V2x communication-based vehicle, forward collision warning method and apparatus therefor, and medium

Abstract

A V2X communication-based vehicle, a forward collision warning method and apparatus therefor, and a medium. The forward collision warning method for the V2X communication-based vehicle comprises: acquiring, in real time, first motion state parameters of the current vehicle, second motion state parameters of a previous vehicle, a longitudinal distance between the current vehicle and the previous vehicle, and the minimum safety distance between the current vehicle and the previous vehicle (S110); determining a warning distance on the basis of the first motion state parameters, the second motion state parameters, and the minimum safety distance (S120); and when the longitudinal distance is less than or equal to the warning distance, outputting a forward collision warning signal (S130).

Description

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

[0001] This application claims priority to the Chinese patent application No. 202411335575.9 filed on September 24, 2024 with the China Patent Office, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of vehicle control, for example, to a vehicle based on V2X communication and a method, device and medium for early warning of forward collision of vehicle. BACKGROUND

[0003] There are more and more vehicles on the road, and traffic accidents caused by the increase in vehicles occur repeatedly, especially the collision accidents between vehicles account for a large proportion of traffic accidents. The driving assistance forward collision warning of the vehicle is mostly obtained by radar and forward-looking camera, etc. to obtain the distance from the front vehicle, and the detection distance is short, and the warning time for the oncoming vehicle is late, so it cannot effectively avoid the collision accident between the oncoming vehicles.

[0004] In the related art, the vehicle realizes forward collision warning of the vehicle through vehicle-to-everything (V2X) vehicle-to-vehicle communication mode, which effectively improves the warning time of the vehicle. However, the forward collision warning of such vehicle is mostly based on the reference formula provided by the industry standard for analysis, and the driving of the vehicle is simplified as continuous uniform speed or uniform acceleration motion as much as possible, which is different from the actual driving of the vehicle, so the accuracy of the calculated result is low. SUMMARY

[0005] The present application provides a vehicle based on V2X communication and a method, device and medium for early warning of forward collision of vehicle to solve the defects of late forward collision warning time and low accuracy in the related art, and realizes more accurate forward collision warning of the vehicle by increasing the analysis of the acceleration of the front vehicle and the driving behavior of the vehicle.

[0006] In a first aspect, the present application provides a method for early warning of forward collision of vehicle based on V2X communication, comprising:

[0007] obtaining in real time a first motion state parameter of the vehicle, a second motion state parameter of the front vehicle, a longitudinal distance between the vehicle and the front vehicle, and a minimum safety distance between the vehicle and the front vehicle; the first motion state parameter comprises a first longitudinal speed, a first longitudinal acceleration, first gear information and first braking information; the second motion state parameter comprises a second longitudinal speed, a second longitudinal acceleration and second braking information;

[0008] determine a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance;

[0009] output a forward collision warning signal in a case that the longitudinal distance is less than or equal to the warning distance.

[0010] In a second aspect, the present application provides a warning device for forward collision of a vehicle based on V2X communication, comprising:

[0011] a obtaining module configured to obtain a first motion state parameter of a host vehicle, a second motion state parameter of a preceding vehicle, a longitudinal distance between the host vehicle and the preceding vehicle and a minimum safety distance between the host vehicle and the preceding vehicle in real time; the first motion state parameter comprises a first longitudinal velocity, a first longitudinal acceleration, first gear information and first brake information; the second motion state parameter comprises a second longitudinal velocity, a second longitudinal acceleration and second brake information;

[0012] a determining module configured to determine a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance;

[0013] an outputting module configured to output a forward collision warning signal in a case that the longitudinal distance is less than or equal to the warning distance.

[0014] In a third aspect, the present application provides a vehicle based on V2X communication, comprising a controller; the controller is configured to execute the warning method for forward collision of the vehicle based on V2X communication according to any one of the above aspects.

[0015] In a fourth aspect, the present application provides a computer readable storage medium, the computer readable storage medium stores computer instructions, the computer instructions are used to make the processor execute the warning method for forward collision of the vehicle based on V2X communication according to any one of the above aspects. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 is a flow chart of a warning method for forward collision of a vehicle based on V2X communication according to an embodiment of the present application;

[0017] Fig. 2 is a flow chart of a warning method for forward collision of a vehicle based on V2X communication according to an embodiment of the present application;

[0018] Fig. 3 is a flow chart of a warning method for forward collision of a vehicle based on V2X communication according to an embodiment of the present application;

[0019] Fig. 4 and Fig. 5 are driving state curves of a host vehicle and a preceding vehicle when the host vehicle is not braking according to an embodiment of the present application;

[0020] FIG. 6 is a driving curve of the host vehicle and the front vehicle when the host vehicle brakes according to an embodiment of the present application;

[0021] FIG. 7 is a flowchart of a method for early warning of vehicle forward collision based on V2X communication according to the fourth embodiment of the present application;

[0022] FIG. 8 is a driving state curve of the host vehicle and the front vehicle when the host vehicle does not brake according to an embodiment of the present application;

[0023] FIG. 9 is a driving state curve of the host vehicle and the front vehicle when the host vehicle brakes according to another embodiment of the present application;

[0024] FIG. 10 is a structural schematic diagram of a device for early warning of vehicle forward collision based on V2X communication according to the fifth embodiment of the present application. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the scope of protection of the present application.

