Vehicle emergency collision avoidance implementation method and device, equipment and storage medium
By obtaining vehicle driving status information, the trigger distance between the safe collision avoidance area, the stable deceleration area and the warning area is calculated, and the problem of inaccurate calculation of the vehicle emergency collision avoidance system in complex environments is solved, and the collision avoidance that is consistent with the driver's habits is realized, which improves the collision avoidance effect and the simplicity of system maintenance.
Patent Information
- Application Number
- CN202510894368.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-30
- Publication Date
- 2025-08-08
AI Technical Summary
The existing vehicle emergency collision avoidance system is difficult to accurately calculate the emergency collision avoidance distance in complex driving environments, resulting in early or too late warning and braking, affecting the driver's experience and complex system maintenance.
By obtaining the driving status information of the main vehicle and the front vehicle, combining the braking characteristics, lane change space and relative motion relationship, the trigger distance between the safe collision avoidance area, the stable deceleration area and the warning area is calculated to achieve emergency collision avoidance of the vehicle.
Automatically identify safety status in complex environments, conform to driver habits, accurately calculate collision avoidance distance, reduce system calibration parameters, and improve collision avoidance effect and driver experience.
Smart Images
Figure CN120440025A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of automotive intelligent systems, and specifically to a method, device, equipment, and storage medium for implementing vehicle emergency collision avoidance. Background Art
[0002] The vehicle emergency collision avoidance system is a driver assistance system that can help the driver detect dangerous situations in time while driving and issue warnings to the driver, and initiate braking in emergency situations to avoid and mitigate collisions.
[0003] Currently, there are two main criteria for determining dangerous situations: time to collision and safe collision distance. Time to collision distance is the distance before a collision occurs, assuming both the vehicle and the preceding vehicle maintain their current speeds. In actual driving, these vehicles do not always maintain their current speeds, and the lead time for deceleration prompts and control is large. Therefore, TTC (Time to Collision) is not suitable for use as a basis for deceleration control or warnings. Using it as a basis for initiating emergency braking makes it difficult to ensure safe collision avoidance when the preceding vehicle brakes and decelerates. The safe collision distance is the braking distance required to avoid a collision, assuming the preceding vehicle brakes to a stop. This requires the vehicle to maintain a greater distance from the preceding vehicle while driving, which is significantly different from actual driving conditions and can easily lead to premature braking.
[0004] Real-world driving scenarios are complex and ever-changing. Initiating warnings and braking too early or too late not only compromises the vehicle's collision avoidance effectiveness and can lead to accidents, but also skews the driver's experience. Calibrating warning and braking timing for different scenarios would also complicate the calibration parameters and hinder system maintenance. Therefore, accurately calculating a vehicle's emergency collision avoidance distance has become a pressing issue. Summary of the Invention
[0005] The present application provides a method, device, equipment and storage medium for implementing vehicle emergency collision avoidance, which can automatically and accurately identify the safety status of the vehicle driving environment in a complex driving environment, promptly take safety measures that are consistent with the driver's habits, and accurately calculate the vehicle's emergency collision avoidance distance.
[0006] In a first aspect, an embodiment of the present application provides a method for implementing vehicle emergency collision avoidance, the method comprising: Obtain the driving status information of the vehicle and the preceding vehicle, and calculate the safe collision avoidance zone trigger distance based on the braking characteristics of the vehicle, the lane change space of the vehicle, and the relative motion relationship between the preceding and following vehicles; The smooth deceleration zone trigger distance is calculated based on the duration of the vehicle's light braking and the average deceleration during light braking, and in combination with the safe collision avoidance zone trigger distance; The warning zone trigger distance is obtained by combining the warning duration and the steady deceleration zone trigger distance to achieve emergency collision avoidance of the vehicle.
[0007] In conjunction with the first aspect, in one embodiment, obtaining driving state information of the host vehicle and the preceding vehicle, and calculating the safe collision avoidance zone trigger distance based on the host vehicle's braking characteristics, the host vehicle's lane change space, and the relative motion relationship between the preceding and following vehicles, specifically includes: Obtain driving status information of the vehicle and the preceding vehicle; Based on the braking characteristics of the vehicle and the relative motion relationship between the front and rear vehicles, the minimum required space distance for safe collision avoidance is calculated; Based on the lane-changing space of the vehicle, a following distance limit is calculated to avoid a too-close following distance and a limiting distance to avoid premature braking that could cause a false warning. The safe collision avoidance zone trigger distance is obtained based on the minimum space requirement distance for safe collision avoidance, the following limit distance to avoid too small a following distance, and the limit distance to avoid premature braking triggering and generating a false warning.
