Rear vehicle drilling prevention method, system and equipment applied to trailer tail

Abstract

The embodiment of the invention provides a method, a system and equipment for preventing a rear vehicle from entering a trailer tail, and belongs to the field of advanced driving assistance of heavy-duty cars. The method comprises the following steps: acquiring running information and road information of vehicles in front of and behind a trailer, determining a vehicle closest to the trailer behind the same lane, and determining the type of the vehicle closest to the same lane; constructing a collision time algorithm model fused with acceleration parameters, and calculating instantaneous collision time under different relative acceleration conditions; the instantaneous collision time under different relative acceleration conditions is compared with a preset collision time threshold value, a comparison result is obtained, a collision control signal or a collision alarm signal is sent out in combination with the type of the nearest vehicle on the same lane, and then a strategy for preventing the rear vehicle from entering is determined. The method is used for solving the risk problem of heavy casualties of a driver due to the fact that a trailer chassis is high and a front cabin of the passenger vehicle is low when a small passenger vehicle is in rear-end collision with the commercial vehicle.

Description

Technical Field

[0001] This invention relates to the field of advanced driver assistance technology for heavy-duty vehicles, and specifically to a method, system, and device for preventing rear vehicles from crawling into the rear of a trailer. Background Technology

[0002] Heavy-duty vehicles typically travel at lower speeds than passenger cars, leading to more rear-end collisions between passenger cars and heavy commercial vehicles. The chassis of the passenger car's trailer is higher than the front engine compartment of the passenger car. Therefore, in a rear-end collision, the passenger car's front engine compartment usually goes under the trailer, with the A-pillar and driver's cab directly colliding with the trailer, seriously threatening the lives of the passenger car occupants. Furthermore, the driver and passenger airbag pressure sensors are generally installed on the front bumper beam. In a rear-end collision, the front bumper beam may not be directly impacted or may impact too late, resulting in the airbags failing to deploy or deploying late, causing secondary injuries to the occupants.

[0003] Existing technologies typically use binocular cameras to determine the collision warning time for a rear-end collision. If the rear-end collision warning time is less than a preset safe collision time threshold, a collision warning message is sent to the driver's interactive terminal. However, this method only provides a warning for rear-end collisions. If the vehicle behind does not detect the warning message in time or is unable to brake in time, a rear-end collision can still occur, causing a serious traffic accident. It does not provide a passive protection device.

[0004] Furthermore, existing technologies typically install rear-end collision prevention systems on heavy-duty trucks to form a buffer layer to reduce the risk of rear-end collisions. However, the buffer layer uses airbags that inflate by detonation, and their disposable, non-recoverable nature results in high maintenance costs. Moreover, airbags are non-rigid devices compared to the rigid vehicle body; at the moment of impact, a sharp, rigid object can puncture the non-rigid airbag, thus limiting its protective buffering capacity. Additionally, at the moment of impact, because the collision occurs with the non-rigid airbag, the airbags of the following vehicle may fail to deploy due to pressure sensors not reaching their maximum capacity, which is detrimental to the protection of the drivers of the following vehicles. Summary of the Invention

[0005] The purpose of this invention is to provide a method, system, and device for preventing rear-end collisions of a trailer, which addresses the risk of serious injury or death to the driver when a small passenger car rear-ends a commercial vehicle, as the trailer chassis is high and the passenger car's front engine compartment is low.

[0006] To achieve the above objectives, embodiments of the present invention provide a method for preventing rear vehicles from crawling into the rear of a trailer, comprising: Obtain vehicle operation information and road information in front of and behind the trailer, and based on the vehicle operation information and road information in front of and behind the trailer, determine the closest vehicle to the trailer in the same lane and determine the type of the closest vehicle in the same lane. A collision time algorithm model integrating acceleration parameters is constructed, and the instantaneous collision time under different relative acceleration conditions is calculated based on the collision time algorithm model. The instantaneous collision time under different relative acceleration conditions is compared with a preset collision time threshold to obtain the comparison result. Combined with the type of the nearest vehicle in the same lane, a collision control signal or a collision alarm signal is issued. Determine the strategy to prevent following vehicles from crawling in based on the collision control signal or collision alarm signal.

[0007] Optionally, the instantaneous collision time under different relative acceleration conditions can be calculated using the following formula. : ; In the formula, The distance is relative. Relative vehicle speed This refers to relative acceleration.

[0008] Optionally, the process for setting the collision time threshold includes: Based on road information and the type of the nearest vehicle in the same lane, the braking deceleration of the trailer is determined, and a collision time threshold is set based on the braking deceleration. The collision time threshold includes a collision warning threshold and a collision control threshold.

