Anti-collision method and system, automobile, electronic equipment and computer program

Abstract

The invention relates to the technical field of vehicle braking, in particular to a reversing anti-collision method and system, an automobile, electronic equipment and a computer program.The reversing anti-collision method comprises the steps that when it is determined that the automobile is in a reversing state, the speed of the automobile, the distance between the automobile and an obstacle behind the automobile and the type of the obstacle are obtained; determining pre-collision time based on the distance, the type of the obstacle and the speed of the vehicle; based on the pre-collision time, a driver is prompted to drive safely and / or the vehicle is braked. The obstacle behind the vehicle is monitored in real time, the pre-collision time is calculated, and a driver can be reminded in time or braking measures can be automatically taken before potential collision occurs, so that collision accidents during reversing are effectively avoided or reduced, and the driving safety is remarkably improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle braking technology, and in particular to a reversing collision avoidance method, system, automobile, electronic device and computer program. Background Art

[0002] With the development of science and technology and the progress of society, cars have gradually become popular in people's daily travel and life, so the safety of cars should be paid more and more attention. Existing commercial vehicles are large in size, which is different from ordinary passenger vehicles. There is a large blind spot at the rear of commercial vehicles. In order to avoid collision accidents when reversing, a reversing imaging system is generally installed. The rear camera of the vehicle is used to identify obstacles behind the vehicle and display them in real time through the instrument.

[0003] However, this technology is completely dependent on the driver's high concentration, and there is a risk of safety accidents caused by unclear identification or driver distraction. Summary of the invention

[0004] Based on the above technical problems, the present disclosure provides a collision avoidance method, system, automobile, electronic device and computer program.

[0005] According to one aspect of the present disclosure, a reversing collision avoidance method is provided, comprising: when determining that a vehicle is in a reversing state, obtaining the vehicle speed, the distance between the vehicle and an obstacle behind the vehicle, and the type of obstacle; determining a pre-collision time based on the distance, the type of obstacle, and the vehicle speed; and prompting a driver to drive safely and / or brake the vehicle based on the pre-collision time.

[0006] In addition, according to the reverse collision avoidance method of one aspect of the present disclosure, when the type is a fixed obstacle, the pre-collision time is calculated according to the following formula: Among them, T is the pre-collision time, S is the distance, and V is the speed of the vehicle.

[0007] In addition, according to a reverse collision avoidance method according to one aspect of the present disclosure, when the type is a moving obstacle, determining a pre-collision time based on the distance, the type of obstacle, and the speed of the vehicle includes: Obtain the vehicle's reversing acceleration, obstacle speed, and obstacle acceleration; The pre-collision time is determined based on the distance, the speed of the vehicle, the reverse acceleration of the vehicle, the speed of the obstacle, and the moving acceleration of the obstacle.

[0008] In addition, according to the reverse collision avoidance method of one aspect of the present disclosure, the pre-collision time is calculated according to the following formula: Among them, V 1is the vehicle speed, V 2 is the speed of the obstacle, a 1 is the vehicle's reverse acceleration, a 2 The moving acceleration of the obstacle, S is the distance.

[0009] In addition, according to an aspect of the present disclosure, a reverse collision avoidance method prompts a driver to drive safely and / or brakes the vehicle based on the pre-collision time, including: When the pre-collision time is less than or equal to the first collision time threshold and greater than the second collision time threshold, an alarm signal is sent to prompt the driver to drive safely.

[0010] In addition, according to an aspect of the present disclosure, the back-up collision avoidance method prompts the driver to drive safely and / or brake the vehicle based on the pre-collision time, and further includes: When the pre-collision time is less than or equal to the second collision time threshold, the vehicle is braked.

[0011] According to another aspect of the present disclosure, a reversing collision avoidance method system is provided, comprising: The acquisition module is used to determine that when the vehicle is in a reversing state, obtain the vehicle speed, the distance between the vehicle and the obstacle behind the vehicle, and the type of the obstacle; A time acquisition module, for determining a pre-collision time based on the distance, the type of obstacle and the speed of the vehicle; The control module is used for prompting the driver to drive safely and / or braking the vehicle based on the pre-collision time.