[0026] The terms "first", "second", "target" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment One

[0028] FIG. 1 is a flowchart of a method for early warning of vehicle forward collision based on V2X communication according to the first embodiment of the present application. The present embodiment can be applied to the case of early warning of vehicle forward collision. The method can be performed by a vehicle forward collision early warning device, which can be realized in the form of hardware and / or software, and can be configured in the controller of the vehicle. As shown in FIG. 1, the method includes the following steps.

[0029] S110, real-time acquisition of the first motion state parameter of the vehicle, the second motion state parameter of the preceding vehicle, the longitudinal distance between the vehicle and the preceding vehicle, and the minimum safety distance between the vehicle and the preceding vehicle.

[0030] The first motion state parameter includes a first longitudinal speed, a first longitudinal acceleration, first gear information, and first braking information; the second motion state parameter includes a second longitudinal speed, a second longitudinal acceleration, and second braking information.

[0031] The minimum safety distance is the minimum longitudinal distance that can ensure that the vehicle and the preceding vehicle will not collide.

[0032] In the embodiment, the vehicle performs forward collision warning through the V2X vehicle-to-vehicle communication mode. Based on the V2X vehicle-to-vehicle communication, the target classification result of the preceding vehicle, the longitudinal distance between the preceding vehicle and the vehicle, the speed of the preceding vehicle, the four-axis acceleration of the preceding vehicle, the unit information of the preceding vehicle, the vehicle classification of the preceding vehicle, the intention of the preceding vehicle, the light information of the preceding vehicle, and the special state of the preceding vehicle, and the speed of the vehicle, the acceleration of the vehicle, the gear of the vehicle, and the heading angle of the vehicle, etc. can be obtained, but not limited to. In addition, the V2X communication is also configured with scene configuration identifier, warning range speed coefficient threshold, warning range elevation coefficient threshold, warning effective speed upper limit, warning effective speed lower limit, slope coefficient, static safety distance, deceleration growth time, brake coordination time, driver reaction time, warning distance deceleration under warning level, and emergency warning distance deceleration under emergency level, etc. according to actual needs.

[0033] Based on the V2X vehicle-to-vehicle communication, the first longitudinal speed, the first longitudinal acceleration, the first gear information, and the first braking information of the vehicle, the second longitudinal speed, the second longitudinal acceleration, and the second braking information of the preceding vehicle, the longitudinal distance between the vehicle and the preceding vehicle, and the minimum safety distance between the vehicle and the preceding vehicle, etc. can be obtained.

[0034] S120, determining the warning distance based on the first motion state parameter, the second motion state parameter, and the minimum safety distance.

[0035] The warning distance is the distance between the vehicle and the preceding vehicle when the forward collision warning is needed.

[0036] It can be understood that when the first motion state parameter and the second motion state parameter are different, the collision time of the vehicle and the preceding vehicle is also different. For example, if the first longitudinal speed of the vehicle is much greater than the second longitudinal speed of the preceding vehicle, the forward collision warning needs to be performed in advance to avoid the collision between the vehicle and the preceding vehicle. Therefore, the warning distance can be determined based on the first motion state parameter, the second motion state parameter, and the minimum safety distance.

[0037] S130, outputting a forward collision warning signal when the longitudinal distance is less than or equal to the warning distance.

[0038] The forward collision warning signal may include, but is not limited to, a sound warning signal and / or a graphical and textual warning signal, etc. When the longitudinal distance is less than or equal to the warning distance, the forward collision warning is outputted to enable the driver of the vehicle to take measures such as turning to avoid or braking to avoid, thereby improving driving safety.

[0039] In the embodiment, the first motion state parameter of the vehicle, the second motion state parameter of the preceding vehicle, the longitudinal distance between the vehicle and the preceding vehicle, and the minimum safety distance between the vehicle and the preceding vehicle are acquired in real time, wherein the first motion state parameter includes the first longitudinal speed, the first longitudinal acceleration, the first gear information, and the first braking information, and the second motion state parameter includes the second longitudinal speed, the second longitudinal acceleration, and the second braking information. Then, the warning distance is determined based on the first motion state parameter, the second motion state parameter, and the minimum safety distance, so that the determination of the forward collision warning distance of the vehicle increases the analysis of the driving behaviors such as the acceleration of the preceding vehicle, the current acceleration of the vehicle, and the braking behavior of the vehicle, so that the forward collision warning distance of the vehicle is more accurate, thereby making the forward collision warning signal outputted when the longitudinal distance is less than or equal to the warning distance more accurate, and further effectively reducing the collision accidents between vehicles.

[0040] Embodiment two

[0041] FIG. 2 is a flowchart of a forward collision warning method of a vehicle based on V2X communication according to the second embodiment of the present application. The embodiment adds steps of when to calculate the warning distance and that the warning distance includes the first warning distance and the second warning distance based on the above-mentioned embodiment. As shown in FIG. 2, the method includes the following steps.