[0009] Optionally, the trailer's braking deceleration can be determined based on road information and the type of the nearest vehicle in the same lane, and a collision time threshold can be set based on the braking deceleration, including: If the road the trailer is currently traveling on is flat, and the roads in front and behind are also flat, the relationship between braking distance and braking deceleration can be derived from the vehicle kinematics formula. If the nearest vehicle in the same lane is of type M, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value, and the deceleration time is... The collision control threshold is calculated using the maximum deceleration as the quantitative value, and its deceleration time is... Among them, the maximum braking deceleration of category M vehicles is ; If the nearest vehicle in the same lane is of type N, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value, and the deceleration time is... The collision control threshold is calculated using the maximum deceleration as the quantitative value, and its deceleration time is... Among them, the maximum braking deceleration of Class N vehicles is ; If the trailer is currently traveling on an uphill road, and both the roads in front and behind it are uphill, the vehicle's deceleration consists of braking force deceleration and slope deceleration. ; If the nearest vehicle in the same lane is of type M, the collision warning threshold is calculated using half the braking force deceleration and the ramp deceleration as the quantitative values, and the deceleration time is... The collision control threshold is calculated using braking force deceleration and ramp deceleration as quantitative indicators, and its deceleration time is... Among them, the maximum braking deceleration of category M vehicles is ; If the nearest vehicle in the same lane is of type N, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value, and the deceleration time is... The collision control threshold is calculated using the maximum deceleration as the quantitative value, and its deceleration time is... Among them, the maximum braking deceleration of Class N vehicles is ; If the trailer is currently traveling on a downhill road, and both the roads in front and behind it are downhill, the vehicle's deceleration is the sum of braking force deceleration and slope deceleration. ; If the nearest vehicle in the same lane is of type M, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value, and the deceleration time is... The collision control threshold is calculated using the maximum deceleration as the quantitative value, and its deceleration time is... Among them, the maximum braking deceleration of category M vehicles is ; If the nearest vehicle in the same lane is of type N, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value, and the deceleration time is... The collision control threshold is calculated using the maximum deceleration as the quantitative value, and its deceleration time is... Among them, the maximum braking deceleration of Class N vehicles is .

[0010] Optionally, the relationship between braking distance and braking deceleration can be derived from vehicle kinematics formulas as follows:

[0011] In the formula, For the driver's reaction time, The free travel time when the brake pedal is depressed and the brake response time are the following. The time it takes for the brake pedal force to increase from zero to the corresponding acceleration. This indicates braking deceleration.

[0012] Optionally, the instantaneous collision time under different relative acceleration conditions is compared with a preset collision time threshold to obtain the comparison result. Based on the type of the nearest vehicle in the same lane, a collision control signal or collision alarm signal is issued, including: If the nearest vehicle in the same lane is of type M, and the instantaneous collision time is less than the deceleration time... , , When the instantaneous collision time is less than the deceleration time, a collision alarm signal is issued; , , At that time, a collision control signal is issued; If the nearest vehicle in the same lane is of type N, and the instantaneous collision time is less than the deceleration time... , , When the instantaneous collision time is less than the deceleration time, a collision alarm signal is issued; , , At that time, a collision control signal is issued.

[0013] Optionally, based on the collision control signal or collision alarm signal, a strategy to prevent rear-entry vehicles from cutting in can be determined, including: When a collision warning signal is issued, it is sent to the actuator via CAN bus communication, and the instrument panel and buzzer alert the driver to the collision risk in a visual and audible manner, respectively. When a collision control signal is issued, a classification discussion is conducted based on the type of the nearest vehicle in the same lane and road information: If the nearest vehicle in the same lane is of type M, the controller will not control the lowering of the barrier plate. If the nearest vehicle in the same lane is of type N, the controller sends a message to the actuator via CAN bus communication to control the barrier plate to descend rapidly, in order to prevent the front engine compartment from going under the trailer in the event of a rear-end collision. If the current road is a curve, the vehicle's acceleration will be restricted while driving on the curve; If the current road is a straight road, it is determined whether there is a target vehicle in the current lane of the trailer. If there is a target vehicle, the vehicle acceleration is restricted. If there is no target vehicle, the vehicle acceleration is allowed, and the controller sends the target acceleration information to the vehicle inverse dynamics model. The vehicle inverse dynamics model calculates the percentage of torque required for the vehicle acceleration and sends it to the execution unit, which then controls the vehicle acceleration.

[0014] Optionally, the vehicle inverse dynamics model is: ; In the formula, This refers to engine torque. This refers to the gear ratio of the transmission. The transmission ratio of the main reducer. The transmission efficiency of the transmission mechanism For the tire radius, For rolling friction resistance, For slope, air drag coefficient, For the windward cross-sectional area, air density, Current vehicle speed This is the rotational mass conversion factor. for Time's up The distance the vehicle has traveled at any given moment.