[0012] According to another aspect of the present disclosure, a car is provided, and the car includes the above reversing collision avoidance method system.

[0013] The present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned reversing collision avoidance method when executing the computer program.

[0014] The present disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the above-mentioned reversing collision avoidance method is implemented.

[0015] The present disclosure also provides a computer program product, including a computer program, which implements the above-mentioned reversing collision avoidance method when executed by a processor.

[0016] The anti-collision method, system, automobile, electronic device and computer program provided by the present disclosure can timely remind the driver or automatically take braking measures before a potential collision occurs by monitoring obstacles behind the vehicle in real time and calculating the pre-collision time, thereby effectively avoiding or reducing collision accidents when reversing and significantly improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present disclosure or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 2 is a diagram illustrating a blind spot of a commercial vehicle according to an embodiment of the present disclosure.

[0019] Figure 2 It is a schematic diagram illustrating a flow chart of a reversing collision avoidance method provided according to an embodiment of the present disclosure.

[0020] Figure 3 It is a flowchart further illustrating the reversing collision avoidance method provided according to an embodiment of the present disclosure.

[0021] Figure 4 2 is a schematic diagram illustrating a control system to which the reverse collision avoidance method according to an embodiment of the present disclosure is applied.

[0022] Figure 5 yes Figure 3 The control circuit and gas circuit schematic diagram of the control system shown.

[0023] Figure 6 Detailed description of the invention is a functional block diagram of a reverse collision avoidance system provided according to an embodiment of the present disclosure.

[0024] Figure 7 It is a schematic diagram illustrating the physical structure of an electronic device provided according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions in the present disclosure will be clearly and completely described below in conjunction with the drawings in the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0026] Commercial vehicles are huge in size, and different from ordinary passenger vehicles, there is a large blind spot at the rear of commercial vehicles. If the vehicle's surrounding conditions are not carefully checked when the vehicle starts to reverse, it is very easy to cause an accident. According to statistics, traffic safety accidents caused by commercial vehicle reversing account for 18% of commercial vehicle traffic accidents each year, causing huge losses.

[0027] like Figure 1As shown, there is a large blind spot at the rear of the commercial vehicle, and the areas filled with green lines are all blind spots. When there are obstacles in them, collisions are likely to occur when reversing, causing traffic accidents. In order to avoid collision accidents when reversing, commercial vehicles are generally equipped with a reversing imaging system, which uses a camera at the rear of the vehicle to identify obstacles behind the vehicle and displays them in real time through the instrument. However, this technology completely relies on the driver's high concentration, and there are safety accidents caused by unclear identification or driver distraction. How to avoid collisions with rear obstacles during reversing, how to complete early warnings, and how to ensure that the vehicle automatically brakes when reversing when the cab ignores the early warning are problems that need to be urgently solved in this disclosure.

[0028] Based on the above technical problems, the present disclosure provides a reversing collision avoidance method.

[0029] Figure 2 It is a schematic diagram illustrating a flow chart of a reversing collision avoidance method provided according to an embodiment of the present disclosure.

[0030] like Figure 2 As shown, the reversing collision avoidance method according to the embodiment of the present disclosure specifically includes the following steps.

[0031] Step 201, when it is determined that the vehicle is in a reversing state, the speed of the vehicle, the distance between the vehicle and an obstacle behind the vehicle, and the type of the obstacle are obtained.

[0032] It should be noted that the executor of the method of this embodiment can be a reversing control device with data processing, network communication and program running functions, such as a vehicle-mounted controller, ABS controller, etc., or other devices or equipment that can achieve the same or similar functions. The above-mentioned ABS controller is taken as an example for explanation here.

[0033] In one embodiment of the present disclosure, in order to timely perform reverse control when the vehicle is reversing, the ABS controller of this embodiment can obtain the gearbox gear position signal from the vehicle CAN line, and when detecting that the current gear position is the reverse gear, it is determined that the vehicle is currently in a reverse state, so the vehicle needs to be reversed. The ABS controller obtains the vehicle speed through a wheel speed sensor or a vehicle speed sensor, and obtains the distance between the vehicle and the obstacle behind the vehicle and the type of the obstacle through a radar, so as to perform reverse control in a timely manner.

