Vehicle based on V2X communication, early warning method and device for forward collision of vehicle and medium

Abstract

The invention discloses a vehicle based on V2X communication, an early warning method and device for forward collision of the vehicle and a medium. The vehicle forward collision early warning method based on V2X communication comprises the steps that a first motion state parameter of a vehicle, a second motion state parameter of a front vehicle, the longitudinal distance between the vehicle and the front vehicle and the minimum safe distance between the vehicle and the front vehicle are obtained in real time; the first motion state parameters comprise a first longitudinal speed, a first longitudinal acceleration, first gear information and first braking information; the second motion state parameter comprises a second longitudinal speed, a second longitudinal acceleration and second braking information; determining an early warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance; and when the longitudinal distance is smaller than or equal to the early warning distance, outputting a forward collision early warning signal. According to the technical scheme provided by the invention, by adding analysis on the acceleration of the front vehicle and the driving behavior of the vehicle, the forward collision early warning of the vehicle is more accurate.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle based on V2X communication and a forward collision warning method, device and medium thereof. Background Art

[0002] There are more and more vehicles on the road, and traffic accidents caused by the increase in vehicles are recurring, especially collisions between vehicles, which account for a large proportion of traffic accidents. At present, the forward collision warning of vehicle driving assistance mostly obtains the distance to the vehicle in front through radar and front-view cameras. At the detection distance end, the warning time for the oncoming vehicle is relatively late, so it cannot effectively avoid collision accidents between oncoming vehicles.

[0003] In the prior art, there are vehicles that use V2X vehicle-to-vehicle communication to implement vehicle forward collision warning, which effectively improves the vehicle warning time. However, such vehicle forward collision warnings are mostly analyzed based on reference formulas provided by the industry and standards, and the vehicle's driving is simplified as continuous uniform speed or uniform acceleration as much as possible, which is different from the actual driving of the vehicle, so the calculated results are less accurate. Summary of the invention

[0004] The present invention provides a vehicle based on V2X communication and a forward collision warning method, device and medium thereof, so as to solve the defects of late forward collision warning time and low accuracy in the prior art, and realize more accurate forward collision warning of the vehicle by increasing the analysis of the acceleration of the preceding vehicle and the driving behavior of the vehicle.

[0005] In a first aspect, the present invention provides a vehicle forward collision warning method based on V2X communication, comprising:

[0006] Acquire in real time a first motion state parameter of the vehicle, a second motion state parameter of the preceding vehicle, a longitudinal distance between the vehicle and the preceding vehicle, and a minimum safety distance between the vehicle and the preceding vehicle; the first motion state parameter includes a first longitudinal speed, a first longitudinal acceleration, first gear information, and first braking information; the second motion state parameter includes a second longitudinal speed, a second longitudinal acceleration, and a second braking information;

[0007] Determining a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance;

[0008] When the longitudinal distance is less than or equal to the warning distance, a forward collision warning signal is output.

[0009] Optionally, after obtaining in real time the first motion state parameter of the host vehicle, the second motion state parameter of the preceding vehicle, the longitudinal distance between the host vehicle and the preceding vehicle, and the minimum safety distance between the host vehicle and the preceding vehicle, the method further includes:

[0010] Determining whether the first motion state parameter and the second motion state parameter satisfy a first condition;

[0011] If so, execute the step of determining the warning distance using the first motion state parameter, the second motion state parameter and the minimum safety distance.

[0012] Optionally, the first condition includes: the gear information of the vehicle is the forward gear, and the lower limit value of the warning speed ≤ the first longitudinal speed ≤ the upper limit value of the warning speed, and the longitudinal distance ≤ the braking distance of the vehicle; wherein the braking distance of the vehicle is determined according to the first longitudinal speed.

[0013] Optionally, the vehicle forward collision warning method further includes: obtaining the elevation difference between the vehicle and the preceding vehicle in real time;

[0014] The first condition also includes the elevation difference ≤ a preset elevation difference; wherein the preset elevation difference is determined according to the longitudinal distance.

[0015] Optionally, determining a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance includes:

[0016] Calculating a first warning distance and a second warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance;

[0017] When the longitudinal distance is less than or equal to the warning distance, outputting a forward collision warning signal includes:

[0018] When the longitudinal distance is less than or equal to the first warning distance, a first forward collision warning signal is output; and when the longitudinal distance is less than or equal to the second warning distance, a second forward collision warning signal is output.

[0019] Optionally, when the first longitudinal velocity is in the same direction as the second longitudinal velocity and the first longitudinal velocity is greater than or equal to the second longitudinal velocity, determining a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance includes:

[0020] Based on the first motion state parameter and the second motion state parameter, determining a moment when the longitudinal speed of the host vehicle and the preceding vehicle are equal as a first moment tx;

[0021] If at the first moment, the first longitudinal speed is greater than or equal to 0, the warning distance is determined based on the first moment tx, the first motion state parameter, the second motion state parameter and the minimum safety distance.

[0022] Optionally, when at the first moment, the first longitudinal speed is less than 0, a first distance traveled by the host vehicle when the longitudinal speed is 0 is determined according to the first motion state parameter, and a second distance traveled by the leading vehicle when the longitudinal speed is 0 is determined according to the second motion state parameter;

[0023] The warning distance is determined according to the first distance, the second distance and the minimum safety distance.

[0024] Optionally, based on the first motion state parameter and the second motion state parameter, determining the moment when the longitudinal speed of the host vehicle and the preceding vehicle are equal as the first moment tx comprises:

[0025] Determine a first future longitudinal speed of the host vehicle at a certain time in the future based on the first motion state parameter; and determine a second future longitudinal speed of the preceding vehicle at a certain time in the future based on the second motion state parameter;

[0026] The first time tx is determined according to the first future longitudinal velocity and the second future longitudinal velocity.