[0015] Secondly, the present invention also provides a system for preventing rear vehicles from crawling into the rear of a trailer, comprising: The acquisition unit is used to acquire vehicle operation information and road information in front of and behind the trailer, and based on the vehicle operation information and road information in front of and behind the trailer, determine the closest vehicle to the trailer in the same lane and determine the type of the closest vehicle in the same lane. The construction unit is used to construct a collision time algorithm model that integrates acceleration parameters, and to calculate the instantaneous collision time under different relative acceleration conditions based on the collision time algorithm model. The warning unit is used to compare the instantaneous collision time under different relative acceleration conditions with a preset collision time threshold, obtain the comparison result, and issue a collision control signal or a collision alarm signal based on the type of the nearest vehicle in the same lane. The determination unit is used to determine the strategy to prevent rear vehicles from crawling in, based on the collision control signal or the collision alarm signal.

[0016] Thirdly, the present invention 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 executes the program to implement the steps of the above-described method for preventing rear vehicles from crawling into the rear of a trailer.

[0017] The above technical solution utilizes rearward millimeter-wave radar for commercial vehicles to sense the type and driving parameters of vehicles behind. The driver assistance domain controller calculates the instantaneous collision time. When there is a risk of collision, the collision barrier is quickly lowered to prevent the vehicle from going directly under the vehicle, thereby reducing the injury to passenger car occupants to a certain extent during a collision.

[0018] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a method for preventing rear vehicles from crawling into the rear of a trailer, provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of a vehicle control process provided by an embodiment of the present invention; Figure 3 This is a schematic diagram of the installation position of a sensor and an anti-drilling rear-end device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a rear-mounted vehicle anti-dive system for the rear of a trailer, provided by an embodiment of the present invention. Figure 5 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0020] Various embodiments of this disclosure will be described more fully in the following detailed description. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0021] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of this disclosure, indicate the presence of the disclosed functions or operations and do not limit the addition of one or more functions or operations. Furthermore, as used in various embodiments of this disclosure, the terms “comprising,” “having,” and their cognates are intended only to indicate a specific feature, number, step, operation, or combination of the foregoing and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, or combinations of the foregoing, or the possibility of adding one or more features, numbers, steps, operations, or combinations of the foregoing.

[0022] In various embodiments of this disclosure, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] See Figure 1 The diagram shows a flowchart of a method for preventing rear vehicles from crawling into the rear of a trailer, applied in a specific embodiment, including the following execution steps: Step 100: Obtain vehicle operation information and road information in front of and behind the trailer, and based on the vehicle operation information and road information in front of and behind the trailer, determine the closest vehicle to the trailer in the same lane and determine the type of the closest vehicle in the same lane.

[0025] In one embodiment, see Figure 2 As shown, the system includes a vehicle perception module, a vehicle motion status module, a data processing module, a rear collision risk warning controller, a human-machine interface unit, and an execution unit. The vehicle perception module includes, but is not limited to, a combination of one or more of a monocular camera, a binocular camera, millimeter-wave radar, and lidar, as well as a driver assistance map. The vehicle motion status module includes real-time vehicle speed, transmission gear position, engine speed, engine torque, accelerator pedal position, and braking force. The data processing module includes CIPV target filtering, CIPV target type, CIPV target running status, road slope, and road curvature. The rear collision risk warning controller includes a TTC algorithm to calculate collision time, set a TTC threshold, determine the target type, and send signals to the human-machine interface unit and the execution unit. The human-machine interface unit includes instruments, a buzzer, and buttons. The execution unit includes the engine, transmission, EBS (Electronic Braking System), and barrier plates.

[0026] For example, see Figure 3 As shown, the front sensor of the perception module is installed at the front of the vehicle, and the rear sensor is installed at the tailgate of the trailer or the rear door of the container. The sensors in the perception module acquire vehicle operation information in front of and behind the vehicle, including vehicle type, vehicle speed, and relative position. The driving assistance map is installed in the electronic control integration compartment in the cab. Based on the vehicle's current driving coordinates, it acquires road information one kilometer in front of and behind the vehicle's coordinates, including road slope and road curvature. The perception module sends the above information to the data fusion unit via CAN communication.

