicles is within the preset distance, a rear-end collision warning signal will be issued; If two vehicles are traveling in opposite directions, when the horizontal distance between the two vehicles is less than the width of the vehicle and the vertical distance between the two vehicles is within the preset distance, a frontal collision warning signal is issued; The vertical distance within the preset distance means that in the vertical direction, the relative distance between the two vehicles is less than the relative close distance between the two vehicles if they continue to travel within the current collision time threshold plus the safety distance between the two vehicles when they are stationary; The side collision warning judgment is specifically as follows: Record the current position of the vehicle, calculate the position information that the vehicle will reach after continuing to travel for a preset time at the current speed and heading angle, connect the front and rear positions, and compare whether there is an intersection between the position lines of different vehicles. If there is an intersection, issue a side collision warning and provide collision angle information, otherwise no warning information will be issued; The position information reached after continuing to travel for a preset time refers to the position information reached after the vehicle continues to travel at the current speed and heading angle within the current collision time threshold.

7. The method for self-adapting dynamic collision time collision warning according to claim 6, characterized in that: The step S4 also includes: the vehicle pushes the warning information to vehicles related to the collision.

8. A collision warning system with adaptive dynamic collision time, characterized in that: It comprises a memory and a controller, wherein the memory stores a computer-readable program, and when the computer-readable program is called by the controller, it can execute the steps of the collision warning method of adaptive dynamic collision time as claimed in any one of claims 1 to 7.

9. A vehicle, characterized in that: A collision warning system with adaptive dynamic collision time as claimed in claim 8 is adopted.

10. A storage medium, characterized in that: A computer-readable program is stored therein, and when the computer-readable program is called, the steps of the collision warning method of adaptive dynamic collision time as described in any one of claims 1 to 7 can be executed.

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