[0027] Optionally, determining the warning distance based on the first time tx, the first motion state parameter, the second motion state parameter, and the minimum safety distance includes:

[0028] Determine a first distance traveled by the vehicle in a first time period according to the first time tx and the first motion state parameter; and determine a second distance traveled by the preceding vehicle in the first time period according to the first time tx and the second motion state parameter; the first time period is the time from the current time to the first time tx;

[0029] The warning distance is determined according to the first distance, the second distance and the minimum safety distance.

[0030] Optionally, when the first longitudinal speed is in opposite directions to the second longitudinal speed, determining the warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance includes:

[0031] determining a first braking distance of the vehicle according to the first motion state parameter; and determining a second braking distance of the preceding vehicle according to the second motion state parameter;

[0032] The sum of the first braking distance, the second braking distance and the minimum safety distance is used as the warning distance.

[0033] Optionally, when the vehicle is not braking, the vehicle has a non-braking time period, a pre-braking time period and an emergency braking time period; in the non-braking time period, the vehicle drives in the original driving mode; in the pre-braking time period, the vehicle drives at a constant speed; in the emergency braking time period, the vehicle decelerates according to a preset acceleration;

[0034] Determining a first braking distance of the vehicle according to the first motion state parameter includes:

[0035] Determine, according to the first motion state parameter, a non-braking distance of the vehicle in the non-braking time period, a pre-braking distance of the vehicle in the pre-braking time period, and an emergency braking distance of the vehicle in the emergency braking time period;

[0036] The sum of the unbraking distance, the pre-braking distance and the emergency braking distance is taken as the first braking distance.

[0037] Optionally, when the vehicle brakes, the vehicle has a braking time period and an emergency braking time period; during the braking time period, the vehicle drives in the original driving mode; during the emergency braking time period, the vehicle decelerates according to a preset acceleration;

[0038] Determining a first braking distance of the vehicle according to the first motion state parameter includes:

[0039] Determining a braking distance and an emergency braking distance of the vehicle according to the first motion state parameter;

[0040] The sum of the braking distance and the emergency braking distance is taken as the first braking distance.

[0041] In a second aspect, the present invention provides a vehicle forward collision warning device based on V2X communication, comprising:

[0042] an acquisition module, for acquiring in real time a first motion state parameter of the vehicle, a second motion state parameter of the preceding vehicle, a longitudinal distance between the vehicle and the preceding vehicle, and a minimum safety distance between the vehicle and the preceding vehicle; the first motion state parameter includes a first longitudinal speed, a first longitudinal acceleration, first gear information, and first braking information; the second motion state parameter includes a second longitudinal speed, a second longitudinal acceleration, and a second braking information;

[0043] A determination module, configured to determine a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance;

[0044] The output module is used to output a forward collision warning signal when the longitudinal distance is less than or equal to the warning distance.

[0045] In a third aspect, the present invention provides a vehicle based on V2X communication, characterized in that it includes: a controller; the controller is used to execute any of the above-mentioned vehicle forward collision warning methods based on V2X communication.

[0046] In a fourth aspect, the present invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement any of the above-mentioned vehicle forward collision warning methods based on V2X communication when executed.

[0047] The technical solution of the present invention obtains in real time the first motion state parameter of the vehicle, the second motion state parameter of the front vehicle, the longitudinal distance between the vehicle and the front vehicle, and the minimum safety distance between the vehicle and the front vehicle, wherein the first motion state parameter includes the first longitudinal speed, the first longitudinal acceleration, the first gear information and the first braking information, and the second motion state parameter includes the second longitudinal speed, the second longitudinal acceleration and the second braking information, and then determines the warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance, so that the determination of the vehicle's forward collision warning distance increases the analysis of driving behaviors such as the acceleration of the front vehicle, the current acceleration of the vehicle and the braking behavior of the vehicle, so that the vehicle's forward collision warning distance is more accurate, so that when the longitudinal distance is less than or equal to the warning distance, the output forward collision warning signal is more accurate, thereby effectively reducing vehicle collision accidents.

[0048] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0050] Figure 1 A flowchart of a vehicle forward collision warning method based on V2X communication provided in Embodiment 1 of the present invention;

[0051] Figure 2 A flowchart of a vehicle forward collision warning method based on V2X communication provided in Embodiment 2 of the present invention;

[0052] Figure 3A flowchart of a vehicle forward collision warning method based on V2X communication provided in Embodiment 3 of the present invention;

[0053] Figure 4 and Figure 5 Two driving state curves of the vehicle and the preceding vehicle when the vehicle is not braking are provided in the embodiment of the present invention;

[0054] Figure 6 A driving curve of the vehicle and the preceding vehicle when the vehicle brakes, provided by an embodiment of the present invention;

[0055] Figure 7 A flowchart of a vehicle forward collision warning method based on V2X communication provided in Embodiment 4 of the present invention;

[0056] Figure 8 A driving state curve of the vehicle and the preceding vehicle when the vehicle is not braking provided by an embodiment of the present invention;

[0057] Fig. 9 Another driving state curve of the vehicle and the preceding vehicle when the vehicle is braking provided by an embodiment of the present invention;

[0058] Fig.10 This is a schematic diagram of the structure of a vehicle forward collision warning device based on V2X communication provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0060] It should be noted that the terms "first", "second", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0061] Embodiment 1

[0062] Figure 1 This is a flow chart of a vehicle forward collision warning method based on V2X communication provided in the first embodiment of the present invention. This embodiment can be applied to the situation of warning the forward collision of the vehicle. The method can be executed by a vehicle forward collision warning device. The warning device can be implemented in the form of hardware and / or software. The warning device can be configured in the controller of the vehicle. Figure 1 As shown, the method includes:

[0063] S110, acquiring in real time a first motion state parameter of the vehicle, a second motion state parameter of the preceding vehicle, a longitudinal distance between the vehicle and the preceding vehicle, and a minimum safety distance between the vehicle and the preceding vehicle.