[0027] In some implementations, the data fusion unit processes the data sent by the perception module, determines the closest vehicle behind the vehicle in the same lane as the CIPV based on the vehicle's location information, matches different warning control strategies according to the CIPV type provided by the fusion, and obtains the CIPV's operating status information; sends this information to the rear collision risk warning controller; determines the road gradient at the current point, as well as the gradient type 100 meters ahead and 100 meters behind based on the vehicle's current position, with gradient types categorized as flat, uphill, downhill, and combinations thereof; determines the road curvature at the current point, as well as the curvature type 200 meters ahead based on the vehicle's current position, with curvature types categorized as straight, curved, and combinations thereof; and sends the above information to the rear collision risk warning controller via CAN communication.

[0028] Step 101: Construct a collision time algorithm model that integrates acceleration parameters, and calculate the instantaneous collision time under different relative acceleration conditions based on the collision time algorithm model.

[0029] Specifically, a collision-time algorithm model that integrates acceleration parameters is constructed: 1. When the relative speed between the two vehicles is greater than zero, that is: hour: According to the kinematic formulas in physics: ; ; in, Relative vehicle speed The speed of the vehicle behind. For the vehicle's speed, The distance is relative. Braking time, For relative acceleration, To accelerate the following vehicle, This is to accelerate the vehicle.

[0030] (1) If At this point, there are two possibilities for the two vehicles: either they are both traveling at a constant speed, or they are both accelerating or decelerating at the same rate. Neither of these scenarios affects the relative speed; the relative speed remains a constant value. Therefore, the formula for calculating the instantaneous collision time can be derived as follows: ; (2) If At this point, whether the two vehicles accelerate or decelerate simultaneously, or one decelerates while the other accelerates, a collision is possible. The formula for calculating the instantaneous collision time can be derived by balancing and simplifying the equation: ; 2. When the relative speed between the two vehicles is zero, that is: hour: According to the kinematic formulas in physics: ; when At this point, the target vehicle's speed will be greater than the current vehicle's speed, meaning the relative speed is greater than zero, and a collision is possible. Therefore, we can conclude that: ; There is no risk of collision under any other conditions.

[0031] In summary, the instantaneous collision time under different relative acceleration conditions can be calculated using the following formula. : ; In the formula, The distance is relative. Relative vehicle speed This refers to relative acceleration.

[0032] Step 102: Compare the instantaneous collision time under different relative acceleration conditions with the preset collision time threshold, obtain the comparison result, and issue a collision control signal or collision alarm signal based on the type of the nearest vehicle in the same lane.

[0033] Specifically, the process of setting the collision time threshold includes: determining the braking deceleration of the trailer based on road information and the type of the nearest vehicle in the same lane, and setting the collision time threshold based on the braking deceleration, wherein the collision time threshold includes a collision warning threshold and a collision control threshold.

[0034] In one specific implementation, the braking deceleration of the trailer is determined based on road information and the type of the nearest vehicle in the same lane, and a collision time threshold is set based on the braking deceleration, including the following three cases: The first scenario: If the trailer is currently traveling on a flat road, and both the roads in front and behind it are flat, the relationship between braking distance and braking deceleration can be derived from the vehicle kinematics formula.

[0035] Specifically, based on the vehicle kinematics formula, the relationship between braking distance and braking deceleration is as follows:

[0036] In the formula, For the driver's reaction time, The free travel time when the brake pedal is depressed and the brake response time are the following. The time it takes for the brake pedal force to increase from zero to the corresponding acceleration. This indicates braking deceleration.

[0037] A: If the nearest vehicle in the same lane is of type M, then the collision warning threshold is... The calculation uses half of the maximum deceleration as the quantitative threshold, i.e. Its deceleration time is The collision control threshold is calculated using the maximum deceleration as the quantitative measure, i.e. Its deceleration time is Among them, the maximum braking deceleration of category M vehicles is .

[0038] B: If the nearest vehicle in the same lane is of type N, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value. Its deceleration time is The collision control threshold is calculated using the maximum deceleration as the quantitative measure, i.e. Its deceleration time is Among them, the maximum braking deceleration of Class N vehicles is .

[0039] The second scenario: If the trailer is currently traveling on an uphill road, and both the roads in front and behind it are uphill, the vehicle's deceleration consists of braking force deceleration and slope deceleration. .

[0040] A: If the nearest vehicle in the same lane is of type M, the collision warning threshold is calculated using half the braking force deceleration and the ramp deceleration as the quantitative values. ( Its deceleration time is The collision control threshold is calculated using braking force deceleration and ramp deceleration as quantitative indicators. Its deceleration time is Among them, the maximum braking deceleration of category M vehicles is .

[0041] B: If the nearest vehicle in the same lane is of type N, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value. Its deceleration time is The collision control threshold is calculated using the maximum deceleration as the quantitative measure, i.e. Its deceleration time is Among them, the maximum braking deceleration of Class N vehicles is .