[0042] S210, acquiring in real time the first motion state parameter of the vehicle, the second motion state parameter of the preceding vehicle, the longitudinal distance between the vehicle and the preceding vehicle, and the minimum safety distance between the vehicle and the preceding vehicle.

[0043] The first motion state parameter includes the first longitudinal speed, the first longitudinal acceleration, the first gear information, and the first braking information, and the second motion state parameter includes the second longitudinal speed, the second longitudinal acceleration, and the second braking information.

[0044] S220, determining whether the first motion state parameter and the second motion state parameter satisfy the first condition; if the first motion state parameter and the second motion state parameter both satisfy the first condition, executing S230.

[0045] The first condition is a condition for determining that the preceding vehicle is a forward target vehicle that will collide with the vehicle.

[0046] Optionally, the first condition comprises: the gear information of the host vehicle is in forward gear, and the lower limit of the warning speed is less than or equal to the first longitudinal speed and less than or equal to the upper limit of the warning speed, and the longitudinal distance is less than or equal to the braking distance of the host vehicle; wherein the braking distance of the host vehicle is determined according to the first longitudinal speed.

[0047] When the gear information of the host vehicle is in forward gear, the host vehicle travels forward, so as to be possibly collided with the front vehicle. The lower limit of the warning speed is the lower limit of the warning effective speed of the V2X communication, and the upper limit of the warning speed is the upper limit of the warning effective speed of the V2X communication, both of which are configured through the V2X communication according to the requirement of the sensitivity of the forward collision warning. The braking distance of the host vehicle is related to the first longitudinal speed of the host vehicle, and in an optional embodiment, the braking distance of the host vehicle is equal to the first longitudinal speed of the host vehicle divided by the first coefficient, and the first coefficient is related to the friction coefficient of the host vehicle, and in an exemplary embodiment, the first coefficient is 1.8, and in other exemplary embodiments, the first coefficient is 1.5.

[0048] When the gear information of the host vehicle is in forward gear, and the lower limit of the warning speed is less than or equal to the first longitudinal speed and less than or equal to the upper limit of the warning speed, and the longitudinal distance is less than or equal to the braking distance of the host vehicle, the front vehicle is considered as the forward target vehicle to be collided with the host vehicle.

[0049] Optionally, the vehicle forward collision warning method based on the V2X communication further comprises the step of acquiring the elevation difference between the host vehicle and the front vehicle in real time, and the first condition further comprises that the elevation difference is less than or equal to the preset elevation difference; wherein the preset elevation difference is determined according to the longitudinal distance.

[0050] The elevation difference between the host vehicle and the front vehicle is determined according to the parameters acquired through the V2X communication. The preset elevation difference is configured through the V2X communication according to the requirement of the sensitivity of the forward collision warning. When the elevation difference is less than or equal to the preset elevation difference, the front vehicle is considered as the forward target vehicle to be collided with the host vehicle.

[0051] S230, calculating a first warning distance and a second warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance.

[0052] The first warning distance and the second warning distance are respectively the warning distances of different emergency levels, for example, the first warning distance can be the warning distance of warning, and the second warning distance is the warning distance of emergency. By calculating the first warning distance and the second warning distance of different emergency levels, the warning signals of different emergency levels can be output to the driver.

[0053] S240, outputting a first forward collision warning signal when the longitudinal distance is less than or equal to the first warning distance, and outputting a second forward collision warning signal when the longitudinal distance is less than or equal to the second warning distance.

[0054] The first forward collision warning signal and the second forward collision warning signal are warning signals of different emergency levels. For example, when the first warning distance is a warning warning distance and the second warning distance is an emergency warning distance, the first forward collision warning signal can be a warning level forward collision warning signal, and the second forward collision warning signal can be an emergency level forward collision warning signal.

[0055] After obtaining the first motion state parameter of the vehicle, the second motion state parameter of the preceding vehicle, the longitudinal distance between the vehicle and the preceding vehicle, and the minimum safety distance between the vehicle and the preceding vehicle in real time, it is judged whether the first motion state parameter and the second motion state parameter satisfy the first condition, so that when the first motion state parameter and the second motion state parameter satisfy the first condition, that is, the preceding vehicle is a forward target vehicle that will collide with the vehicle, the first warning distance and the second warning distance are calculated based on the first motion state parameter, the second motion state parameter and the minimum safety distance, and then when the longitudinal distance is less than or equal to the first warning distance, the first forward collision warning signal is output; and when the longitudinal distance is less than or equal to the second warning distance, the second forward collision warning signal is output, so that the driver can take evasive measures according to the emergency level of the forward collision warning.

[0056] In this embodiment, by judging whether the first motion state parameter and the second motion state parameter satisfy the first condition, and only when the first motion state parameter and the second motion state parameter satisfy the first condition, the warning distance is calculated based on the first motion state parameter, the second motion state parameter and the minimum safety distance, which is beneficial to reduce the calculation pressure of the vehicle; in addition, by calculating the first warning distance and the second warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance, the first forward collision warning signal is output when the longitudinal distance is less than or equal to the first warning distance; and the second forward collision warning signal is output when the longitudinal distance is less than or equal to the second warning distance, so that the driver can take evasive measures according to the emergency level of the forward collision warning, thereby further improving driving safety.