[0064] The first motion state parameters include a first longitudinal speed, a first longitudinal acceleration, first gear information and first braking information; the second motion state parameters include a second longitudinal speed, a second longitudinal acceleration and second braking information.

[0065] Among them, the minimum safety distance is the minimum longitudinal distance that can ensure that the vehicle will not collide with the vehicle in front.

[0066] It should be noted that in this embodiment, the vehicle performs forward collision warning through V2X vehicle-to-vehicle communication. Based on V2X vehicle-to-vehicle communication, it can obtain, but is not limited to, the target classification result of the preceding vehicle, the longitudinal distance between the preceding vehicle and the vehicle, the vehicle speed of the preceding vehicle, the four-axis acceleration of the preceding vehicle, the unit information of the preceding vehicle, the vehicle classification of the preceding vehicle, the intention of the preceding vehicle, the lighting information of the preceding vehicle, the special status of the preceding vehicle, etc., as well as the speed of the vehicle, the acceleration of the vehicle, the gear position of the vehicle, and the heading angle of the vehicle. In addition, V2X communication is also configured with a scene configuration identifier, a warning range speed coefficient threshold, a warning range elevation coefficient threshold, a warning effective speed upper limit, a warning effective speed lower limit, a slope coefficient, a stationary safety distance, a deceleration growth time, a braking coordination time, a driver's reaction time, a safety distance deceleration under a warning level, and a safety distance deceleration under an emergency warning level according to actual needs.

[0067] Based on V2X vehicle-to-vehicle communication, parameters such as the first longitudinal speed, first longitudinal acceleration, first gear information and first braking information of the vehicle, the second longitudinal speed, second longitudinal acceleration and second braking information of the vehicle in front, the longitudinal distance between the vehicle in front and the minimum safety distance between the vehicle in front can be obtained.

[0068] S120: Determine a warning distance based on the first motion state parameter, the second motion state parameter, and the minimum safety distance.

[0069] Among them, the warning distance is the distance between the vehicle and the vehicle in front when a forward collision warning is required.

[0070] It can be understood that when the first motion state parameter and the second motion state parameter are different, the collision time between the vehicle and the vehicle in front is also different. For example, if the first longitudinal speed of the vehicle is much greater than the second longitudinal speed of the vehicle in front, a forward collision warning is required in advance to avoid a collision between the vehicle and the vehicle in front. Therefore, the warning distance can be determined based on the first motion state parameter and the second motion state parameter and the minimum safety distance.

[0071] S130: When the longitudinal distance is less than or equal to the warning distance, a forward collision warning signal is output.

[0072] The forward collision warning signal may include, but is not limited to, a sound warning signal and / or a graphic warning signal, etc. When the longitudinal distance is less than or equal to the warning distance, a forward collision warning is output to enable the driver of the vehicle to take evasive measures such as steering or braking, thereby improving driving safety.

[0073] In this embodiment, the first motion state parameter of the vehicle, the second motion state parameter of the front vehicle, the longitudinal distance between the vehicle and the front vehicle, and the minimum safety distance between the vehicle and the front vehicle are obtained in real time, wherein the first motion state parameter includes the first longitudinal speed, the first longitudinal acceleration, the first gear information and the first braking information, and the second motion state parameter includes the second longitudinal speed, the second longitudinal acceleration and the second braking information, and then based on the first motion state parameter, the second motion state parameter and the minimum safety distance, the warning distance is determined, so that the determination of the vehicle's forward collision warning distance increases the analysis of driving behaviors such as the front vehicle's acceleration, the vehicle's current acceleration and the vehicle's braking behavior, so that the vehicle's forward collision warning distance is more accurate, so that when the longitudinal distance is less than or equal to the warning distance, the output forward collision warning signal is more accurate, thereby effectively reducing vehicle collision accidents.

[0074] Embodiment 2

[0075] Figure 2 This is a flowchart of a vehicle forward collision warning method based on V2X communication provided in the second embodiment of the present invention. Based on the above embodiment, this embodiment further adds the steps of when to calculate the warning distance and the warning distance including the first warning distance and the second warning distance. Figure 2 As shown, the method specifically includes:

[0076] S210, acquiring in real time a first motion state parameter of the vehicle, a second motion state parameter of the preceding vehicle, a longitudinal distance between the vehicle and the preceding vehicle, and a minimum safety distance between the vehicle and the preceding vehicle.

[0077] The first motion state parameters include a first longitudinal speed, a first longitudinal acceleration, first gear information and first braking information; the second motion state parameters include a second longitudinal speed, a second longitudinal acceleration and second braking information.

[0078] S220, determine whether the first motion state parameter and the second motion state parameter meet the first condition; if so, execute S230.

[0079] Among them, the first condition is a condition for determining that the front vehicle is a forward target vehicle that will collide with the vehicle.

[0080] Optionally, the first condition includes: the gear information of the vehicle is the forward gear, and the lower limit value of the warning speed ≤ the first longitudinal speed ≤ the upper limit value of the warning speed, and the longitudinal distance ≤ the braking distance of the vehicle; wherein the braking distance of the vehicle is determined according to the first longitudinal speed.

[0081] Among them, when the gear information of the vehicle is the forward gear, the vehicle moves forward, which may collide with the vehicle in front. The lower limit value of the warning speed is the lower limit of the warning effective speed of V2X communication, and the upper limit value of the warning speed is the upper limit of the warning effective speed of V2X communication. Both are configured through V2X communication according to the requirements for the sensitivity of the forward collision warning. The braking distance of the vehicle is related to the first longitudinal speed of the vehicle. In an optional embodiment, the braking distance of the vehicle is equal to the first longitudinal speed of the vehicle divided by the first coefficient. The first coefficient is related to the friction coefficient of the vehicle. In an exemplary embodiment, the first coefficient is 1.8, and in other exemplary embodiments, the first coefficient is 1.5.