[0042] The third scenario: If the trailer is currently traveling on a downhill road, and both the roads in front and behind it are downhill, the vehicle's deceleration is the combination of braking force deceleration and slope deceleration. .

[0043] A: If the nearest vehicle in the same lane is of type M, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value. ( Its deceleration time is The collision control threshold is calculated using the maximum deceleration as the quantitative measure, i.e. Its deceleration time is Among them, the maximum braking deceleration of category M vehicles is .

[0044] B: If the nearest vehicle in the same lane is of type N, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value. Its deceleration time is The collision control threshold is calculated using the maximum deceleration as the quantitative measure, i.e. Its deceleration time is Among them, the maximum braking deceleration of Class N vehicles is .

[0045] When the road types of the vehicle and the CIPV target vehicle are different, for example, the vehicle is on a flat road and the CIPV target vehicle is on a downhill road, the braking process of the vehicle behind needs to go downhill first and then on flat road. Since the actual relative distance between the two vehicles is relatively short, basically within 100 meters, the change in road type has little impact on the braking distance. The current road type of the CIPV target vehicle at the time of warning or braking can be used as the standard.

[0046] In some implementations, when performing step 102, the following steps may be performed: If the nearest vehicle in the same lane is of type M, and the instantaneous collision time is less than the deceleration time... , , When the instantaneous collision time is less than the deceleration time, a collision alarm signal is issued; , , At that time, a collision control signal is issued.

[0047] Specifically, when CIPV is a category M vehicle, based on the calculated... Compare with a determined TTC threshold: when That is, the vehicle rear collision risk warning controller sends an alarm signal.

[0048] when That is, the vehicle rear collision risk warning controller sends a collision control signal.

[0049] If the nearest vehicle in the same lane is of type N, and the instantaneous collision time is less than the deceleration time... , , When the instantaneous collision time is less than the deceleration time, a collision alarm signal is issued; , , At that time, a collision control signal is issued.

[0050] Specifically, when CIPV is a Class N vehicle, based on the calculated... Compare with a determined TTC threshold: when That is, the vehicle rear collision risk warning controller sends an alarm signal.

[0051] when That is, the vehicle rear collision risk warning controller sends a collision control signal.

[0052] Step 103: Determine the strategy to prevent rear vehicles from crawling in based on the collision control signal or collision alarm signal.

[0053] Specifically, when executing step 103, the following steps can be performed: S1030: When a collision warning signal is issued, it is sent to the actuator via CAN bus communication. The instrument panel and buzzer will alert the driver to the collision risk in a visual and audible manner, respectively.

[0054] S1031: When a collision control signal is issued, a classification discussion is conducted based on the type of the nearest vehicle in the same lane and road information: If the nearest vehicle in the same lane is of type M, since type M vehicles have a higher chassis and most of them do not have a low front engine compartment structure, even if a rear-end collision occurs, there will be no phenomenon of the vehicle going under the rear of the vehicle, so the controller will not control the lowering of the barrier plate.

[0055] If the nearest vehicle in the same lane is of type N, since type N vehicles have a low chassis and most of them have a low front engine compartment structure, a rear-end collision may occur where the vehicle goes under the trailer. In this case, the controller sends a message to the actuator via the CAN bus to control the barrier plate to descend rapidly, so as to prevent the front engine compartment from going under the trailer when a rear-end collision occurs.

[0056] If the absolute value of the road curvature given by the driving assistance map is greater than 0.001, the current road is considered to be a curve. Since commercial vehicles have a high center of gravity, excessive lateral acceleration can lead to a risk of rollover. Therefore, vehicle acceleration is limited when driving on curves.

[0057] When the absolute value of the road curvature provided by the driving assistance map is less than 0.001, the current road is considered to be straight. If the current road is straight, it is determined whether there is a target vehicle in the current lane of the trailer. If there is a target vehicle, the vehicle acceleration is restricted. If there is no target vehicle, the vehicle acceleration is allowed, and the controller sends the target acceleration information to the vehicle inverse dynamics model. The vehicle inverse dynamics model calculates the percentage of torque required for the vehicle to accelerate and sends it to the execution unit. The execution unit controls the vehicle acceleration to increase the relative distance with the following vehicle and give the following vehicle more braking space.

[0058] Specifically, the vehicle inverse dynamics model is as follows: ; In the formula, This refers to engine torque. This refers to the gear ratio of the transmission. The transmission ratio of the main reducer. The transmission efficiency of the transmission mechanism. For the tire radius, For rolling friction resistance, For slope, air drag coefficient, For the windward cross-sectional area, air density, Current vehicle speed This is the rotational mass conversion factor. for Time's up The distance the vehicle has traveled at any given moment.