[0034] In one embodiment of the present disclosure, when it is determined that the vehicle is in a reversing state, the vehicle speed, the distance between the vehicle and the obstacle behind the vehicle, and the type of obstacle are obtained, including: when it is determined that the vehicle is in a reversing state, the vehicle speed is obtained; when it is identified that there is an obstacle behind the vehicle, the distance between the obstacles behind the vehicle and the type of obstacle are obtained. Specifically, when it is detected that the current gear is the reverse gear, when it is determined that the vehicle is currently in a reversing state, the vehicle speed is obtained through a wheel speed sensor or a vehicle speed sensor. When the existence of an obstacle on the reversing path of the vehicle is monitored by radar, the distance between the vehicle and the obstacle behind the vehicle and the type of obstacle are obtained by radar, so as to perform reversing control in time.

[0035] Step 202 : determining a pre-collision time based on the distance, the type of obstacle, and the speed of the vehicle.

[0036] In one embodiment of the present disclosure, the pre-collision time refers to the time required for the vehicle to continue moving until a collision occurs in the current moving state. The pre-collision time can be determined based on the acquired distance between the vehicle and the obstacle behind the vehicle, the speed of the vehicle, and the type of the obstacle.

[0037] Step 203: Based on the pre-collision time, the driver is prompted to drive safely and / or brake the vehicle.

[0038] In one embodiment of the present disclosure, the ABS controller, based on the pre-collision time, if it is determined that the risk of collision is high, will remind the driver to take action through sound alarms, visual prompts, or seat vibrations. For example, a buzzer or instrument icon is used to remind the driver to brake. Alternatively, based on the pre-collision time, if the driver does not react in time, emergency braking will be automatically triggered to avoid a collision. Alternatively, if it is determined that the risk of collision is high, the driver will first be reminded to take action through sound alarms, visual prompts, or seat vibrations. If the driver does not react in time, emergency braking will be automatically triggered.

[0039] In summary, according to the technical solution provided by the embodiment of the present disclosure, by real-time monitoring of obstacles behind the vehicle and calculating the pre-collision time, the driver can be reminded in time or braking measures can be automatically taken before a potential collision occurs, thereby effectively avoiding or reducing collision accidents during reversing and significantly improving driving safety. It can also avoid safety accidents caused by factors such as blind spots in vision, which can greatly improve the safety performance of the vehicle.

[0040] Furthermore, when the type is a fixed obstacle, the pre-collision time is calculated according to the following formula: Among them, T is the pre-collision time, S is the distance, and V is the speed of the vehicle.

[0041] Specifically, when the obstacle is identified as a fixed obstacle, it means that the position of the obstacle is unchanged, so the calculation of the pre-collision time (T) can be simplified to the following formula: Wherein, T is the pre-collision time, i.e., the time required for the vehicle to collide with the obstacle at the current speed from the current moment. S is the distance between the vehicle and the obstacle, i.e., the straight-line distance between the obstacle and the vehicle. V is the vehicle speed, i.e., the speed of the vehicle during the reversing process.

[0042] In summary, according to the technical solution provided by the embodiment of the present disclosure, the above calculation formula of the pre-collision time provides a simple and direct method to evaluate the collision risk between the vehicle and the fixed obstacle, thereby triggering a warning or automatic braking according to the pre-collision time to avoid the collision.

[0043] Furthermore, when the type is a moving obstacle, the pre-collision time is determined based on the distance, the type of obstacle and the speed of the vehicle, including: Obtain the vehicle's reversing acceleration, obstacle speed, and obstacle acceleration; The pre-collision time is determined based on the distance, the speed of the vehicle, the reverse acceleration of the vehicle, the speed of the obstacle, and the moving acceleration of the obstacle.