[0082] Specifically, when the gear information of the vehicle is the forward gear, and the lower limit value of the warning speed is ≤ the first longitudinal speed ≤ the upper limit value of the warning speed, and the longitudinal distance is ≤ the braking distance of the vehicle, the front vehicle will be considered as the forward target vehicle that will collide with the vehicle.

[0083] Optionally, the vehicle forward collision warning method based on V2X communication also includes a step of acquiring the elevation difference between the vehicle and the front vehicle in real time, and the first condition also includes the elevation difference ≤ a preset elevation difference; wherein the preset elevation difference is determined based on the longitudinal distance.

[0084] The elevation difference between the vehicle and the preceding vehicle is determined based on the parameters obtained through V2X communication. The preset elevation difference is configured through V2X communication based on the requirements for the sensitivity of the forward collision warning. When the elevation difference is ≤ the preset elevation difference, the preceding vehicle is considered to be the forward target vehicle that will collide with the vehicle.

[0085] S230: Calculate a first warning distance and a second warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance.

[0086] The first warning distance and the second warning distance are warning distances of different urgency levels. For example, the first warning distance may be a warning warning distance, and the second warning distance may be an emergency warning distance. By calculating the first warning distance and the second warning distance of different urgency levels, warning signals of different urgency levels can be output to the driver.

[0087] S240: When the longitudinal distance is less than or equal to the first warning distance, output a first forward collision warning signal; and when the longitudinal distance is less than or equal to the second warning distance, output a second forward collision warning signal.

[0088] The first forward collision warning signal and the second forward collision warning signal are warning signals of different emergency levels. For example, when the first warning distance is a warning warning distance and the second warning distance is an emergency warning distance, the first forward collision warning signal may be a warning level forward collision warning signal and the second forward collision warning signal may be an emergency level forward collision warning signal.

[0089] Specifically, after obtaining the first motion state parameter of the vehicle, the second motion state parameter of the front vehicle, the longitudinal distance between the vehicle and the front vehicle, and the minimum safety distance between the vehicle and the front vehicle in real time, by judging whether the first motion state parameter and the second motion state parameter meet the first condition, when the first motion state parameter and the second motion state parameter meet the first condition, that is, when the front vehicle is a forward target vehicle that is about to collide with the vehicle, the first warning distance and the second warning distance are calculated based on the first motion state parameter, the second motion state parameter and the minimum safety distance, and then when the longitudinal distance is less than or equal to the first warning distance, the first forward collision warning signal is output; and when the longitudinal distance is less than or equal to the second warning distance, the second forward collision warning signal is output, so that the driver can take specific avoidance measures according to the urgency of the forward collision warning.

[0090] In this embodiment, by judging whether the first motion state parameter and the second motion state parameter satisfy the first condition, and only when the first motion state parameter and the second motion state parameter satisfy the first condition, the warning distance is calculated based on the first motion state parameter, the second motion state parameter and the minimum safety distance, which is helpful to reduce the calculation pressure of the vehicle; in addition, by calculating the first warning distance and the second warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance, when the longitudinal distance is less than or equal to the first warning distance, the first forward collision warning signal is output; and when the longitudinal distance is less than or equal to the second warning distance, the second forward collision warning signal is output, so that the driver can make specific avoidance measures according to the urgency of the forward collision warning, thereby further improving driving safety.

[0091] Embodiment 3

[0092] Figure 3 This is a flowchart of a vehicle forward collision warning method based on V2X communication provided in Embodiment 3 of the present invention. Based on the above embodiments, this embodiment further adds a step of determining a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance when the first longitudinal speed is in the same direction as the second longitudinal speed and the first longitudinal speed is greater than or equal to the second longitudinal speed. Figure 3 As shown, the method specifically includes:

[0093] S310, acquiring in real time a first motion state parameter of the vehicle, a second motion state parameter of the preceding vehicle, a longitudinal distance between the vehicle and the preceding vehicle, and a minimum safety distance between the vehicle and the preceding vehicle.

[0094] The first motion state parameters include a first longitudinal speed, a first longitudinal acceleration, first gear information and first braking information; the second motion state parameters include a second longitudinal speed, a second longitudinal acceleration and second braking information.

[0095] S320: Based on the first motion state parameter and the second motion state parameter, determine the moment when the longitudinal speed of the own vehicle and the preceding vehicle are equal as the first moment tx.

[0096] Among them, the driving states of this vehicle include accelerating driving, constant speed driving and decelerating driving, etc. Similarly, the driving states of the front vehicle include accelerating driving, constant speed driving and decelerating driving, etc. Based on the first motion state parameter and the second motion state parameter, the moment when the longitudinal speed of this vehicle and the front vehicle are equal is determined as the first moment tx. Since the first longitudinal speed is greater than the second longitudinal speed at the current moment, after the first moment, the second longitudinal speed is greater than the first longitudinal speed, so that at the first moment, the vehicle will not collide with the front vehicle, so that the warning distance can be determined according to the driving states of this vehicle and the front vehicle at the first moment tx.

[0097] Optionally, based on the first motion state parameter and the second motion state parameter, the moment when the longitudinal speed of the vehicle and the front vehicle are equal is determined as the first moment tx, including: determining the first future longitudinal speed of the vehicle at a certain moment in the future based on the first motion state parameter; and determining the second future longitudinal speed of the front vehicle at a certain moment in the future based on the second motion state parameter; determining the first moment tx according to the first future longitudinal speed and the second future longitudinal speed.