[0059] In some implementations, the human-machine interface unit (HMI) includes an enable button for rear collision risk warning. This button is enabled by default when the vehicle is powered on. When the driver manually disables it, the function enters the OFF state and will not be triggered. If the warning function has already been triggered, the driver can disable it using the OFF button. At this time, the buzzer in the HMI stops sounding, the instrument display function exits, and the vehicle stops accelerating. When the warning control function is triggered and the vehicle is accelerating, the driver can suppress the vehicle's acceleration mode by pressing the brake pedal, but this does not suppress the continuous warning, and the function remains active.

[0060] In some implementations, the actuator, while performing control, feeds back changes in vehicle motion state parameters, forming a closed loop of vehicle control logic.

[0061] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0062] By utilizing a rear-facing sensor assembly, the system acquires information on the movement and type of vehicles behind the vehicle. Then, using a TTC algorithm, it calculates the rear CIPV (Compatibility and Vibration Risk Factor) collision risk coefficient. Based on different risk coefficients and vehicle operating states, it plans and controls the vehicle's throttle opening, instrument panel, and passenger car underrun prevention system. Warnings or vehicle acceleration alert the driver to rear-end risks and mitigate collision intensity. Simultaneously, it deploys barrier plates to prevent passenger cars from under the trailer. This technology solves the problem of passenger car front-ends becoming trapped under the trailer in rear-end collisions involving heavy vehicles, where the airbags fail to deploy or deploy with delay, thus mitigating collision injuries to occupants of rear-end vehicles to some extent.

[0063] like Figure 4 As shown, the following are embodiments of the anti-rear-vehicle-penetration system for the rear of a trailer provided in this disclosure. These embodiments belong to the same inventive concept as the anti-rear-vehicle-penetration methods for the rear of trailers described above. For details not described in detail in the embodiments of the anti-rear-vehicle-penetration system for the rear of a trailer, please refer to the embodiments of the anti-rear-vehicle-penetration methods for the rear of trailers described above.

[0064] A system for preventing rear-end collisions, applied to the rear of a trailer, includes: The acquisition unit is used to acquire vehicle operation information and road information in front of and behind the trailer, and based on the vehicle operation information and road information in front of and behind the trailer, determine the closest vehicle to the trailer in the same lane and determine the type of the closest vehicle in the same lane. The construction unit is used to construct a collision time algorithm model that integrates acceleration parameters, and to calculate the instantaneous collision time under different relative acceleration conditions based on the collision time algorithm model. The warning unit is used to compare the instantaneous collision time under different relative acceleration conditions with a preset collision time threshold, obtain the comparison result, and issue a collision control signal or a collision alarm signal based on the type of the nearest vehicle in the same lane. The determination unit is used to determine the strategy to prevent rear vehicles from crawling in, based on the collision control signal or the collision alarm signal.

[0065] Figure 5 This is a schematic diagram of the hardware structure of an electronic device that implements various embodiments of the present invention.

[0066] The method for preventing rear-end collisions with trailers provided in this application can be applied to electronic devices. Those skilled in the art will understand that the electronic device structure described in this embodiment does not constitute a limitation on the electronic device. An electronic device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. In this embodiment, the electronic device includes, but is not limited to, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments described and / or claimed herein.

[0067] Electronic devices may include processors, external memory interfaces, internal memory, universal serial bus (USB) interfaces, charging management modules, power management modules, batteries, wireless communication modules, audio modules, speakers, microphones, sensor modules, buttons, cameras, displays, and SIM card interfaces, etc.

[0068] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device. In other embodiments of this application, the electronic device may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0069] A processor may include one or more processing units, such as: a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0070] The processor can serve as the nerve center and command center of an electronic device. The controller can generate operation control signals based on the instruction opcode and timing signals to control the fetching and execution of instructions.

[0071] The processor may also include memory for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. This memory can store instructions or data that the processor has just used or that are used repeatedly. If the processor needs to use the instruction or data again, it can retrieve it directly from this memory. This avoids repeated accesses, reduces processor latency, and thus improves system efficiency.

[0072] An external storage interface (ESI) can be used to connect external memory cards, such as microSD cards, to expand the storage capacity of electronic devices. The external memory card communicates with the processor through the ESI to perform data storage functions, such as saving music and video files on the external memory card.

[0073] Internal memory can be used to store computer executable program code, which includes instructions. The processor executes various functional applications and data processing of electronic devices by running the instructions stored in internal memory. Internal memory can include a program storage area and a data storage area. Internal memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc.

[0074] Wireless communication functionality in electronic devices can be achieved through antennas, wireless communication modules, modem processors, and baseband processors.

[0075] Wireless communication modules can provide solutions for wireless communication applications in electronic devices, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared (IR) technologies.