[0044] Specifically, when an obstacle is identified as a moving obstacle, it means that the position of the obstacle is changing. The ABS controller can obtain the vehicle speed and the vehicle's reversing acceleration through a wheel speed sensor or a vehicle speed sensor. The speed and moving acceleration of the moving obstacle can be obtained through radar. Exemplarily, radio waves are emitted by radar, and when the radio waves encounter a moving obstacle, they are reflected back. The radar receives the reflected waves, and the speed of the moving obstacle relative to the radar can be calculated through the frequency of the reflected waves. At the same time, the moving speed of the moving obstacle can be calculated based on the speed of the vehicle itself. On this basis, the pre-collision time can be calculated using the vehicle speed, the vehicle's reversing acceleration, the speed of the obstacle, and the moving acceleration of the obstacle, so as to trigger a warning or automatic braking according to the pre-collision time to avoid a collision.

[0045] In summary, according to the technical solution provided by the embodiments of the present disclosure, by combining the dynamic parameters of the vehicle and the moving obstacle, and using sensors such as radar for real-time monitoring and calculation, accurate prediction of potential collision risks and effective response are achieved. This technical solution improves road driving safety and provides strong support for the development of autonomous driving and advanced driver assistance systems.

[0046] Furthermore, the pre-collision time is calculated according to the following formula: Among them, V1 is the speed of the vehicle, V2 is the speed of the obstacle, a1 is the reversing acceleration of the vehicle, a2 is the moving acceleration of the obstacle, and S is the distance between the vehicle and the obstacle, that is, the straight-line distance between the obstacle and the vehicle.

[0047] Further, based on the pre-collision time, prompting the driver to drive safely and / or braking the vehicle includes: When the pre-collision time is less than or equal to the first collision time threshold and greater than the second collision time threshold, an alarm signal is sent to prompt the driver to drive safely.

[0048] In one embodiment of the present disclosure, the first collision time threshold is a relatively long time threshold, which indicates that in the current situation, the driver still has enough time to react to avoid a potential collision. The second collision time threshold: This is a relatively short time threshold, which indicates that in the current situation, the driver may no longer have enough time to react to avoid a potential collision. When the pre-collision time is between the first collision time threshold and the second collision time threshold, the ABS controller will not immediately take compulsory measures such as emergency braking, but will send an alarm signal to the driver. This signal may be a visual prompt (such as a warning light on the dashboard), an auditory prompt (such as a beep) or a tactile prompt (such as a vibration on the steering wheel), the purpose of which is to remind the driver to pay attention to obstacles and take corresponding avoidance measures.

[0049] It should be noted that the specific values ​​of the first collision time threshold and the second collision time threshold will vary according to different vehicles, different safety systems and different road conditions. The setting of these thresholds needs to be rigorously tested and verified to ensure that they can provide the best safety performance in various situations.

[0050] Exemplarily, the first collision time threshold is 2s, and the second collision time threshold is 1s. When the pre-collision time is greater than 1s and less than or equal to 2s, the ABS controller sends an alarm signal to the instrument, and the instrument reminds the user through sound and light signals (such as warning lights), reminding the driver to pay attention to obstacles and realizing the early warning function.

[0051] In summary, according to the technical solution provided by the embodiment of the present disclosure, by setting the first collision time threshold and the second collision time threshold, a timely warning can be provided to the driver in the critical time period before a potential collision occurs. When the pre-collision time is between these two thresholds, the driver will receive a visual, auditory or tactile alarm signal, so that he has enough time to notice the obstacle ahead and take corresponding avoidance measures. This early warning mechanism can significantly reduce the incidence of collision accidents and improve road driving safety.

[0052] Further, based on the pre-collision time, prompting the driver to drive safely and / or braking the vehicle also includes: When the pre-collision time is less than or equal to the second collision time threshold, the vehicle is braked.

[0053] In one embodiment of the present disclosure, the second collision time threshold is a relatively short time threshold, which indicates that in the current situation, the driver may not have enough time to react to avoid a potential collision. If the pre-collision time is lower than the second collision time threshold, mandatory measures such as emergency braking will be taken immediately to minimize the possibility of a collision or reduce the severity of the collision.

[0054] In summary, according to the technical solution provided by the embodiment of the present disclosure, if the pre-collision time is lower than the second collision time threshold, compulsory measures such as emergency braking will be taken immediately to minimize the possibility of collision or reduce the severity of collision. Such emergency braking measures can automatically take risk avoidance measures to protect the safety of the vehicle and passengers when the driver cannot react in time.