[0098] Specifically, according to the first future longitudinal velocity and the second future longitudinal velocity, the moment when the first future longitudinal velocity and the second future longitudinal velocity are equal is the first moment tx.

[0099] S330: If at the first moment, the first longitudinal speed is greater than or equal to 0, determine the warning distance based on the first moment tx, the first motion state parameter, the second motion state parameter and the minimum safety distance.

[0100] Specifically, if at the first moment, the first longitudinal speed is greater than or equal to 0, it means that before the speed of the vehicle decreases to 0, the first longitudinal speed is equal to the second longitudinal speed, and after the first moment, the second longitudinal speed of the front vehicle is greater than the first longitudinal speed of the vehicle, so that the vehicle and the front vehicle will not collide. At this time, it is only necessary to calculate the difference between the distances traveled by the vehicle and the front vehicle at the first moment to determine the warning distance, that is, to determine the warning distance based on the first moment tx, the first motion state parameter, the second motion state parameter and the minimum safety distance.

[0101] Optionally, the warning distance is determined based on the first moment tx, the first motion state parameter, the second motion state parameter and the minimum safety distance, including: determining the first distance traveled by the vehicle in the first time period according to the first moment tx and the first motion state parameter; and determining the second distance traveled by the front vehicle in the first time period according to the first moment tx and the second motion state parameter; determining the warning distance according to the first distance, the second distance and the minimum safety distance.

[0102] The first time period is the time from the current moment to the first moment tx.

[0103] Specifically, according to the first distance, the second distance and the minimum safety distance, the warning distance may be determined by subtracting the first distance from the second distance and then adding the minimum safety distance to obtain the warning distance.

[0104] S340. When the first longitudinal speed is less than 0 at the first moment, the first distance traveled by the vehicle when the longitudinal speed is 0 is determined according to the first motion state parameter, and the second distance traveled by the preceding vehicle when the longitudinal speed is 0 is determined according to the second motion state parameter.

[0105] S350: Determine a warning distance according to the first distance, the second distance, and the minimum safety distance.

[0106] Specifically, if at the first moment, the first longitudinal speed is less than 0, it means that before the speed of the vehicle decreases to 0, the first longitudinal speed of the vehicle is always greater than the second longitudinal speed of the vehicle in front. At this time, the difference between the first distance traveled by the vehicle when the longitudinal speed is 0 and the second distance traveled by the vehicle in front when the longitudinal speed is 0 is added to the minimum safety distance to obtain the warning distance.

[0107] In an exemplary embodiment, Figure 4 and Figure 5Two driving state curves of the vehicle and the preceding vehicle when the vehicle is not braking are provided in the embodiment of the present invention, wherein: Figure 4 and Figure 5 In the figure, the solid line is the driving state curve of the vehicle, and the dotted line is the driving state curve of the front vehicle. Figure 4 and Figure 5 As shown, the vehicle includes a normal driving (i.e., uniform acceleration or uniform deceleration without braking) time period T+t1, a uniform speed driving (pre-braking of braking reaction) time period t2, and a deceleration driving (emergency braking) time period t3; the front vehicle may have four driving states, namely, driving state ① in which the second longitudinal speed of the front vehicle is equal to the first longitudinal speed of the vehicle in the normal driving time period T+t1 of the vehicle, driving state ② in which the second longitudinal speed of the front vehicle is equal to the first longitudinal speed of the vehicle in the uniform driving time period of the vehicle, driving state ③ in which the second longitudinal speed of the front vehicle is equal to the first longitudinal speed of the vehicle in the deceleration time period of the vehicle, and driving state ④ in which the second longitudinal speed of the front vehicle is not equal to the first longitudinal speed of the vehicle in any of the three driving state time periods of the vehicle.

[0108] When the vehicle is in driving state ①, there are:

[0109] v s +a s ·t x =v f +a f ·t x

[0110] but:

[0111]

[0112] Among them, v s is the speed of the vehicle, a s is the acceleration of the vehicle, v f is the speed of the front vehicle, a f is the acceleration of the front vehicle.

[0113] Warning distance DTC _1 as follows:

[0114]

[0115] Among them, d0 is the minimum safety distance.

[0116] When the front vehicle is in driving state ②, there are multiple intersections between the longitudinal speeds of the front vehicle and the vehicle. The first intersection is used to calculate the warning distance. At this time, there are:

[0117] v s +a s (T+t1)=v f +a f ·tx

[0118] but:

[0119]

[0120] Warning distance DTC _2 as follows:

[0121]

[0122] When the vehicle is in driving state ③, there are:

[0123] v s +a s (T+t1)+a 标定 ·(t x -T-t1-t2)=v f +a f ·t x

[0124] but:

[0125]

[0126] Among them, a 标定 is the safety distance deceleration at the warning level or the safety distance acceleration at the emergency level. 标定 The value is the safety distance deceleration under the warning level, then the warning distance calculated according to tx is the warning distance. If a 标定 The value is the safety distance deceleration under the emergency warning level, and the warning distance calculated according to tx is the emergency warning distance.

[0127] Warning distance DTC _3 as follows:

[0128]

[0129]

[0130] When the front vehicle is in driving state ④, the first distance traveled by the vehicle when the longitudinal speed is 0 is as follows:

[0131]

[0132] Among them, dis _1 is the first distance.

[0133] The second distance traveled by the front vehicle when the longitudinal speed is 0 is as follows:

[0134]

[0135] Among them, dis _2 is the second distance.