[0008] In conjunction with the first aspect, in one embodiment, the calculation of the minimum required space distance for safe collision avoidance specifically includes: Calculate the space distance required for the vehicle to slow down to the speed of the vehicle in front when the vehicle is traveling at a constant speed. ,
[0009] in, Indicates the current relative speed of the front and rear vehicles, Indicates the maximum deceleration of the vehicle; Calculate the space distance required for this vehicle to brake and avoid collision when the front vehicle brakes to stop ,
[0010] in, Indicates the current speed of the vehicle. Indicates the current speed of the preceding vehicle. Indicates the current deceleration of the preceding vehicle; According to the braking status of the vehicle in front, the minimum required space distance for safe collision avoidance is calculated.
[0011] in, Indicates the minimum space required to safely avoid collisions, Indicates the braking status of the vehicle ahead. , represents the acceleration due to gravity, Indicates the set minimum safety clearance distance.
[0012] In conjunction with the first aspect, in one embodiment, To avoid the following distance being too small, the following distance limit is as follows:
[0013] in, Indicates the following distance limit to avoid following vehicles with too small a distance. Indicates the set time. Indicates the current speed of the vehicle; The distance limit for avoiding false warnings caused by premature braking is as follows:
[0014] in, Indicates the limit distance to avoid premature braking and false warnings. Indicates the current speed of the vehicle. Indicates the current speed of the preceding vehicle. 、 Represents the time parameter.
[0015] In combination with the first aspect, in one embodiment, for the safe collision avoidance zone trigger distance, specifically,
[0016] in, Indicates the trigger distance of the safe collision avoidance zone. Indicates the following distance limit to avoid following vehicles with too small a distance. Indicates the minimum space required to safely avoid collisions, Indicates the distance limit to avoid premature braking and false warnings.
[0017] In conjunction with the first aspect, in one embodiment, calculating the trigger distance of the stable deceleration zone specifically includes: Based on the duration of the vehicle's light braking and the average deceleration during light braking, the relative speed of the front and rear vehicles at the end of the vehicle's light braking is calculated. Specifically:
[0018] in, Indicates the relative speed of the front and rear vehicles when the vehicle's light braking ends. Indicates the current relative speed of the front and rear vehicles. Indicates the average deceleration of the vehicle during light braking. Indicates the duration of the vehicle's light braking; Combined with the safe collision avoidance zone trigger distance, the stable deceleration zone trigger distance is calculated. Specifically:
[0019] in, Indicates the trigger distance of the stable deceleration zone, Indicates the trigger distance of the safe collision avoidance zone.
[0020] In conjunction with the first aspect, in one embodiment, the calculation of the warning zone trigger distance is specifically as follows:
[0021] in, Indicates the trigger distance of the warning zone. Indicates the trigger distance of the stable deceleration zone, Indicates the duration of the warning. Indicates the current relative speed of the front and rear vehicles.
[0022] In a second aspect, an embodiment of the present application provides a vehicle emergency collision avoidance device, the vehicle emergency collision avoidance device comprising: The first calculation module is used to obtain the driving status information of the host vehicle and the preceding vehicle, and calculate the trigger distance of the safe collision avoidance zone based on the braking characteristics of the host vehicle, the lane change space of the host vehicle, and the relative motion relationship between the preceding and following vehicles; a second calculation module configured to calculate a steady deceleration zone trigger distance based on the duration of the vehicle's light braking and the average deceleration during the light braking, in combination with the safe collision avoidance zone trigger distance; The calculation and execution module is used to combine the warning duration and the steady deceleration zone trigger distance to obtain the warning zone trigger distance to achieve emergency collision avoidance of the vehicle.