[0055] Figure 3 It is a flowchart further illustrating the reversing collision avoidance method provided according to an embodiment of the present disclosure.

[0056] like Figure 3 As shown, the reverse collision avoidance method provided by the embodiment of the present disclosure is described in detail. The method can be applied to Figure 4 The control system includes: ABS controller, transmission TCU, vehicle instrument, vehicle CAN network, ASR solenoid valve, reversing waterproof radar, air tank, brake actuator (air chamber, brake) and reversing anti-collision switch. Among them, the ABS controller is connected to the vehicle instrument, transmission controller, reversing waterproof radar and ASR solenoid valve through the vehicle CAN network. An ASR solenoid valve is installed on the air path connecting the air tank and the brake actuator. The ABS controller is connected to the vehicle CAN network, and the communication protocol meets the J1939 regulations. It can receive relevant message information of the vehicle from the real-time vehicle CAN network and can make precise control.

[0057] Figure 4 The control circuit and gas circuit schematic diagram of the control system are as follows: Figure 5As shown. The control system integrates a variety of automobile safety functions, and its core lies in the precise control of the ABS controller 3 (anti-lock braking system controller). The ABS controller 3 realizes real-time monitoring and response to the vehicle's driving status through complex logic and data processing. The wheel speed sensor 7 and the vehicle instrument 1, as the source of the vehicle speed signal, jointly provide the ABS controller 3 with vehicle speed information. The wheel speed sensor 7 is composed of a permanent magnet, a coil, and a magnetic core. It cuts the magnetic flux line movement by cooperating with the rotation of the gear ring to generate a stable sine wave signal. After being analyzed by the ABS controller 3, an accurate vehicle speed signal is generated. The vehicle instrument 1 also provides the vehicle speed signal to the ABS controller 3 through the speed sensor at the transmission shaft. This redundant design ensures the stability and reliability of the vehicle speed signal. The reversing waterproof radar 12, as another important signal source, is fixed on the rear protection 13 of the vehicle to detect obstacles behind the vehicle in real time and transmit the distance signal to the ABS controller 3. When the vehicle is in the reversing state, the ABS controller obtains the gear position signal of the gearbox from the vehicle CAN line, especially the reverse gear signal, as a prerequisite for triggering the reversing anti-collision function. After receiving the distance signal transmitted by the reversing anti-throttle 12 and the vehicle speed signal calculated by itself, the ABS controller 3 can calculate the pre-collision time and respond within the corresponding time. These responses include displaying an alarm prompt on the vehicle instrument 1 and automatically taking emergency braking measures to ensure the safety of the vehicle. During the emergency braking process, the ABS controller 3 controls the ASR solenoid valve 4 of the rear axle to start and convert it from the normally closed mode to the normally open mode. In this way, the air source in the air reservoir 6 can inflate the rear axle service brake air chamber 8 through the ASR solenoid valve 4 to produce a braking effect, reducing the vehicle speed until it stops. In addition, the control system also integrates multiple key components such as the transmission controller 2, the two-way check valve 5, the ABS solenoid valve 9, the relay valve 10, and the quick release valve 11. Under the precise control of the ABS controller, these components jointly realize the warning and emergency braking functions during the reversing pre-collision. The entire control system communicates data through the vehicle CAN network to ensure the rapid transmission and real-time processing of signals. At the same time, all control logic programs are integrated in the ABS controller, making the entire system more compact and efficient.