[0057] Embodiment Three

[0058] Fig. 3 is a flowchart of a vehicle forward collision warning method based on V2X communication according to an embodiment of the present application. The embodiment adds a step of how to determine the warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance when the directions of the first longitudinal velocity and the second longitudinal velocity are the same and the first longitudinal velocity is greater than or equal to the second longitudinal velocity, based on the above-mentioned embodiments. As shown in Fig. 3, the method comprises the following steps.

[0059] S310, acquire a first motion state parameter of the host vehicle, a second motion state parameter of the preceding vehicle, a longitudinal distance between the host vehicle and the preceding vehicle, and a minimum safety distance between the host vehicle and the preceding vehicle in real time.

[0060] The first motion state parameter comprises a first longitudinal speed, a first longitudinal acceleration, first gear information, and first brake information; and the second motion state parameter comprises a second longitudinal speed, a second longitudinal acceleration, and second brake information.

[0061] S320, determine, based on the first motion state parameter and the second motion state parameter, a time point at which the longitudinal speed of the host vehicle is equal to that of the preceding vehicle as a first time point t x .

[0062] The driving state of the host vehicle includes acceleration driving, constant speed driving, and deceleration driving, and the driving state of the preceding vehicle also includes acceleration driving, constant speed driving, and deceleration driving. By determining, based on the first motion state parameter and the second motion state parameter, a time point at which the longitudinal speed of the host vehicle is equal to that of the preceding vehicle as a first time point t x , the host vehicle and the preceding vehicle will not collide at the first time point, so that the warning distance can be determined according to the driving state of the host vehicle and the preceding vehicle at the first time point t

[0063] Optionally, the first time point t x at which the longitudinal speed of the host vehicle is equal to that of the preceding vehicle is determined based on the first motion state parameter and the second motion state parameter, comprising: determining, based on the first motion state parameter, a first future longitudinal speed of the host vehicle at a future time point; determining, based on the second motion state parameter, a second future longitudinal speed of the preceding vehicle at the future time point; and determining, according to the first future longitudinal speed and the second future longitudinal speed, the first time point t x .

[0064] The first time point t x at which the first future longitudinal speed is equal to the second future longitudinal speed is determined according to the first future longitudinal speed and the second future longitudinal speed.

[0065] S330, if the first longitudinal speed is greater than or equal to 0 at the first time point, determine, based on the first time point t x , the first motion state parameter, the second motion state parameter, and the minimum safety distance, the warning distance.

[0066] If the first longitudinal velocity is greater than or equal to 0 at the first time, it indicates that before the speed of the host vehicle is reduced to 0, the first longitudinal velocity is equal to the second longitudinal velocity, and after the first time, the second longitudinal velocity of the front vehicle is greater than the first longitudinal velocity of the host vehicle, so that the host vehicle and the front vehicle will not collide, at this time, only the difference between the distances traveled by the host vehicle and the front vehicle at the first time needs to be calculated to determine the warning distance, that is, based on the first time t x , the first motion state parameter, the second motion state parameter and the minimum safety distance, the warning distance is determined.

[0067] Optionally, based on the first time t x , the first motion state parameter, the second motion state parameter and the minimum safety distance, the warning distance is determined, including: determining the first distance traveled by the host vehicle in the first time period according to the first time t x and the first motion state parameter; and determining the second distance traveled by the front vehicle in the first time period according to the first time t x and the second motion state parameter; and determining the warning distance according to the first distance, the second distance and the minimum safety distance.

[0068] The first time period is the time elapsed from the current time to the first time t x .

[0069] Determining the warning distance according to the first distance, the second distance and the minimum safety distance can be subtracting the first distance and the second distance, and adding the minimum safety distance as the warning distance.

[0070] S340, when the first longitudinal velocity is less than 0 at the first time, the first distance traveled by the host vehicle when the longitudinal velocity is 0 is determined according to the first motion state parameter, and the second distance traveled by the front vehicle when the longitudinal velocity is 0 is determined according to the second motion state parameter.

[0071] S350, the warning distance is determined according to the first distance, the second distance and the minimum safety distance.

[0072] If the first longitudinal velocity is less than 0 at the first time, it indicates that before the speed of the host vehicle is reduced to 0, the first longitudinal velocity of the host vehicle is always greater than the second longitudinal velocity of the front vehicle, at this time, the difference between the first distance traveled by the host vehicle when the longitudinal velocity is 0 and the second distance traveled by the front vehicle when the longitudinal velocity is 0 is added to the minimum safety distance to obtain the warning distance.

[0073] In an exemplary embodiment, FIG. 4 and FIG. 5 are two driving state curves of the host vehicle and the preceding vehicle when the host vehicle is not braking, provided by the embodiments of the present application. Referring to FIG. 4 and FIG. 5, the driving time of the host vehicle includes a normal driving (i.e. uniform acceleration or uniform deceleration driving when not braking) time period T+t1, a uniform speed driving (pre-braking of braking reaction) time period t2, and a deceleration driving (emergency braking) time period t3; the preceding vehicle can have four driving states, i.e. the second longitudinal speed of the preceding vehicle is equal to the first longitudinal speed of the host vehicle in the normal driving time period T+t1 of the host vehicle, the second longitudinal speed of the preceding vehicle is equal to the first longitudinal speed of the host vehicle in the uniform speed driving time period of the host vehicle, the second longitudinal speed of the preceding vehicle is equal to the first longitudinal speed of the host vehicle in the deceleration driving time period of the host vehicle, and the second longitudinal speed of the preceding vehicle is not equal to the first longitudinal speed of the host vehicle in the three driving state time periods of the host vehicle.