[0076] Electronic devices can implement audio functions through audio modules, speakers, receivers, microphones, headphone jacks, and application processors.

[0077] Electronic devices can achieve shooting functions through ISPs, cameras, video codecs, GPUs, displays, and application processors.

[0078] Electronic devices can achieve display functions through GPUs, displays, and application processors.

[0079] A GPU is a microprocessor for image processing, connected to the display screen and application processor. GPUs are used to perform mathematical and geometric calculations for graphics rendering. A processor may include one or more GPUs, which execute program instructions to generate or modify display information.

[0080] A display screen is used to display images, videos, etc. A display screen includes a display panel.

[0081] The storage medium provided in this application stores a program product capable of implementing a method for preventing rear vehicles from crawling into the rear of a trailer.

[0082] The method for preventing rear-end collisions applied to the rear of a trailer includes: acquiring vehicle operation information and road information in front of and behind the trailer; determining the closest vehicle to the trailer in the same lane based on the vehicle operation information and road information in front of and behind the trailer, and determining the type of the closest vehicle in the same lane; constructing a collision time algorithm model that integrates acceleration parameters, and calculating the instantaneous collision time under different relative acceleration conditions based on the collision time algorithm model; comparing the instantaneous collision time under different relative acceleration conditions with a preset collision time threshold, obtaining the comparison result, and issuing a collision control signal or a collision alarm signal based on the type of the closest vehicle in the same lane; and determining a strategy to prevent rear-end collisions based on the collision control signal or the collision alarm signal.

[0083] In some possible implementations, the subject matter of this disclosure, applied to the method and system for preventing rear vehicles from crawling into the rear of a trailer, can be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0084] The storage medium disclosed herein may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0085] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for preventing rear vehicles from crawling into the rear of a trailer, characterized in that, include: Obtain vehicle operation information and road information in front of and behind the trailer, and based on the vehicle operation information and road information in front of and behind the trailer, determine the closest vehicle to the trailer in the same lane and determine the type of the closest vehicle in the same lane. A collision time algorithm model integrating acceleration parameters is constructed, and the instantaneous collision time under different relative acceleration conditions is calculated based on the collision time algorithm model. The instantaneous collision time under different relative acceleration conditions is compared with a preset collision time threshold to obtain the comparison result. Combined with the type of the nearest vehicle in the same lane, a collision control signal or a collision alarm signal is issued. Determine the strategy to prevent following vehicles from crawling in based on the collision control signal or collision alarm signal.

2. The method for preventing rear vehicles from crawling into the rear of a trailer as described in claim 1, characterized in that, Calculate the instantaneous collision time under different relative acceleration conditions using the following formula. : ； In the formula, The distance is relative. Relative vehicle speed This refers to relative acceleration.

3. The method for preventing rear vehicles from crawling into the rear of a trailer as described in claim 2, characterized in that, The process of setting the collision time threshold includes: Based on road information and the type of the nearest vehicle in the same lane, the braking deceleration of the trailer is determined, and a collision time threshold is set based on the braking deceleration. The collision time threshold includes a collision warning threshold and a collision control threshold.

4. The method for preventing rear vehicles from crawling into the rear of a trailer as described in claim 3, characterized in that, Based on road information and the type of the nearest vehicle in the same lane, determine the trailer's braking deceleration, and set a collision time threshold based on the braking deceleration, including: If the road the trailer is currently traveling on is flat, and the roads in front and behind are also flat, the relationship between braking distance and braking deceleration can be derived from the vehicle kinematics formula. If the nearest vehicle in the same lane is of type M, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value, and the deceleration time is... The collision control threshold is calculated using the maximum deceleration as the quantitative value, and its deceleration time is... Among them, the maximum braking deceleration of category M vehicles is ; If the nearest vehicle in the same lane is of type N, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value, and the deceleration time is... The collision control threshold is calculated using the maximum deceleration as the quantitative value, and its deceleration time is... Among them, the maximum braking deceleration of Class N vehicles is ; If the trailer is currently traveling on an uphill road, and both the roads in front and behind it are uphill, the vehicle's deceleration consists of braking force deceleration and slope deceleration. ; If the nearest vehicle in the same lane is of type M, the collision warning threshold is calculated using half the braking force deceleration and the ramp deceleration as the quantitative values, and the deceleration time is... The collision control threshold is calculated using braking force deceleration and ramp deceleration as quantitative indicators, and its deceleration time is... Among them, the maximum braking deceleration of category M vehicles is ; If the nearest vehicle in the same lane is of type N, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value, and the deceleration time is... The collision control threshold is calculated using the maximum deceleration as the quantitative value, and its deceleration time is... Among them, the maximum braking deceleration of Class N vehicles is ; If the trailer is currently traveling on a downhill road, and both the roads in front and behind it are downhill, the vehicle's deceleration is the sum of braking force deceleration and slope deceleration. ; If the nearest vehicle in the same lane is of type M, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value, and the deceleration time is... The collision control threshold is calculated using the maximum deceleration as the quantitative value, and its deceleration time is... Among them, the maximum braking deceleration of category M vehicles is ; If the nearest vehicle in the same lane is of type N, the collision warning threshold is calculated using half of the maximum deceleration as the quantitative value, and the deceleration time is... The collision control threshold is calculated using the maximum deceleration as the quantitative value, and its deceleration time is... Among them, the maximum braking deceleration of Class N vehicles is .