[0023] In a third aspect, an embodiment of the present application provides a vehicle emergency collision avoidance implementation device, which includes a processor, a memory, and a vehicle emergency collision avoidance implementation program stored on the memory and executable by the processor, wherein when the vehicle emergency collision avoidance implementation program is executed by the processor, the steps of the above-mentioned vehicle emergency collision avoidance implementation method are implemented.
[0024] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a vehicle emergency collision avoidance implementation program is stored. When the vehicle emergency collision avoidance implementation program is executed by a processor, the steps of the above-mentioned vehicle emergency collision avoidance implementation method are implemented.
[0025] The beneficial effects of the technical solutions provided in the embodiments of the present application include: (1) Considering multiple factors such as the vehicle's braking characteristics, lane-changing space, and the relative motion relationship between the front and rear vehicles, the system calculates warning and braking distance (light braking, emergency braking) triggers. It can automatically adapt to different scenarios and considers collision avoidance effects and driver habits when calculating trigger distances. (2) It can automatically determine the triggering time of the safe collision avoidance zone according to different scenarios. Based on the triggering distance of the safe collision avoidance zone, the triggering time of the warning zone and the smooth deceleration zone can be reversed through the duration of the warning, the duration of the vehicle's light braking, and the average deceleration of the vehicle during light braking. The calibration quantity is small, which reduces the workload of vehicle model matching. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 This is a flow chart of the method for implementing vehicle emergency collision avoidance in this application; Figure 2 This is a schematic diagram of the warning area, steady deceleration area, and safe collision avoidance area; Figure 3 This is a schematic diagram of the functional modules of the vehicle emergency collision avoidance device of this application; Figure 4 This is a schematic diagram of the hardware structure of the vehicle emergency collision avoidance device in this application. DETAILED DESCRIPTION
[0027] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 are within the scope of protection of this application.
[0028] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.
[0029] On the first aspect, the embodiment of the present application provides a method for implementing vehicle emergency collision avoidance, which can automatically and accurately identify the safety status of the vehicle driving environment in a complex driving environment, and take safety measures in a timely manner that are in line with the driver's habits, thereby achieving safe collision avoidance and avoiding unnecessary false warnings such as braking and deceleration; in addition, the present application can also judge the triggering timing according to the scenario, requires fewer parameters to be calibrated, and is easy to maintain.
[0030] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the method for implementing the vehicle emergency collision avoidance in this application. Figure 1 As shown, the vehicle emergency collision avoidance method includes: S1: Obtain the driving status information of the host vehicle and the preceding vehicle, and calculate the safe collision avoidance zone trigger distance based on the host vehicle's braking characteristics, the lane change space available to the host vehicle, and the relative motion relationship between the preceding and following vehicles; S2: Calculate the smooth deceleration zone trigger distance based on the vehicle's light braking duration and average deceleration during light braking, combined with the safe collision avoidance zone trigger distance; S3: Combining the warning duration and the steady deceleration zone trigger distance, a warning zone trigger distance is obtained to achieve emergency collision avoidance of the vehicle.
[0031] That is, this application provides a collision avoidance method that can automatically cope with complex environments and conform to the driver's habits, and proposes a three-level collision avoidance strategy using a warning zone, a steady deceleration zone, and a safe collision avoidance zone (see Figure 2 First, the safe collision avoidance zone trigger distance is calculated based on the vehicle's braking characteristics, lane change space, and the relative motion relationship between the front and rear vehicles. Then, the smooth deceleration zone trigger distance is calculated based on the safe collision avoidance zone trigger distance. Finally, the warning zone trigger distance is calculated based on the smooth deceleration zone trigger distance.
[0032] Furthermore, in one embodiment, the driving status information of the host vehicle and the preceding vehicle is obtained, and the trigger distance of the safe collision avoidance zone is calculated based on the braking characteristics of the host vehicle, the lane change space of the host vehicle, and the relative motion relationship between the preceding and following vehicles. Specifically, the calculation includes: S101: Acquire driving status information of the vehicle and the preceding vehicle; S102: Calculating the minimum required space distance for safe collision avoidance based on the braking characteristics of the vehicle and the relative motion relationship between the front and rear vehicles; S103: Calculating a following distance limit for preventing a vehicle from following too closely and a limiting distance for preventing a false warning caused by premature braking, based on the lane-changing space of the vehicle; S104: Obtain a safe collision avoidance zone trigger distance based on the minimum space requirement distance for safe collision avoidance, a following limit distance to avoid a too small following distance, and a limit distance to avoid premature braking and generating a false warning.