[0058] Exemplarily, the wheel speed sensor 7 is composed of a permanent magnet, a coil, and a magnetic core. It cooperates with the rotation of the gear ring (fixed on the wheel) to achieve the movement of cutting the magnetic flux lines, and can generate a stable sine wave signal. After being analyzed by the ABS controller 3, a stable vehicle speed signal can be generated to determine the driving state of the vehicle. The vehicle speed signal emitted by the vehicle instrument 1 is determined by the speed sensor at the transmission shaft and analyzed by the ABS controller 3. The principle is the same as that of the wheel speed sensor. The ABS controller 3 can refer to the wheel speed sensor 7 and the vehicle speed signal of the vehicle instrument 1 at the same time to calculate the vehicle speed. The redundant design of the signal source can ensure the stability of the system. The reversing waterproof radar 12 is fixed on the rear protection 13 of the vehicle, which can detect obstacles behind the vehicle in real time and transmit the signal to the ABS controller 3. The ABS controller 3 obtains the gear position signal of the gearbox from the CAN line of the vehicle, especially the reverse gear signal of the gearbox, as a prerequisite signal for triggering the reversing anti-collision function. The ABS controller 3 can calculate the pre-collision time according to the distance signal transmitted by the reversing waterproof radar 12, the vehicle speed signal calculated by itself, etc., and take corresponding actions within the corresponding pre-collision time, such as prompting an alarm on the vehicle instrument 1, automatically taking emergency braking, etc. When a reversing collision risk is detected, the ABS controller controls the ASR solenoid valve 9 of the rear axle to start, and the ASR solenoid valve 9 changes from the normally closed mode to the normally open mode. The air source in the air reservoir 6 inflates the rear axle driving air chamber through the ASR solenoid valve 9, so that the rear axle brakes, reduces the vehicle speed, stops the vehicle, and ensures the safety of the vehicle. Among them, the ABS controller 3 is used to send and receive signals and is an integrated body of control logic; the gearbox controller 2 mainly identifies the gear position signal of the vehicle and is one of the trigger signal sources of the control scheme. ASR solenoid valve 4, ABS solenoid valve 9, two-way check valve 5, brake air chamber 8, used to receive ABS controller signals, realize air circuit on and off, and are the execution components of the control method; vehicle instrument 1, used to display the function trigger mark, remind the user whether the function is successfully triggered, and output the vehicle speed signal, which is the redundant signal source for ABS controller 3 to determine the vehicle speed state; vehicle CAN network, data communication network, used to transmit relevant signals, must meet J1939 regulations; reversing waterproof radar 12, one of the signal sources, mainly used to sense the distance between the vehicle and the rear obstacle, and transmit the signal to the ABS controller; rear protection 13, one of the rear protection devices of the vehicle, is mainly used to fix the reversing waterproof radar 12 in this solution. The two-way check valve, air tank, wheel speed sensor, brake air chamber, ABS solenoid valve, relay valve, quick release valve, reversing waterproof radar, rear protection, etc., are the control logic changes based on the ABS system. All control logic programs are integrated in the ABS controller, and are accurately controlled through the vehicle CAN network to achieve early warning and emergency braking during reversing pre-collision, ensuring the safety of vehicle reversing.

[0059] like Figure 3As shown, the backing collision avoidance method provided by the fundamental disclosed embodiment specifically includes the following steps: Step 310, start.

[0060] Step 320 , identifying the vehicle gear position signal, identifying the vehicle speed, and identifying the collision object behind the vehicle.

[0061] Specifically, the gear position signal of the vehicle is used to identify the driver's intention, the gearbox TCU sends a reverse gear signal, and the ABS controller receives the reverse gear signal and determines that the vehicle is in reverse gear, triggering the reverse collision avoidance function module. The vehicle speed is identified by the wheel speed sensor or vehicle speed sensor, and the collision object behind the vehicle is identified by the radar.

[0062] Exemplarily, the basic signal is output by identifying the motion state of the wheel speed sensor and the ring gear, which is an important signal source for the ABS controller to calculate the vehicle speed. The ABS controller determines the vehicle's motion state through it; the rotation state of the drive shaft is identified by the vehicle speed sensor, which is received by the vehicle instrument and sent to the vehicle CAN network. The ABS controller receives its signal as a redundant signal for determining the vehicle's motion state, thereby obtaining the vehicle speed; the rear of the vehicle is continuously scanned by the reversing waterproof radar, and the reflected wave of the reversing waterproof radar is received to calculate the distance between the vehicle and the rear obstacle, and the signal is fed back to the ABS controller.

[0063] Step 330 , calculating the collision time (ie, the aforementioned pre-collision time).