5. The method for preventing rear vehicles from crawling into the rear of a trailer as described in claim 3, characterized in that, Based on the vehicle kinematics formula, the relationship between braking distance and braking deceleration is as follows: In the formula, For the driver's reaction time, The free travel time when the brake pedal is depressed and the brake response time. The time it takes for the brake pedal force to increase from zero to the corresponding acceleration. This indicates braking deceleration.

6. The method for preventing rear vehicles from crawling into the rear of a trailer as described in claim 3, characterized in that, The instantaneous collision time under different relative acceleration conditions is compared with a preset collision time threshold to obtain the comparison result. Based on the type of the nearest vehicle in the same lane, a collision control signal or collision alarm signal is issued, including: If the nearest vehicle in the same lane is of type M, and the instantaneous collision time is less than the deceleration time... , , When the instantaneous collision time is less than the deceleration time, a collision alarm signal is issued; , , At that time, a collision control signal is issued; If the nearest vehicle in the same lane is of type N, and the instantaneous collision time is less than the deceleration time... , , When the instantaneous collision time is less than the deceleration time, a collision alarm signal is issued; , , At that time, a collision control signal is issued.

7. The method for preventing rear vehicles from crawling into the rear of a trailer as described in claim 1, characterized in that, Based on the collision control signal or collision alarm signal, determine the strategy to prevent rear vehicles from cutting in, including: When a collision warning signal is issued, it is sent to the actuator via CAN bus communication, and the instrument panel and buzzer alert the driver to the collision risk in a visual and audible manner, respectively. When a collision control signal is issued, a classification discussion is conducted based on the type of the nearest vehicle in the same lane and road information: If the nearest vehicle in the same lane is of type M, the controller will not control the lowering of the barrier plate. If the nearest vehicle in the same lane is of type N, the controller sends a message to the actuator via CAN bus communication to control the barrier plate to descend rapidly, in order to prevent the front engine compartment from going under the trailer in the event of a rear-end collision. If the current road is a curve, the vehicle's acceleration will be restricted while driving on the curve; If the current road is a straight road, it is determined whether there is a target vehicle in the current lane of the trailer. If there is a target vehicle, the vehicle acceleration is restricted. If there is no target vehicle, the vehicle acceleration is allowed, and the controller sends the target acceleration information to the vehicle inverse dynamics model. The vehicle inverse dynamics model calculates the percentage of torque required for the vehicle acceleration and sends it to the execution unit, which then controls the vehicle acceleration.

8. The method for preventing rear vehicles from crawling into the rear of a trailer as described in claim 7, characterized in that, The vehicle inverse dynamics model is as follows: ； In the formula, This refers to engine torque. This refers to the gear ratio of the transmission. The transmission ratio of the main reducer. The transmission efficiency of the transmission mechanism. For the tire radius, For rolling friction resistance, For slope, air drag coefficient, For the windward cross-sectional area, air density, Current vehicle speed This is the rotational mass conversion factor. for Time's up The distance the vehicle has traveled at any given moment.

9. A system for preventing rear vehicles from crawling into the rear of a trailer, characterized in that, include: The acquisition unit is used to acquire vehicle operation information and road information in front of and behind the trailer, and based on the vehicle operation information and road information in front of and behind the trailer, determine the closest vehicle to the trailer in the same lane and determine the type of the closest vehicle in the same lane. The construction unit is used to construct a collision time algorithm model that integrates acceleration parameters, and to calculate the instantaneous collision time under different relative acceleration conditions based on the collision time algorithm model. The warning unit is used to compare the instantaneous collision time under different relative acceleration conditions with a preset collision time threshold, obtain the comparison result, and issue a collision control signal or a collision alarm signal based on the type of the nearest vehicle in the same lane. The determination unit is used to determine the strategy to prevent rear vehicles from crawling in, based on the collision control signal or the collision alarm signal.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method for preventing rear vehicles from crawling into the rear of a trailer as described in any one of claims 1 to 8.

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