[0033] The safe collision avoidance zone takes into account the braking space of the vehicle in front, the braking possibility of the preceding vehicle, the space required for lane changes, and the suppression of false alarms. It responds to different scenarios separately. Specifically, the calculation of the minimum required space distance for safe collision avoidance includes: S1021: Calculate the space distance required for the vehicle to slow down to the speed of the vehicle in front when the vehicle is traveling at a constant speed ,
[0034] in, Indicates the current relative speed of the front and rear vehicles, Indicates the maximum deceleration of the vehicle; S1022: Calculate the space required for this vehicle to brake and avoid collision when the front vehicle brakes to a stop ,
[0035] in, Indicates the current speed of the vehicle. Indicates the current speed of the preceding vehicle. Indicates the current deceleration of the preceding vehicle; S1023: Calculate the minimum required distance for safe collision avoidance based on the braking status of the vehicle ahead.
[0036] in, Indicates the minimum space required to safely avoid collisions, Indicates the braking status of the vehicle ahead. , represents the acceleration due to gravity, when When it is 0, it means the front vehicle is traveling at a constant speed. When it is 1, it means the vehicle ahead is braking fully. Indicates the set minimum safety clearance distance.
[0037] Specifically, the space distance required for the vehicle to slow down to the speed of the vehicle in front is calculated when the vehicle is traveling at a constant speed. , when the front vehicle brakes to stop, the space distance required for this vehicle to brake to avoid collision , and taking into account calculation and detection errors, set the minimum safe clearance distance , The value is usually 5, in meters, and the braking state of the front vehicle is indicates that, based on 、 、 、 , calculate the minimum space required to safely avoid collisions .
[0038] This application requires a minimum distance Based on the calculation, it is necessary to further consider whether the minimum space required for safe collision avoidance in different scenarios is consistent with the driver's habits. Based on this, optimization is carried out to avoid the following distance being too small (the relative speed between the front vehicle and the vehicle is very small, Smaller) calculation, specifically, to avoid the following distance being too small, specifically,
[0039] in, Indicates the following distance limit to avoid following vehicles with too small a distance. Indicates the set time, which is a calibration value and can be 0.8s. Indicates the current speed of the vehicle.
[0040] The limit distance to avoid premature braking and false warning (when the relative speed between the front vehicle and the vehicle is very large, Large), considering the lane-changing space of vehicles, the fitting model is used for calculation:
[0041] in, Indicates the limit distance to avoid premature braking and false warnings. Indicates the current speed of the vehicle. Indicates the current speed of the preceding vehicle. 、 represents a time parameter. In one possible implementation, The value can be 1.7 seconds, The value can be 0.8 seconds.
[0042] Through the above calculation, the trigger distance of the safe collision avoidance zone can be calculated, that is:
[0043] in, Indicates the trigger distance of the safe collision avoidance zone. Indicates the following distance limit to avoid following vehicles with too small a distance. Indicates the minimum space required to safely avoid collisions, Indicates the distance limit to avoid premature braking and false warnings.
[0044] It should be noted that the following distance limit to avoid a too small following distance is the minimum distance limit for scenarios with low relative speeds, taking into account the driver's following habits; the distance limit to avoid false warnings caused by premature braking is the maximum distance limit for scenarios with high relative speeds, which is set because the braking distance is too long and does not conform to the driver's habits (taking into account the possibility of steering to avoid collision).
[0045] Through the above strategies, this application can select the most appropriate emergency braking trigger distance according to different scenarios.
[0046] The safe collision avoidance zone is an area where the vehicle uses light braking to achieve slow deceleration. This application uses the light braking duration and the average deceleration during light braking to calculate the trigger distance of the smooth deceleration zone.
