CN114038238B - A collision warning system and method based on the driving state of the second vehicle ahead - Google Patents
A collision warning system and method based on the driving state of the second vehicle aheadDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及一种碰撞预警系统及方法，特别涉及一种基于前方第二辆车行驶状态的碰撞预警系统及方法。The invention relates to a collision warning system and method, in particular to a collision warning system and method based on the driving state of the second vehicle ahead.
背景技术Background technique
目前，随着国民经济的发展，人民的生活水平逐渐提高，汽车得到了较大范围的普及，道路上的交通量也日益增加。随之而来的交通安全问题也应该引起我们的重视。根据交通部门的统计，在所有的交通事故中，追尾事故所占比例高达五成。可见预防追尾事故的发生对广大人民群众的生命与财产安全至关重要。At present, along with the development of the national economy, people's living standards are gradually improved, automobiles are widely popularized, and the traffic volume on the road is also increasing day by day. The ensuing traffic safety issues should also arouse our attention. According to the statistics of the traffic department, among all traffic accidents, the proportion of rear-end collision accidents is as high as 50%. It can be seen that preventing the occurrence of rear-end collision accidents is crucial to the life and property safety of the broad masses of the people.
在日常行驶过程中，由于主车、前车跟车距离过近，或者前车随意变道，或遇到能见度较低的大雾等天气，主车极易与前车发生追尾，严重的会造成连续追尾事故，造成重大人身与财产损失。因此单纯依靠驾驶员的应急反应和只考虑前车的行驶状态来避免追尾事件的发生，显然不能满足车辆主动安全的实际需要。During daily driving, because the distance between the main vehicle and the vehicle in front is too close, or the vehicle in front changes lanes at will, or encounters such weather as heavy fog with low visibility, it is very easy for the main vehicle to collide with the vehicle in front. Cause continuous rear-end collision accidents, resulting in heavy personal and property losses. Therefore relying solely on the driver's emergency response and only considering the driving state of the vehicle in front to avoid rear-end collisions obviously cannot meet the actual needs of vehicle active safety.
目前防止追尾事件发生的主要手段有如下两点，一是利用安全距离算法，通过雷达和摄像头识别相对距离并且与预设的安全距离比较进而控制车速减少碰撞的可能性；二是利用安全时间算法。将最大减速度制动所需的时间与即将碰撞行驶所需的时间进行比较从而控制车速来避免追尾的产生。然而现如今的技术方案大都以前车为目标车辆进行研究，较少的考虑前方第二辆车的行驶状态信息，以致预测不够充分，极易造成连环追尾事故的发生。因此基于上述问题本发明得以提出。At present, the main means to prevent rear-end collisions are as follows. One is to use the safety distance algorithm to identify the relative distance through radar and camera and compare it with the preset safety distance to control the speed of the vehicle to reduce the possibility of collision; the other is to use the safety time algorithm . The time required for maximum deceleration braking is compared with the time required for driving in an imminent collision so as to control the vehicle speed to avoid rear-end collision. However, most of today's technical solutions are researched on the front car as the target vehicle, and less consideration is given to the driving status information of the second car in front, so that the prediction is not sufficient, and it is very easy to cause serial rear-end collision accidents. Therefore, the present invention is proposed based on the above problems.
发明内容Contents of the invention
本发明的目的是通过车载毫米波雷达和GPS数据收发装置获取前车与前方第二辆车的行驶状态信息，并且根据安全距离模型算法进行预警判断，并加以语音提示模块和电子制动踏板执行，从而规避追尾事故的发生而提供的一种基于前方第二辆车行驶状态的碰撞预警系统及方法。The purpose of the present invention is to obtain the driving state information of the vehicle in front and the second vehicle in front through the vehicle-mounted millimeter-wave radar and GPS data transceiver device, and carry out early warning judgment according to the safe distance model algorithm, and add voice prompt module and electronic brake pedal to execute , thereby providing a collision warning system and method based on the driving state of the second vehicle in front to avoid the occurrence of rear-end collision accidents.
本发明提供的基于前方第二辆车行驶状态的碰撞预警系统包括有感知层、决策层和执行层，其中感知层的输出端与决策层的输入端相连接，决策层的输出端与执行层的输入端相连接，感知层内设置有毫米波雷达和GPS数据收发装置，决策层内设置有ECU控制单元，执行层内设置有电子制动踏板和语音提示模块，其中感知层内的毫米波雷达与汽车总线相连接，感知层内的GPS数据收发装置通过无线信号与汽车连接，GPS数据收发装置通过汽车总线及无线信号将感知到的车辆信息发送给决策层内的ECU控制单元进行处理，ECU控制单元根据处理结果控制执行层内的语音提示模块和电子制动踏板进行工作，GPS数据收发装置装配在主车和前方第二辆车的A柱处，用来交互两车的行驶信息。The collision warning system based on the driving state of the second vehicle in front provided by the present invention includes a perception layer, a decision-making layer and an execution layer, wherein the output end of the perception layer is connected with the input end of the decision-making layer, and the output end of the decision-making layer is connected with the execution layer. connected to the input terminal, the perception layer is equipped with a millimeter wave radar and GPS data transceiver, the decision-making layer is equipped with an ECU control unit, and the execution layer is equipped with an electronic brake pedal and a voice prompt module. The radar is connected to the vehicle bus, and the GPS data transceiver device in the perception layer is connected to the vehicle through wireless signals. The GPS data transceiver device sends the perceived vehicle information to the ECU control unit in the decision-making layer for processing through the vehicle bus and wireless signals. The ECU control unit controls the voice prompt module and the electronic brake pedal in the execution layer to work according to the processing results. The GPS data transceiver device is installed at the A-pillar of the main vehicle and the second vehicle in front to exchange the driving information of the two vehicles.