[0136] Warning distance DTC _4 as follows:

[0137]

[0138] In another exemplary embodiment, Figure 6 A driving curve of the vehicle and the preceding vehicle when the vehicle is braking provided by an embodiment of the present invention, wherein the solid line is the driving state curve of the vehicle, and the dotted line is the driving state curve of the preceding vehicle, with reference to Figure 6 As shown, the vehicle includes a normal driving (i.e., uniform deceleration during normal braking) time period t1 and a deceleration driving (braking) time period t3; the front vehicle may have four driving states, namely, the driving state ⑤ in which the second longitudinal speed of the front vehicle is equal to the first longitudinal speed of the vehicle in the normal driving time period t1 of the vehicle, the driving state ⑥ in which the acceleration of the front vehicle is greater than 0 and the second longitudinal speed is equal to the first longitudinal speed of the vehicle in the deceleration driving time period of the vehicle, the acceleration of the front vehicle is less than 0 and the second longitudinal speed is equal to the first longitudinal speed of the vehicle in the deceleration driving time period of the vehicle, ⑦ and the driving state ⑧ in which the second longitudinal speed of the front vehicle is not equal to the first longitudinal speed of the vehicle in both driving state time periods of the vehicle.

[0139] When the vehicle is in driving state⑤, there exists:

[0140] v s +a s ·t x =v f +a f ·t x

[0141] but:

[0142]

[0143] Warning distance DTC _5 as follows:

[0144]

[0145] When the vehicle is in driving state ⑥, there are:

[0146] v s +a s ·t1+a calibration (t x -t1)=v f +a f ·t x

[0147] but:

[0148]

[0149] Warning distance DTC _6 as follows:

[0150]

[0151] When the front vehicle is in driving state ⑦, the method for solving the warning distance DTC is the same as the method for solving the warning distance DTC_7 when the front vehicle is in driving state ⑥, that is:

[0152]

[0153] When the front vehicle is in the driving state ⑧, the first distance traveled by the vehicle when the longitudinal speed is 0 is as follows:

[0154]

[0155] The second distance traveled by the front vehicle when the longitudinal speed is 0 is as follows:

[0156]

[0157] Warning distance DTC _8 as follows:

[0158]

[0159] S360: When the longitudinal distance is less than or equal to the warning distance, a forward collision warning signal is output.

[0160] In this embodiment, the moment when the longitudinal speed of the vehicle and the front vehicle are equal is determined as the first moment tx based on the first motion state parameter and the second motion state parameter, so that at the first moment, when the first longitudinal speed is greater than or equal to 0, the warning distance is determined based on the first moment tx, the first motion state parameter, the second motion state parameter and the minimum safety distance, and when the first moment, the first longitudinal speed is less than 0, the first distance traveled by the vehicle when the longitudinal speed is 0 is determined according to the first motion state parameter, and the second distance traveled by the front vehicle when the longitudinal speed is 0 is determined according to the second motion state parameter, and the warning distance is determined according to the first distance, the second distance and the minimum safety distance, thereby further improving the accuracy of the forward collision warning signal, and at the same time, it is beneficial to save the computing resources of the vehicle.

[0161] Embodiment 4

[0162] Figure 7This is a flowchart of a vehicle forward collision warning method based on V2X communication provided in Embodiment 4 of the present invention. Based on the above embodiments, this embodiment further adds a step of determining a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance when the first longitudinal speed is in the opposite direction to the second longitudinal speed. Figure 7 As shown, the method specifically includes:

[0163] S410, acquiring in real time a first motion state parameter of the vehicle, a second motion state parameter of the preceding vehicle, a longitudinal distance between the vehicle and the preceding vehicle, and a minimum safety distance between the vehicle and the preceding vehicle.

[0164] The first motion state parameters include a first longitudinal speed, a first longitudinal acceleration, first gear information and first braking information; the second motion state parameters include a second longitudinal speed, a second longitudinal acceleration and second braking information.

[0165] S420, determining a first braking distance of the vehicle according to the first motion state parameter; and determining a second braking distance of the preceding vehicle according to the second motion state parameter.

[0166] The first braking distance is the distance traveled by the vehicle when the current first longitudinal speed is reduced to 0. The second braking distance is the distance traveled by the vehicle in front when the vehicle in front is reduced to 0 from the current second longitudinal speed.

[0167] Optionally, when the vehicle is not braking, the vehicle has an unbraking time period, a pre-braking time period, and an emergency braking time period; in the unbraking time period, the vehicle drives in the original driving mode; in the pre-braking time period, the vehicle drives at a constant speed; in the emergency braking time period, the vehicle decelerates according to a preset acceleration. At this time, the first braking distance of the vehicle is determined according to the first motion state parameter, including: determining the unbraking distance of the vehicle in the unbraking time period, the pre-braking distance of the vehicle in the pre-braking time period, and the emergency braking distance of the vehicle in the emergency braking time period according to the first motion state parameter; and taking the sum of the unbraking distance, the pre-braking distance, and the emergency braking distance as the first braking distance.

[0168] Optionally, when the vehicle brakes, the vehicle has a braking time period and an emergency braking time period; during the braking time period, the vehicle drives in the original driving mode; during the emergency braking time period, the vehicle decelerates at a preset acceleration. At this time, determining the first braking distance of the vehicle according to the first motion state parameter includes: determining the braking distance and the emergency braking distance of the vehicle according to the first motion state parameter; and taking the sum of the braking distance and the emergency braking distance as the first braking distance.

[0169] S430: Taking the sum of the first braking distance, the second braking distance and the minimum safety distance as the warning distance.

[0170] Specifically, since the first longitudinal speed is in opposite directions to the second longitudinal speed, the warning distance is related to the sum of the first braking distance of the vehicle, the second braking distance of the preceding vehicle and the minimum safety distance.