[0047] That is, the calculation of the trigger distance of the smooth deceleration zone includes: S201: Calculate the relative speed of the front and rear vehicles at the end of the light braking of the vehicle based on the duration of the light braking of the vehicle and the average deceleration during the light braking. Specifically:
[0048] in, Indicates the relative speed of the front and rear vehicles when the vehicle's light braking ends. Indicates the current relative speed of the front and rear vehicles. Indicates the average deceleration of the vehicle during light braking. Indicates the duration of the vehicle's light braking; S202: Calculate the trigger distance of the stable deceleration zone based on the trigger distance of the safe collision avoidance zone. Specifically:
[0049] in, Indicates the trigger distance of the stable deceleration zone, Indicates the trigger distance of the safe collision avoidance zone.
[0050] Through calibration and , we can determine the trigger distance of the stable deceleration zone, that is, the longitudinal distance when the stable deceleration zone is triggered. Determine based on the vehicle model. Calibrate according to actual usage requirements such as driver habits to achieve reasonable and stable deceleration distance calculation.
[0051] The warning zone is the distance within which the vehicle issues a warning and releases the throttle. Since the vehicle deceleration remains essentially unchanged during this phase, the warning zone trigger distance can be calculated based on the steady deceleration zone trigger distance and the warning duration, i.e.:
[0052] in, Indicates the trigger distance of the warning zone. Indicates the trigger distance of the stable deceleration zone, Indicates the duration of the warning. Indicates the current relative speed of the front and rear vehicles.
[0053] It should be noted that the warning duration is calibrated according to actual usage requirements such as driver habits to achieve a reasonable warning distance.
[0054] This application takes into account the braking characteristics of the vehicle, the relative motion state of the front and rear vehicles, and the lane change space requirements of the vehicle when calculating the trigger distance of the safe collision avoidance zone. Therefore, it achieves good collision avoidance effect under different working conditions and takes into account the driver's braking habits. Based on the safe collision avoidance zone, it is calibrated according to the vehicle model and actual needs. 、 and The trigger distances for the steady deceleration zone and the warning zone are inferred from the reverse calculation. This allows the three-level trigger distances to be adaptively adjusted to suit different scenarios. The trigger distances take into account both the effectiveness of braking for collision avoidance and the driver's braking habits, preventing premature or late warnings or braking.
[0055] The vehicle emergency collision avoidance method of the present application is described below with reference to an example.
[0056] A vehicle's emergency collision avoidance system generally consists of millimeter-wave radar, forward vision sensor, EBS controller, assisted driving controller, and HMI.
[0057] Millimeter wave radar and forward vision sensor are used to identify obstacles ahead and output the position and relative speed of the obstacles. The assisted driving controller obtains the position distance S and relative speed of the obstacles through the CAN bus. The EBS controller obtains the vehicle speed signal to determine the collision risk. The vehicle emergency collision avoidance method described in this application calculates the trigger distances of warning (warning area), light braking (smooth deceleration area) and full braking (safe collision avoidance area) in real time, that is, the warning area trigger distance , trigger distance of stable deceleration zone , safe collision avoidance zone trigger distance .
[0058] The warning duration Generally, 0.6~1s is selected, and the duration of the vehicle's light braking is Generally, 0.8~1s is selected, which is the average deceleration of the vehicle during light braking. Generally choose 1~2m / s 2 .
[0059] When the distance S of the identified obstacle ahead of the lane is less than When the distance S of the obstacle is less than When light braking is triggered, the auxiliary driving controller sends the deceleration to the EBS controller. Light braking, duration ; When the distance S of the obstacle is less than When full braking is triggered, the auxiliary driving controller sends the deceleration to the EBS controller. Full braking is applied until the vehicle slows down to a speed lower than that of the vehicle in front.
[0060] The vehicle emergency collision avoidance implementation method of the embodiment of the present application performs warning and braking distance (light braking, emergency braking) trigger calculation by considering multiple factors such as the braking characteristics of the vehicle, the lane changing space of the vehicle, the relative motion relationship between the front and rear vehicles, etc., and can automatically adapt to different scenarios, and consider the collision avoidance effect and the driver's habits when calculating the trigger distance; it can automatically determine the triggering timing of the safe collision avoidance zone according to different scenarios, and based on the triggering distance of the safe collision avoidance zone, the triggering timing of the warning zone and the smooth deceleration zone can be reversed through the duration warning duration, the duration of the vehicle's light braking and the average deceleration of the vehicle during light braking. The calibration quantity can be small, reducing the workload of vehicle model matching.
[0061] In a second aspect, an embodiment of the present application also provides a vehicle emergency collision avoidance device.