[0074] When the host vehicle is in the driving state ①, there is: s +a s ·t x =v f +a f ·t x

[0075] Then:

[0076] Wherein, v s is the speed of the host vehicle, a s is the acceleration of the host vehicle, v f is the speed of the preceding vehicle, and a f is the acceleration of the preceding vehicle.

[0077] The warning distance DTC _1 is as follows:

[0078] Wherein, d0 is the minimum safety distance.

[0079] When the host vehicle is in the driving state ②, there are multiple intersection points between the longitudinal speeds of the preceding vehicle and the host vehicle, and the first intersection point is taken to calculate the warning distance, at this time, there is: s +a s ·(T+t1)=v f +a f ·t x

[0080] Then:

[0081] The warning distance DTC _2 is as follows:

[0082] The current vehicle is in the driving state ③, there are: v s +a s ·(T+t1)+a 标定 ·(t x -T-t1-t2)=v f +a f ·t x

[0083] Then:

[0084] Wherein, a 标定 is the safety distance deceleration under the warning warning level or the safety distance acceleration under the emergency warning level. For example, if a 标定 is the safety distance deceleration under the warning warning level, the warning distance calculated according to t x is the warning distance, and if a 标定 is the safety distance deceleration under the emergency warning level, the warning distance calculated according to t x is the emergency warning distance.

[0085] The warning distance DTC _3 is as follows:

[0086] When the current vehicle is in the driving state ④, the first distance driven by the current vehicle when the longitudinal speed is 0 is as follows:

[0087] Wherein, dis _1 is the first distance.

[0088] The second distance driven by the front vehicle when the longitudinal speed is 0 is as follows:

[0089] Wherein, dis _2 is the second distance.

[0090] The warning distance DTC _4 is as follows:

[0091] In another example embodiment, FIG. 6 is a driving curve of the host vehicle and the preceding vehicle when the host vehicle brakes, according to an embodiment of the present application. Referring to FIG. 6, the driving time of the host vehicle includes a normal driving time period t1 and a deceleration driving (braking) time period t3; the preceding vehicle can have four driving states, i.e., the second longitudinal speed of the preceding vehicle is equal to the first longitudinal speed of the host vehicle in the normal driving time period t1 of the host vehicle (state 5), the acceleration of the preceding vehicle is greater than 0 and the second longitudinal speed is equal to the first longitudinal speed of the host vehicle in the deceleration driving time period of the host vehicle (state 6), the acceleration of the preceding vehicle is less than 0 and the second longitudinal speed is equal to the first longitudinal speed of the host vehicle in the deceleration driving time period of the host vehicle (state 7), and the second longitudinal speed of the preceding vehicle is not equal to the first longitudinal speed of the host vehicle in the two driving state time periods of the host vehicle (state 8).

[0092] When the host vehicle is in the driving state 5, there is: s +a s ·t x =v f +a f ·t x

[0093] Then:

[0094] The warning distance DTC _5 is as follows:

[0095] When the host vehicle is in the driving state 6, there is:

[0096] v s +a s ·t1+a 标定 (t x -t1)=v f +a f ·t x

[0097] Then:

[0098] The warning distance DTC _6 is as follows:

[0099] When the host vehicle is in the driving state 7, the method for solving the warning distance DTC is equivalent to the method for solving the warning distance DTC_7 when the host vehicle is in the driving state 6, i.e.:

[0100] When the host vehicle is in the driving state 8, the first distance driven by the host vehicle when the longitudinal speed is 0 is as follows:

[0101] The second distance traveled by the front vehicle when the longitudinal speed is 0 is as follows:

[0102] Early warning distance DTC _8 As follows:

[0103] S360, output a forward collision early warning signal when the longitudinal distance is less than or equal to the early warning distance.

[0104] In this embodiment, by determining the time when the longitudinal speed of the vehicle and the front vehicle is equal as the first time t x , the first longitudinal speed is greater than or equal to 0 at the first time, the early warning distance is determined based on the first time t x , the first motion state parameter, the second motion state parameter and the minimum safety distance, while the first longitudinal speed is less than 0 at the first time, the first distance traveled by the vehicle when the longitudinal speed is 0 is determined according to the first motion state parameter, and the second distance traveled by the front vehicle when the longitudinal speed is 0 is determined according to the second motion state parameter, and the early warning distance is determined according to the first distance, the second distance and the minimum safety distance, thereby further improving the accuracy of the forward collision early warning signal, and at the same time, it is beneficial to save the computing resources of the vehicle.

[0105] Embodiment four

[0106] FIG. 7 is a flowchart of a vehicle forward collision early warning method based on V2X communication according to an embodiment of the present application. The embodiment adds a step of how to determine the early warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance when the directions of the first longitudinal speed and the second longitudinal speed are opposite, on the basis of the above-mentioned embodiments. As shown in FIG. 7, the method comprises the following steps.