[0064] The collision time is calculated as follows: Working condition 1: When the rear obstacle is a fixed obstacle: Where: T——collision time; S——the distance between the vehicle and the obstacle (m); V——vehicle reversing speed (m / s); Among them, the reversing waterproof radar continuously scans the rear of the vehicle, calculates the distance S between the vehicle and the rear obstacle by receiving the reversing waterproof radar reflection wave, and feeds the signal back to the ABS controller.

[0065] Working condition 2: When the rear obstacle is a moving obstacle: When the rear obstacle is a moving obstacle, assuming that the obstacle has a certain initial velocity and acceleration, the speed and acceleration of the obstacle are obtained through the reversing waterproof radar, and the collision time is calculated as follows: Where: V1——vehicle reversing speed (m / s); V2——the speed of the obstacle behind (m / s); a1——Vehicle reversing acceleration (m / s 2 ); a2——the acceleration of the obstacle (m / s 2 ); S——the distance between the vehicle and the obstacle (m).

[0066] Among them, the reversing waterproof radar can emit radio waves. When the radio waves encounter a moving object, they will be reflected back. The reversing waterproof radar receives the reflected waves, and the speed of the moving obstacle relative to the reversing waterproof radar can be calculated through the frequency of the reflected waves. At the same time, based on the vehicle's own speed (measured by the wheel speed sensor of the ABS system), the moving speed and acceleration of the moving obstacle can be calculated. The reversing waterproof radar continuously scans the rear of the vehicle, calculates the distance S between the vehicle and the rear obstacle by receiving the reversing waterproof radar reflected waves, and feeds the signal back to the ABS controller.

[0067] Step 340: The collision time is greater than 2 seconds.

[0068] Specifically, if the collision time is greater than 2s, return to step 420. Step 350: The collision time is greater than 1 second and less than or equal to 2 seconds.

[0069] Specifically, when the collision time is between 1s and 2s, the triggering condition of the alarm function is met, and the process proceeds to step 380 .

[0070] Step 360: The collision time is less than or equal to 1 second.

[0071] Specifically, when the collision time is less than or equal to 1 second, the triggering condition of the automatic braking function is met.

[0072] Step 370: The automatic braking function is triggered and the vehicle performs emergency braking.

[0073] Specifically, when the triggering conditions of the automatic braking function are met, the ABS controller controls the operation of the ASR solenoid valve, and the ASR solenoid valve is changed from the normally closed mode to the normally open mode. The air source in the air reservoir inflates the rear axle service brake air chamber through the ASR solenoid valve, controls the brake actuator, pushes the adjustment arm, i.e., the brake, so that the rear axle is braked. At this time, the vehicle will stop stably. At the same time, the ABS controller sends a signal to the instrument to light up the vehicle's brake signal light, and proceeds to step 390.

[0074] Step 380, sending an alarm signal to the instrument (i.e., the vehicle instrument) to alert the driver with sound and light.

[0075] Specifically, when the triggering prerequisite of the alarm function is met, the ABS controller sends an alarm signal to the vehicle instrument, and the vehicle instrument reminds the driver through sound and light signals to realize the early warning function.

[0076] Step 390, end.

[0077] Specifically, after the vehicle stops stably, the entire reverse collision avoidance method is terminated.

[0078] In summary, the above-mentioned reversing collision avoidance method takes the ABS controller as the core and the vehicle CAN line as the signal transmission channel. It collects the reverse gear signal of the gearbox TCU, the radar ranging signal, and the vehicle speed signal light calculated by the ABS system itself, and completes the control of the rear axle brake actuator through the ASR solenoid valve.

[0079] The above-mentioned method for reversing collision avoidance provided according to the embodiment of the present disclosure, which is described in detail with reference to the accompanying drawings, realizes the automatic active braking function under the reversing condition, improves the safety of the whole vehicle, and ensures that the vehicle will not have a safety accident caused by the driver's negligence during the reversing process; the recognition of moving obstacles behind the vehicle and the calculation of the pre-collision time, the recognition of moving obstacles, improves the coverage of the function, and ensures the safety of each working condition; the existing ABS system is used to complete active braking, and only the program module needs to be upgraded, and the function can be expanded at a low cost in actual application; the whole vehicle CAN line is used to complete communication, and the response is fast; the radar is used for ranging, which has high accuracy and good environmental tolerance, and improves the stability of the whole vehicle system; the whole vehicle CAN line has the characteristics of fast response and high accuracy. Faster response means shorter braking distance in emergency and safer system.