[0062] In one embodiment, referring to Figure 3 , Figure 3 This is a functional module diagram of the vehicle emergency collision avoidance device of this application. Figure 3 As shown, the vehicle emergency collision avoidance implementation device includes: a first calculation module, a second calculation module, and a calculation and execution module.
[0063] The first calculation module is used to obtain the driving status information of the vehicle and the preceding vehicle, and calculate the safe collision avoidance zone trigger distance based on the braking characteristics of the vehicle, the lane-changing space of the vehicle, and the relative motion relationship between the preceding and following vehicles; the second calculation module is used to calculate the smooth deceleration zone trigger distance based on the duration of the vehicle's light braking and the average deceleration during light braking, combined with the said safe collision avoidance zone trigger distance; the calculation and execution module is used to combine the warning duration and the said smooth deceleration zone trigger distance to obtain the warning zone trigger distance to achieve vehicle emergency collision avoidance.
[0064] In a third aspect, an embodiment of the present application provides a vehicle emergency collision avoidance implementation device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.
[0065] Reference Figure 4 , Figure 4 Schematic diagram of the hardware structure of the vehicle emergency collision avoidance device involved in the embodiment of the present application. In the embodiment of the present application, the vehicle emergency collision avoidance device may include a processor, a memory, a communication interface and a communication bus.
[0066] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.
[0067] Communication interfaces include input / output (I / O), physical, and logical interfaces, used to interconnect components within the vehicle emergency collision avoidance device and to connect the device to other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber optic, and ATM interfaces; user devices can include displays and keyboards.
[0068] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.
[0069] The processor may be a general-purpose processor that can invoke a vehicle emergency collision avoidance implementation program stored in a memory and execute the vehicle emergency collision avoidance implementation method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The methods executed when the vehicle emergency collision avoidance implementation program is invoked can be referenced to the various embodiments of the vehicle emergency collision avoidance implementation method of the present application and will not be further described here.
[0070] Those skilled in the art will understand that Figure 4 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.
[0071] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.
[0072] The computer-readable storage medium of the present application stores a vehicle emergency collision avoidance implementation program, wherein when the vehicle emergency collision avoidance implementation program is executed by a processor, the steps of the vehicle emergency collision avoidance implementation method as described above are implemented.
[0073] Among them, the method implemented when the vehicle emergency collision avoidance implementation program is executed can refer to the various embodiments of the vehicle emergency collision avoidance implementation method of this application, and will not be repeated here.
[0074] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings 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 limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.
[0075] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.
[0076] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.
[0077] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.
[0078] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of this application.
[0079] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.
Claims
1. A method for realizing vehicle emergency collision avoidance, characterized in that: The vehicle emergency collision avoidance implementation method comprises: Obtain the driving status information of the vehicle and the preceding vehicle, and calculate the safe collision avoidance zone trigger distance based on the braking characteristics of the vehicle, the lane change space of the vehicle, and the relative motion relationship between the preceding and following vehicles; The smooth deceleration zone trigger distance is calculated based on the duration of the vehicle's light braking and the average deceleration during light braking, and in combination with the safe collision avoidance zone trigger distance; The warning zone trigger distance is obtained by combining the warning duration and the steady deceleration zone trigger distance to achieve emergency collision avoidance of the vehicle.
2. A vehicle emergency collision avoidance method according to claim 1, characterized in that: The process of obtaining the driving status information of the vehicle and the preceding vehicle and calculating the safe collision avoidance zone trigger distance based on the braking characteristics of the vehicle, the lane change space of the vehicle, and the relative motion relationship between the preceding and following vehicles specifically includes: Obtain driving status information of the vehicle and the preceding vehicle; Based on the braking characteristics of the vehicle and the relative motion relationship between the front and rear vehicles, the minimum required space distance for safe collision avoidance is calculated; Based on the lane-changing space of the vehicle, a following distance limit is calculated to avoid a too-close following distance and a limiting distance to avoid premature braking that could cause a false warning. The safe collision avoidance zone trigger distance is obtained based on the minimum space requirement distance for safe collision avoidance, the following limit distance to avoid too small a following distance, and the limit distance to avoid premature braking triggering and generating a false warning.