[0107] S410, real-time acquisition of the first motion state parameter of the vehicle, the second motion state parameter of the front vehicle, the longitudinal distance between the vehicle and the front vehicle and the minimum safety distance between the vehicle and the front vehicle.

[0108] The first motion state parameter includes the first longitudinal speed, the first longitudinal acceleration, the first gear information and the first brake information; the second motion state parameter includes the second longitudinal speed, the second longitudinal acceleration and the second brake information.

[0109] S420, determining the first brake distance of the vehicle according to the first motion state parameter, and determining the second brake distance of the front vehicle according to the second motion state parameter.

[0110] The first braking distance is a distance traveled by the host vehicle when the first longitudinal speed of the host vehicle is reduced to 0. The second braking distance is a distance traveled by the preceding vehicle when the second longitudinal speed of the preceding vehicle is reduced to 0.

[0111] Optionally, when the host vehicle is not braking, the host vehicle has an unbraking time period, a pre-braking time period, and an emergency braking time period. In the unbraking time period, the host vehicle travels at the original driving mode. In the pre-braking time period, the host vehicle travels at a constant speed. In the emergency braking time period, the host vehicle travels at a preset acceleration. At this time, according to the first motion state parameter, the first braking distance of the host vehicle is determined, including: according to the first motion state parameter, determining the unbraking distance of the host vehicle in the unbraking time period, the pre-braking distance of the host vehicle in the pre-braking time period, and the emergency braking distance of the host vehicle in the emergency braking time period; and taking the sum of the unbraking distance, the pre-braking distance, and the emergency braking distance as the first braking distance.

[0112] Optionally, when the host vehicle is braking, the host vehicle has a braking time period and an emergency braking time period. In the braking time period, the host vehicle travels at the original driving mode. In the emergency braking time period, the host vehicle travels at a preset acceleration. At this time, according to the first motion state parameter, the first braking distance of the host vehicle is determined, including: according to the first motion state parameter, determining the braking distance of the host vehicle in the braking time period and the emergency braking distance of the host vehicle in the emergency braking time period; and taking the sum of the braking distance and the emergency braking distance as the first braking distance.

[0113] S430, taking the sum of the first braking distance, the second braking distance, and the minimum safety distance as the early warning distance.

[0114] Since the directions of the first longitudinal speed and the second longitudinal speed are opposite, the early warning distance is related to the sum of the first braking distance of the host vehicle, the second braking distance of the preceding vehicle, and the minimum safety distance.

[0115] In an exemplary embodiment, FIG. 8 is a driving state curve of the host vehicle and the preceding vehicle when the host vehicle is not braking, wherein the curve above the time axis is the driving state curve of the host vehicle, and the curve below the time axis is the driving state curve of the preceding vehicle. As shown in FIG. 8, the driving time of the host vehicle includes a normal driving (i.e., uniform acceleration or uniform deceleration driving when not braking) time period T+t1, a uniform speed driving (pre-braking of braking reaction) time period t2, and a deceleration driving (emergency braking) time period t3. When the host vehicle is not braking, the driving time of the preceding vehicle includes a normal driving (i.e., uniform acceleration or uniform deceleration driving when not braking) time period T+t1, a uniform speed driving (pre-braking of braking reaction) time period t2, and a deceleration driving (emergency braking) time period t3'. When the host vehicle is braking, the driving time of the preceding vehicle includes a normal driving (i.e., uniform deceleration driving when normally braking) time period t1 and a deceleration driving (braking) time period t3'.

[0116] The warning distance DTC when the current vehicle is not braking 16 As follows:

[0117] The warning distance DTC when the current vehicle is braking 17 As follows:

[0118] In another exemplary embodiment, FIG. 9 is another driving state curve of the current vehicle and the front vehicle when the current vehicle is braking, wherein the curve above the time axis is the driving state curve of the current vehicle, and the curve below the time axis is the driving state curve of the front vehicle. As shown in FIG. 9, the driving time of the current vehicle includes a normal driving (i.e. uniform deceleration driving when normally braking) time period t1 and a deceleration driving (braking) time period t3; the driving time of the front vehicle when the current vehicle is not braking includes a normal driving (i.e. uniform acceleration or uniform deceleration driving when not braking) time period T+t1, a uniform speed driving (pre-braking of braking reaction) time period t2 and a deceleration driving (emergency braking) time period t3'; the driving time of the front vehicle when the current vehicle is braking includes a normal driving (i.e. uniform deceleration driving when normally braking) time period t1 and a deceleration driving (braking) time period t3'.

[0119] The warning distance DTC when the current vehicle is not braking 18 As follows:

[0120] The warning distance DTC when the current vehicle is braking 19 As follows:

[0121] S440, outputting the forward collision warning signal when the longitudinal distance is less than or equal to the warning distance.

[0122] In the embodiment, when the first longitudinal speed of the current vehicle and the second longitudinal speed of the front vehicle are opposite in direction, the first braking distance of the current vehicle is determined according to the first motion state parameter, and the second braking distance of the front vehicle is determined according to the second motion state parameter, so that the sum of the first braking distance, the second braking distance and the minimum safety distance is taken as the warning distance, thereby further improving the accuracy of the forward collision warning signal, and at the same time, it is beneficial to save the computing resources of the vehicle.