[0080] Figure 6 It is a functional block diagram of a reversing collision avoidance method system provided according to an embodiment of the present disclosure.

[0081] like Figure 6 As shown, the reversing collision avoidance system 600 provided according to the embodiment of the present disclosure includes: a collection module 601, a time acquisition module 602 and a control module 603.

[0082] Specifically, the acquisition module 601 is used to obtain the vehicle speed, the distance between the vehicle and the obstacle behind the vehicle, and the type of the obstacle when determining that the vehicle is in a reversing state; Specifically, the time acquisition module 602 is used to determine the pre-collision time based on the distance, the type of obstacle and the speed of the vehicle; Specifically, the control module 603 is used to prompt the driver to drive safely and / or brake the vehicle based on the pre-collision time.

[0083] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the reverse collision avoidance method.

[0084] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present disclosure. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0085] On the other hand, the present disclosure also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the reversing collision avoidance methods provided by the above methods.

[0086] On the other hand, the present disclosure further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the reversing collision avoidance methods provided by the above methods.

[0087] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0088] Through the description of the above implementation modes, those skilled in the art can clearly understand that each implementation mode can be implemented by means of software plus a necessary general hardware platform, or of course by hardware. Based on such an understanding, the above technical solution can essentially or in other words be embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method for avoiding collision when reversing, characterized in that: include: When determining that the vehicle is in a reversing state, obtaining the speed of the vehicle, the distance between the vehicle and an obstacle behind the vehicle, and the type of the obstacle; determining a pre-collision time based on the distance, the type of the obstacle, and the speed of the vehicle; Based on the pre-collision time, the driver is prompted to drive safely and / or the vehicle is braked.

2. The back-up collision avoidance method according to claim 1, characterized in that: When the type is a fixed obstacle, the pre-collision time is calculated according to the following formula: Wherein, T is the pre-collision time, S is the distance, and V is the speed of the vehicle.

3. The back-up collision avoidance method according to claim 1, characterized in that: When the type is a moving obstacle, determining the pre-collision time based on the distance, the type of the obstacle and the speed of the vehicle includes: Obtaining the reversing acceleration of the vehicle, the speed of the obstacle, and the acceleration of the obstacle; The pre-collision time is determined based on the distance, the vehicle speed, the reverse acceleration of the vehicle, the speed of the obstacle, and the movement acceleration of the obstacle.

4. The back-up collision avoidance method according to claim 3, characterized in that: The pre-collision time is calculated according to the following formula: Wherein, V1 is the speed of the vehicle, V2 is the speed of the obstacle, a1 is the reversing acceleration of the vehicle, a2 is the moving acceleration of the obstacle, and S is the distance.

5. The back-up collision avoidance method according to claim 1, characterized in that: The step of prompting the driver to drive safely and / or braking the vehicle based on the pre-collision time includes: When the pre-collision time is less than or equal to a first collision time threshold and greater than a second collision time threshold, an alarm signal is sent to prompt the driver to drive safely.

6. The backing collision avoidance method according to claim 5, characterized in that: The step of prompting the driver to drive safely and / or braking the vehicle based on the pre-collision time further includes: When the pre-collision time is less than or equal to a second collision time threshold, the vehicle is braked.

7. A reversing collision avoidance method system, characterized in that: include: A collection module, used to obtain the speed of the vehicle, the distance between the vehicle and the obstacle behind the vehicle, and the type of the obstacle when determining that the vehicle is in a reversing state; a time acquisition module, configured to determine a pre-collision time based on the distance, the type of the obstacle, and the speed of the vehicle; The control module is used for prompting a driver to drive safely and / or braking the vehicle based on the pre-collision time.

8. A car, characterized in that: The automobile comprises the reversing collision avoidance method system as claimed in claim 7.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the reversing collision avoidance method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the reversing collision avoidance method according to any one of claims 1 to 6 is implemented.

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