3. A vehicle emergency collision avoidance method according to claim 2, characterized in that: The calculation of the minimum required distance for safe collision avoidance includes: Calculate the space distance required for the vehicle to slow down to the speed of the vehicle in front when the vehicle is traveling at a constant speed. , in, Indicates the current relative speed of the front and rear vehicles. Indicates the maximum deceleration of the vehicle; Calculate the space distance required for this vehicle to brake and avoid collision when the front vehicle brakes to stop , in, Indicates the current speed of the vehicle. Indicates the current speed of the preceding vehicle. Indicates the current deceleration of the preceding vehicle; According to the braking status of the vehicle in front, the minimum required space distance for safe collision avoidance is calculated. in, Indicates the minimum space required to safely avoid collisions, Indicates the braking status of the vehicle ahead. , represents the acceleration due to gravity, Indicates the set minimum safety clearance distance.
4. The method for realizing vehicle emergency collision avoidance according to claim 2, wherein: To avoid the following distance being too small, the following distance limit is as follows: in, Indicates the following distance limit to avoid following vehicles with too small a distance. Indicates the set time. Indicates the current speed of the vehicle; The distance limit for avoiding false warnings caused by premature braking is as follows: in, Indicates the limit distance to avoid premature braking and false warnings. Indicates the current speed of the vehicle. Indicates the current speed of the preceding vehicle. 、 Represents the time parameter.
5. The method for realizing vehicle emergency collision avoidance according to claim 2, wherein: For the safe collision avoidance zone trigger distance, specifically, in, Indicates the trigger distance of the safe collision avoidance zone. Indicates the following distance limit to avoid following vehicles with too small a distance. Indicates the minimum space required to safely avoid collisions, Indicates the distance limit to avoid premature braking and false warnings.
6. The method for realizing vehicle emergency collision avoidance according to claim 1, wherein: The calculation of the trigger distance of the smooth deceleration zone includes: Based on the duration of the vehicle's light braking and the average deceleration during light braking, the relative speed of the front and rear vehicles at the end of the vehicle's light braking is calculated. Specifically: in, Indicates the relative speed of the front and rear vehicles when the vehicle's light braking ends. Indicates the current relative speed of the front and rear vehicles. Indicates the average deceleration of the vehicle during light braking. Indicates the duration of the vehicle's light braking; Combined with the safe collision avoidance zone trigger distance, the stable deceleration zone trigger distance is calculated. Specifically: in, Indicates the trigger distance of the stable deceleration zone, Indicates the trigger distance of the safe collision avoidance zone.
7. The method for realizing vehicle emergency collision avoidance according to claim 1, wherein: The calculation of the warning zone trigger distance is as follows: in, Indicates the trigger distance of the warning zone. Indicates the trigger distance of the stable deceleration zone, Indicates the duration of the warning. Indicates the current relative speed of the front and rear vehicles.
8. A vehicle emergency collision avoidance device, characterized in that: The vehicle emergency collision avoidance device comprises: The first calculation module is used to obtain the driving status information of the host vehicle and the preceding vehicle, and calculate the trigger distance of the safe collision avoidance zone based on the braking characteristics of the host vehicle, the lane change space of the host vehicle, and the relative motion relationship between the preceding and following vehicles; a second calculation module configured to calculate a steady deceleration zone trigger distance based on the duration of the vehicle's light braking and the average deceleration during the light braking, in combination with the safe collision avoidance zone trigger distance; The calculation and execution module is used to combine the warning duration and the steady deceleration zone trigger distance to obtain the warning zone trigger distance to achieve emergency collision avoidance of the vehicle.
9. A vehicle emergency collision avoidance device, characterized in that: The vehicle emergency collision avoidance implementation device includes a processor, a memory, and a vehicle emergency collision avoidance implementation program stored on the memory and executable by the processor, wherein when the vehicle emergency collision avoidance implementation program is executed by the processor, the steps of the vehicle emergency collision avoidance implementation method as described in any one of claims 1 to 7 are implemented.
10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a vehicle emergency collision avoidance implementation program, wherein when the vehicle emergency collision avoidance implementation program is executed by the processor, the steps of the vehicle emergency collision avoidance implementation method according to any one of claims 1 to 7 are implemented.