[0123] Embodiment five

[0124] The embodiment provides a warning device for vehicle forward collision based on V2X communication, which can be realized in the form of hardware and / or software and can be integrated into a controller. FIG. 10 is a structural schematic diagram of the warning device for vehicle forward collision based on V2X communication provided by the fifth embodiment of the application. As shown in FIG. 10, the warning device comprises an acquisition module 510, a determination module 520 and an output module 530.

[0125] The acquisition module 510 is configured to acquire, in real time, a first motion state parameter of the vehicle, a second motion state parameter of a front vehicle, a longitudinal distance between the vehicle and the front vehicle and a minimum safety distance between the vehicle and the front vehicle. The first motion state parameter comprises a first longitudinal speed, a first longitudinal acceleration, first gear information and first braking information; and the second motion state parameter comprises a second longitudinal speed, a second longitudinal acceleration and second braking information.

[0126] The determination module 520 is configured to determine a warning distance based on the first motion state parameter, the second motion state parameter and the minimum safety distance.

[0127] The output module 530 is configured to output a forward collision warning signal when the longitudinal distance is less than or equal to the warning distance.

[0128] The warning device for vehicle forward collision based on V2X communication provided by the embodiments of the application can execute the warning method for vehicle forward collision based on V2X communication provided by any of the embodiments of the application, has the function modules corresponding to the execution method, and the same parts can be referred to the description above.

[0129] The embodiment of the application provides a vehicle based on V2X communication, which comprises at least a controller. The controller can be integrated with the warning device for vehicle forward collision based on V2X communication provided by any of the embodiments of the application and can execute the warning method for vehicle forward collision based on V2X communication provided by any of the embodiments of the application.

[0130] Since the vehicle based on V2X communication provided by the embodiments of the application comprises the above controller, the controller can be integrated with the warning device for vehicle forward collision based on V2X communication provided by the embodiments of the application and can execute the warning method for vehicle forward collision based on V2X communication provided by the embodiments of the application, the vehicle can have the corresponding structure and characteristics of executing the warning method for vehicle forward collision based on V2X communication provided by the embodiments of the application, and the same parts can be referred to the description above.

[0131] Embodiment six

[0132] Based on the same concept, the embodiments of the present application further provide a computer readable storage medium, which stores computer instructions for causing a processor to implement the control method provided by any of the above embodiments when executed.

[0133] In the context of the present application, the computer readable storage medium can be a tangible medium which can contain or store the computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the above. Alternatively, the computer readable storage medium can be a machine readable signal medium. Examples of the machine readable storage medium can include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or a flash memory, an optical fiber, a compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

Claims

1. A method for early warning of vehicle forward collision based on vehicle-to-everything (V2X) communication, comprising: obtaining, in real time, a first motion state parameter of a host vehicle, a second motion state parameter of a preceding vehicle, a longitudinal distance between the host vehicle and the preceding vehicle, and a minimum safety distance between the host vehicle and the preceding vehicle; the first motion state parameter comprising a first longitudinal speed, a first longitudinal acceleration, first gear information, and first braking information; the second motion state parameter comprising a second longitudinal speed, a second longitudinal acceleration, and second braking information; determining a warning distance based on the first motion state parameter, the second motion state parameter, and the minimum safety distance; outputting a forward collision warning signal in a case where the longitudinal distance is less than or equal to the warning distance.

2. The method for early warning of vehicle forward collision according to claim 1, further comprising, after the step of obtaining, in real time, the first motion state parameter of the host vehicle, the second motion state parameter of the preceding vehicle, the longitudinal distance between the host vehicle and the preceding vehicle, and the minimum safety distance between the host vehicle and the preceding vehicle: determining whether the first motion state parameter and the second motion state parameter satisfy a first condition; in response to the first motion state parameter and the second motion state parameter both satisfying the first condition, determining the warning distance based on the first motion state parameter, the second motion state parameter, and the minimum safety distance.

3. The method of claim 2, wherein the vehicle front collision warning method further comprises: the first condition comprising: the gear information of the host vehicle being a forward gear, and a lower limit value of a warning speed ≤ the first longitudinal speed ≤ an upper limit value of the warning speed, and the longitudinal distance ≤ a braking distance of the host vehicle; wherein the braking distance of the host vehicle is determined according to the first longitudinal speed.

4. The method of claim 3, further comprising: obtaining, in real time, an elevation difference between the host vehicle and the preceding vehicle; the first condition further comprising the elevation difference ≤ a preset elevation difference; wherein the preset elevation difference is determined according to the longitudinal distance.

5. The method of claim 1, wherein the step of determining the warning distance based on the first motion state parameter, the second motion state parameter, and the minimum safety distance, comprising: calculating a first warning distance and a second warning distance based on the first motion state parameter, the second motion state parameter, and the minimum safety distance; the step of outputting the forward collision warning signal in a case where the longitudinal distance is less than or equal to the warning distance, comprising: outputting a first forward collision warning signal in a case where the longitudinal distance is less than or equal to the first warning distance; and outputting a second forward collision warning signal in a case where the longitudinal distance is less than or equal to the second warning distance.