感知层内的毫米波雷达设置有两个，毫米波雷达的型号为德尔福76GHz ESR型，毫米波雷达通过汽车总线与车辆的中控屏相连接，毫米波雷达能够实时显示与前车的距离及前车的车速并且具有语音播报功能。There are two millimeter-wave radars in the sensing layer. The model of the millimeter-wave radar is Delphi 76GHz ESR. The millimeter-wave radar is connected to the central control panel of the vehicle through the vehicle bus. The millimeter-wave radar can display the distance and The speed of the vehicle in front and has a voice broadcast function.
GPS数据收发装置是由接收模块、发送模块、存储单元、刷新模块和显示屏组成，其中存储单元分别与接收模块、发送模块和显示屏相连接，刷新模块与显示屏相连接，接收模块用来接收其他车辆发送过来的车辆行驶状态信息，包括车辆位置和速度信息；发送模块用来向他车发送本车的车辆行驶状态信息，包括车辆位置和速度信息；存储单元用来存储从其他车辆传来的车辆行驶状态信息；刷新模块用来实时刷新从他车传送过来的数据，刷新时间间隔为1s；显示屏用来显示从其他车辆传送过来的位置和速度信息，以便了解他车状态。The GPS data transceiver device is composed of a receiving module, a sending module, a storage unit, a refresh module and a display screen, wherein the storage unit is connected to the receiving module, the sending module and the display screen respectively, the refresh module is connected to the display screen, and the receiving module is used for Receive the vehicle driving state information sent by other vehicles, including vehicle position and speed information; the sending module is used to send the vehicle driving state information of the vehicle to other vehicles, including vehicle position and speed information; the storage unit is used to store information transmitted from other vehicles The driving status information of the incoming vehicle; the refresh module is used to refresh the data transmitted from other vehicles in real time, and the refresh interval is 1s; the display screen is used to display the position and speed information transmitted from other vehicles, so as to understand the status of other vehicles.
决策层内设置的ECU控制单元在工作时，若前车速度变化率δ1稳定在a-b之间，a<0,b<0，则ECU控制单元优先处理从前方第二辆车传送过来的行驶速度信息；此时，若前方第二辆车的速度变化率δ2稳定在a-b之间，则主车按原来的行驶方式继续行驶，不做改变；若前方第二辆车的速度变化率未在a-b之间变化，则主车和前车中控屏发出语音提醒，提醒车辆注意减速，控制车距；若前车速度变化率δ1超出a-b范围，当主车与前车的间距小于警告临界距离dw时，主车中控屏发出语音警报，提醒驾驶员注意控制车速和车距；当主车与前车的间距小于制动临界距离dbr时，则ECU控制单元控制执行层内的电子制动踏板进行紧急制动。When the ECU control unit set in the decision-making layer is working, if the speed change rate δ1 of the front vehicle is stable between ab and a<0, b<0, the ECU control unit will give priority to the driving speed transmitted from the second vehicle in front information; at this time, if the speed change rate δ2 of the second vehicle in front is stable between ab and If the speed change rate δ1 of the front car exceeds the range ab, the distance between the main car and the front car will be less than the warning critical distance dw When the distance between the main vehicle and the vehicle in front is less than the braking critical distance dbr , the ECU control unit controls the electronic brake pedal in the executive layer Apply emergency braking.
上述的语音提示模块、电子制动踏板、ECU控制单元、接收模块、发送模块、存储单元、刷新模块和显示屏均为现有设备的组装，因此，具体型号和规格没有进行赘述。The above-mentioned voice prompt module, electronic brake pedal, ECU control unit, receiving module, sending module, storage unit, refresh module and display screen are all assembled from existing equipment, so the specific models and specifications are not described in detail.