[0171] In an exemplary embodiment, Figure 8 A driving state curve of the vehicle and the preceding vehicle when the vehicle is not braking is provided in an embodiment of the present invention, wherein the blue line is the driving state curve of the vehicle, and the red line is the driving state curve of the preceding vehicle. Figure 8 As shown, this vehicle includes a normal driving (i.e., uniform acceleration or uniform deceleration when not braking) time period T+t1, a uniform speed driving (pre-braking of braking reaction) time period t2 and a deceleration driving (emergency braking) time period t3; when the front vehicle is not braking, the front vehicle includes a normal driving (i.e., uniform acceleration or uniform deceleration when not braking) time period T+t1, a uniform speed driving (pre-braking of braking reaction) time period t2 and a deceleration driving (emergency braking) time period t3; when the front vehicle brakes, the front vehicle includes a normal driving (i.e., uniform deceleration driving during normal braking) time period t1 and a deceleration driving (braking) time period t3.

[0172] When the vehicle in front is not braking, the warning distance DTC_16 is as follows:

[0173]

[0174] When the vehicle in front brakes, the warning distance DTC_17 is as follows:

[0175]

[0176] In another exemplary embodiment, Fig. 9 Another driving state curve of the vehicle and the preceding vehicle when the vehicle is braking provided by an embodiment of the present invention, wherein the blue line is the driving state curve of the vehicle, and the red line is the driving state curve of the preceding vehicle, Fig. 9 As shown, this vehicle includes normal driving (i.e., uniform deceleration during normal braking) time period t1 and deceleration driving (braking) time period t3; when the front vehicle is not braking, the front vehicle includes normal driving (i.e., uniform acceleration or uniform deceleration during non-braking) time period T+t1, uniform speed driving (pre-braking of braking reaction) time period t2 and deceleration driving (emergency braking) time period t3; when the front vehicle is braking, the front vehicle includes normal driving (i.e., uniform deceleration during normal braking) time period t1 and deceleration driving (braking) time period t3.

[0177] When the vehicle in front is not braking, the warning distance DTC_18 is as follows:

[0178]

[0179] When the vehicle in front brakes, the warning distance DTC_19 is as follows:

[0180]

[0181] S440: When the longitudinal distance is less than or equal to the warning distance, a forward collision warning signal is output.

[0182] In this embodiment, when the first longitudinal velocity of the vehicle and the second longitudinal velocity of the preceding vehicle are in opposite directions, the first braking distance of the vehicle is determined according to the first motion state parameter; and the second braking distance of the preceding vehicle is determined according to the second motion state parameter, so that the sum of the first braking distance, the second braking distance and the minimum safety distance is used as the warning distance, thereby further improving the accuracy of the forward collision warning signal and helping to save the computing resources of the vehicle.

[0183] Embodiment 5

[0184] This embodiment provides a vehicle forward collision warning device based on V2X communication. The warning device can be implemented in the form of hardware and / or software and can be integrated into a controller. Fig.10 This is a schematic diagram of the structure of a vehicle forward collision warning device based on V2X communication provided in Embodiment 5 of the present invention, as shown in FIG. Fig.10 As shown, the early warning device comprises:

[0185] The acquisition module 510 is used to acquire in real time the first motion state parameter of the vehicle, the second motion state parameter of the preceding vehicle, the longitudinal distance between the vehicle and the preceding vehicle, and the minimum safe distance between the vehicle and the preceding vehicle. The first motion state parameter includes the first longitudinal speed, the first longitudinal acceleration, the first gear information, and the first braking information; the second motion state parameter includes the second longitudinal speed, the second longitudinal acceleration, and the second braking information.

[0186] The determination module 520 is used to determine the warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance.

[0187] The output module 530 is used to output a forward collision warning signal when the longitudinal distance is less than or equal to the warning distance.

[0188] The vehicle forward collision warning device based on V2X communication provided in an embodiment of the present invention can execute the vehicle forward collision warning method based on V2X communication provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The similarities can be referred to the above description.

[0189] Embodiment 5

[0190] An embodiment of the present invention provides a vehicle based on V2X communication, which includes at least a controller; the controller can be integrated with a vehicle forward collision warning device based on V2X communication provided by any embodiment of the present invention, and can execute a vehicle forward collision warning method based on V2X communication provided by any embodiment of the present invention.

[0191] Since the vehicle based on V2X communication provided in the embodiment of the present invention includes the above-mentioned controller, and the controller can be integrated with the vehicle forward collision warning device based on V2X communication provided in the embodiment of the present invention, and can execute the vehicle forward collision warning method based on V2X communication provided in the embodiment of the present invention, it can have the corresponding structure and characteristics of executing the vehicle forward collision warning method based on V2X communication provided in the embodiment of the present invention, and can achieve the beneficial effects of the vehicle forward collision warning method based on V2X communication provided in the embodiment of the present invention. The similarities can be referred to the above description.

[0192] Embodiment 6

[0193] Based on the same concept, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a processor to implement the control method provided by any of the above embodiments when executed.

[0194] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0195] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle forward collision warning method based on V2X communication, characterized in that: include: Acquire in real time a first motion state parameter of the vehicle, a second motion state parameter of the preceding vehicle, a longitudinal distance between the vehicle and the preceding vehicle, and a minimum safety distance between the vehicle and the preceding vehicle; the first motion state parameter includes a first longitudinal speed, a first longitudinal acceleration, first gear information, and first braking information; the second motion state parameter includes a second longitudinal speed, a second longitudinal acceleration, and a second braking information; Determining a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance; When the longitudinal distance is less than or equal to the warning distance, a forward collision warning signal is output.

2. The vehicle forward collision warning method according to claim 1, characterized in that: After obtaining in real time the first motion state parameter of the host vehicle, the second motion state parameter of the preceding vehicle, the longitudinal distance between the host vehicle and the preceding vehicle, and the minimum safety distance between the host vehicle and the preceding vehicle, the method further includes: Determining whether the first motion state parameter and the second motion state parameter satisfy a first condition; If so, execute the step of determining the warning distance using the first motion state parameter, the second motion state parameter and the minimum safety distance.