6. The method of claim 1, wherein in a case where the first longitudinal speed and the second longitudinal speed are in the same direction, and the first longitudinal speed is greater than or equal to the second longitudinal speed, the step of determining the warning distance based on the first motion state parameter, the second motion state parameter, and the minimum safety distance, comprising: determining, based on the first motion state parameter and the second motion state parameter, a time point at which the longitudinal speed of the host vehicle and the longitudinal speed of the preceding vehicle are equal as a first time point t x ; in response to the first longitudinal speed being greater than or equal to 0 at the first time instant, determining the pre-warning distance based on the first time instant t x , the first motion state parameter, the second motion state parameter and the minimum safety distance.

7. The method of claim 6, wherein, In the case that the first longitudinal velocity is less than 0 at the first moment, a first distance traveled by the ego vehicle when the longitudinal velocity is 0 is determined according to the first motion state parameter, and a second distance traveled by the preceding vehicle when the longitudinal velocity is 0 is determined according to the second motion state parameter; The warning distance is determined according to the first distance, the second distance and the minimum safety distance.

8. The method of claim 6, wherein, determining, based on the first motion state parameter and the second motion state parameter, a time point at which the longitudinal speed of the host vehicle and the longitudinal speed of the preceding vehicle are equal as a first time point t x comprising: A first future longitudinal velocity of the ego vehicle at a future moment is determined based on the first motion state parameter, and a second future longitudinal velocity of the preceding vehicle at the future moment is determined based on the second motion state parameter; determining the first time instant t according to the first future longitudinal speed and the second future longitudinal speed x .

9. The method of claim 6, wherein, determining the pre-warning distance based on the first time t x the first motion state parameter, the second motion state parameter, and the minimum safety distance, comprises: According to the first time t x And the first motion state parameter, determine the first distance traveled by the host vehicle in the first time period; and according to the first time t x And the second motion state parameter, determine the second distance traveled by the host vehicle in the first time period; the first time period is the time elapsed from the current time to the first time t x ​ The warning distance is determined according to the first distance, the second distance and the minimum safety distance.

10. The method of claim 1, wherein, In the case that the directions of the first longitudinal velocity and the second longitudinal velocity are opposite, the warning distance is determined based on the first motion state parameter, the second motion state parameter and the minimum safety distance, including: A first braking distance of the ego vehicle is determined according to the first motion state parameter, and a second braking distance of the preceding vehicle is determined according to the second motion state parameter; The sum of the first braking distance, the second braking distance and the minimum safety distance is taken as the warning distance.

11. The method of claim 10, wherein, In the case that the ego vehicle is not braking, the ego vehicle has an unbraking time period, a pre-braking time period and an emergency braking time period; in the unbraking time period, the ego vehicle travels at the original driving mode; in the pre-braking time period, the ego vehicle travels at a constant speed; In the emergency braking time period, the ego vehicle travels at a preset uniform deceleration; The first braking distance of the ego vehicle is determined according to the first motion state parameter, including: An unbraking distance of the ego vehicle in the unbraking time period, a pre-braking distance of the ego vehicle in the pre-braking time period and an emergency braking distance of the ego vehicle in the emergency braking time period are determined according to the first motion state parameter; The sum of the unbraking distance, the pre-braking distance and the emergency braking distance is taken as the first braking distance.

12. The method of claim 10, wherein, In the case that the ego vehicle is braking, the ego vehicle has a braking time period and an emergency braking time period; in the braking time period, the ego vehicle travels at the original driving mode; In the emergency braking time period, the ego vehicle travels at a preset uniform deceleration; The first braking distance of the ego vehicle is determined according to the first motion state parameter, including: A braking distance of the ego vehicle in the braking time period and an emergency braking distance of the ego vehicle in the emergency braking time period are determined according to the first motion state parameter; The sum of the braking distance and the emergency braking distance is taken as the first braking distance.

13. A warning device for vehicle front collision based on vehicle-to-everything (V2X) communication, comprising: An acquisition module is configured to acquire a first motion state parameter of the host vehicle, a second motion state parameter of the preceding vehicle, a longitudinal distance between the host vehicle and the preceding vehicle, and a minimum safety distance between the host vehicle and the preceding vehicle in real time. The first motion state parameter includes a first longitudinal speed, a first longitudinal acceleration, first gear information, and first braking information. The second motion state parameter includes a second longitudinal speed, a second longitudinal acceleration, and second braking information. A determination module is configured to determine a warning distance based on the first motion state parameter, the second motion state parameter, and the minimum safety distance. An output module is configured to output a forward collision warning signal when the longitudinal distance is less than or equal to the warning distance.

14. A vehicle based on vehicle-to-everything, V2X, communication, comprising: A controller; The controller is configured to perform the method for warning of a forward collision of a vehicle based on V2X communication according to any one of claims 1-12.

15. A computer readable storage medium storing computer instructions for causing a processor to implement the method for warning of a forward collision of a vehicle based on V2X communication according to any one of claims 1-12 when executed.

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