3. The vehicle forward collision warning method according to claim 2, characterized in that: The first condition includes: the gear information of the vehicle is the forward gear, and the lower limit value of the warning speed ≤ the first longitudinal speed ≤ the upper limit value of the warning speed, and the longitudinal distance ≤ the braking distance of the vehicle; wherein the braking distance of the vehicle is determined according to the first longitudinal speed.

4. The vehicle forward collision warning method according to claim 3, characterized in that: Also includes: Real-time acquisition of the elevation difference between the vehicle and the preceding vehicle; The first condition also includes the elevation difference ≤ a preset elevation difference; wherein the preset elevation difference is determined according to the longitudinal distance.

5. The vehicle forward collision warning method according to claim 1, characterized in that: Determining a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance includes: Calculating a first warning distance and a second warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance; When the longitudinal distance is less than or equal to the warning distance, outputting a forward collision warning signal includes: When the longitudinal distance is less than or equal to the first warning distance, a first forward collision warning signal is output; and when the longitudinal distance is less than or equal to the second warning distance, a second forward collision warning signal is output.

6. The vehicle forward collision warning method according to claim 1, characterized in that: When the first longitudinal speed and the second longitudinal speed are in the same direction and the first longitudinal speed is greater than or equal to the second longitudinal speed, determining a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance includes: Based on the first motion state parameter and the second motion state parameter, determining a moment when the longitudinal speed of the host vehicle and the preceding vehicle are equal as a first moment tx; If at the first moment, the first longitudinal speed is greater than or equal to 0, the warning distance is determined based on the first moment tx, the first motion state parameter, the second motion state parameter and the minimum safety distance.

7. The vehicle forward collision warning method according to claim 6, characterized in that: When, at the first moment, the first longitudinal speed is less than 0, determining a first distance traveled by the host vehicle when the longitudinal speed is 0 according to the first motion state parameter, and determining a second distance traveled by the leading vehicle when the longitudinal speed is 0 according to the second motion state parameter; The warning distance is determined according to the first distance, the second distance and the minimum safety distance.

8. The vehicle forward collision warning method according to claim 6, characterized in that: Determining, based on the first motion state parameter and the second motion state parameter, a moment when the longitudinal speed of the host vehicle and the preceding vehicle are equal as a first moment tx, comprises: determining a first future longitudinal speed of the host vehicle at a certain moment in the future based on the first motion state parameter; and determining a second future longitudinal speed of the preceding vehicle at a certain moment in the future based on the second motion state parameter; The first time tx is determined according to the first future longitudinal velocity and the second future longitudinal velocity.

9. The vehicle forward collision warning method according to claim 6, characterized in that: Determining the warning distance based on the first time tx, the first motion state parameter, the second motion state parameter, and the minimum safety distance includes: Determine a first distance traveled by the vehicle in a first time period according to the first time tx and the first motion state parameter; and determine a second distance traveled by the preceding vehicle in the first time period according to the first time tx and the second motion state parameter; the first time period is the time from the current time to the first time tx; The warning distance is determined according to the first distance, the second distance and the minimum safety distance.

10. The vehicle forward collision warning method according to claim 1, characterized in that: When the first longitudinal speed is in opposite directions to the second longitudinal speed, determining a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance includes: determining a first braking distance of the vehicle according to the first motion state parameter; and determining a second braking distance of the preceding vehicle according to the second motion state parameter; The sum of the first braking distance, the second braking distance and the minimum safety distance is used as the warning distance.

11. The vehicle forward collision warning method according to claim 10, characterized in that: When the vehicle is not braking, the vehicle has a non-braking time period, a pre-braking time period and an emergency braking time period; in the non-braking time period, the vehicle travels in the original driving mode; in the pre-braking time period, the vehicle travels at a constant speed; During the emergency braking period, the vehicle decelerates according to a preset acceleration; Determining a first braking distance of the vehicle according to the first motion state parameter includes: Determine, according to the first motion state parameter, a non-braking distance of the vehicle in the non-braking time period, a pre-braking distance of the vehicle in the pre-braking time period, and an emergency braking distance of the vehicle in the emergency braking time period; The sum of the unbraking distance, the pre-braking distance and the emergency braking distance is taken as the first braking distance.

12. The vehicle forward collision warning method according to claim 10, characterized in that: When the vehicle brakes, the vehicle has a braking time period and an emergency braking time period; during the braking time period, the vehicle drives in the original driving mode; During the emergency braking period, the vehicle decelerates according to a preset acceleration; Determining a first braking distance of the vehicle according to the first motion state parameter includes: Determining a braking distance and an emergency braking distance of the vehicle according to the first motion state parameter; The sum of the braking distance and the emergency braking distance is taken as the first braking distance.

13. A vehicle forward collision warning device based on V2X communication, characterized in that: include: an acquisition module, for acquiring in real time a first motion state parameter of the vehicle, a second motion state parameter of the preceding vehicle, a longitudinal distance between the vehicle and the preceding vehicle, and a minimum safety distance between the vehicle and the preceding vehicle; the first motion state parameter includes a first longitudinal speed, a first longitudinal acceleration, first gear information, and first braking information; the second motion state parameter includes a second longitudinal speed, a second longitudinal acceleration, and a second braking information; A determination module, configured to determine a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance; The output module is used to output a forward collision warning signal when the longitudinal distance is less than or equal to the warning distance.

14. A vehicle based on V2X communication, characterized in that: include: Controller; The controller is used to execute the vehicle forward collision warning method based on V2X communication as described in any one of claims 1-12.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle forward collision warning method based on V2X communication according to any one of claims 1 to 12 when executed.

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