本发明提供的基于前方第二辆车行驶状态的碰撞预警方法，其方法包括如下步骤：The collision warning method based on the driving state of the second vehicle in front provided by the present invention comprises the following steps:
第一步、布置GPS数据收发装置，具体步骤如下：The first step is to arrange the GPS data transceiver device, the specific steps are as follows:
步骤一、将GPS数据收发装置通过魔术贴粘贴在汽车A柱处，GPS数据收发装置通过无线信号与汽车相连接；Step 1. Paste the GPS data transceiver device on the A-pillar of the car through Velcro, and the GPS data transceiver device is connected to the car through wireless signals;
步骤二、在汽车行驶过程中前方第二辆车通过GPS数据收发装置将自车的行驶状态信息通过云端发送给主车，主车获得前车行驶状态数据；
第二步、布置毫米波雷达，具体步骤如下：The second step is to arrange the millimeter wave radar. The specific steps are as follows:
步骤一、将两个德尔福76GHz ESR毫米波雷达布置在前保险杆两侧，对称放置；Step 1. Arrange two Delphi 76GHz ESR millimeter-wave radars on both sides of the front bumper, symmetrically;
步骤二、将两个毫米波雷达的CAN总线接口与汽车总线相连接并将电源线连接；
步骤三、毫米波雷达将感知到的前车行驶状态信息通过汽车CAN总线发送到主车，主车获得前车行驶状态数据；
第三步、算法运行，具体步骤如下：The third step is to run the algorithm. The specific steps are as follows:
主车ECU控制单元根据设计的算法对前两步所获取的前车和前车行驶状态数据进行处理，将主车与前车的跟车距离与警告临界距离和制动临界距离进行比较；其中制动临界距离：The ECU control unit of the main vehicle processes the vehicle in front and the driving status data of the vehicle in front acquired in the first two steps according to the designed algorithm, and compares the following distance between the main vehicle and the vehicle in front with the warning critical distance and braking critical distance; Braking critical distance:
上式中，vr为两车相对车速；Tdelay为系统延迟时间；f(μ)为路面摩擦系数；v为主车车速；amax为本车最大减速度；Trea为驾驶员反映时间；d1为制动停车后两车间距；d2为不同车辆型号影响下的可变距离；In the above formula, vr is the relative speed of the two vehicles; Tdelay is the system delay time; f(μ) is the friction coefficient of the road surface; v is the speed of the main vehicle; amax is the maximum deceleration of the vehicle; Trea is the driver's reaction time ;d1 is the distance between two vehicles after braking and stopping; d2 is the variable distance under the influence of different vehicle models;
警告临界距离：Warning critical distance:
dw＝dbr+vTh,mindw =dbr +vTh,min
上式中，Th,min为最小车间时距；v为主车车速；In the above formula, Th,min is the minimum headway time; v is the speed of the main vehicle;
各参数的具体获取方法如下：The specific method of obtaining each parameter is as follows:
相对速度vr由毫米波雷达感知获取，主车车速v由主车系统提供，其他相关参数均为预设定值；The relative speed vr is sensed and acquired by the millimeter-wave radar, the main vehicle speed v is provided by the main vehicle system, and other relevant parameters are preset values;
主车安装两个德尔福76GHz ESR毫米波雷达，安装位置分别位于前保险杠两侧；毫米波雷达监测方位角为±10度，探测距离可达100m；采用两个毫米波雷达来监测前车的行驶状态，范围更广且获取的信息更准确可靠；The main vehicle is equipped with two Delphi 76GHz ESR millimeter-wave radars, which are respectively located on both sides of the front bumper; the millimeter-wave radar monitoring azimuth angle is ±10 degrees, and the detection distance can reach 100m; two millimeter-wave radars are used to monitor the vehicle in front Driving status, the range is wider and the information obtained is more accurate and reliable;
第四步、执行机构运作，具体步骤如下：The fourth step is the operation of the executive agency. The specific steps are as follows:
第三步数据处理之后，根据比较结果，ECU控制单元控制语音提示模块或电子制动踏板开始工作，主车通过毫米波雷达探测前车的行驶车速与跟车间距，数据经ECU控制单元处理判断前车是否处于稳定行驶状态；若前车处于稳定行驶状态，则主车优先处理前方第二辆车的行驶信息，此情形下，主车与前车所获取的前方第二辆车行驶信息一致，主车提前根据前方第二辆车的行驶信息作出预判性动作，提前规避风险；若前车行驶状态不稳定即速度和行驶轨迹变化明显，此时主车优先处理前车的行驶信息，通过安全距离算法，当跟车间距大于警告临界距离时，无操作；当跟车间距小于警告临界距离大于制动临界距离时，发出语音提示，告知驾驶员合理控制车速；当跟车间距小于制动临界距离时，电子制动踏板自动工作，实现车辆紧急制动，以避免因驾驶员刹车不及时造成交通事故的发生。After the third step of data processing, according to the comparison result, the ECU control unit controls the voice prompt module or the electronic brake pedal to start working. The main vehicle detects the driving speed and the following distance of the vehicle in front through the millimeter wave radar, and the data is processed and judged by the ECU control unit. Whether the vehicle in front is in a stable driving state; if the vehicle in front is in a stable driving state, the main vehicle will prioritize the driving information of the second vehicle in front. In this case, the driving information of the second vehicle in front obtained by the main vehicle is consistent with that , the main car makes predictive actions in advance based on the driving information of the second car in front to avoid risks in advance; if the driving state of the front car is unstable, that is, the speed and driving trajectory change significantly, the main car will give priority to the driving information of the front car at this time, Through the safety distance algorithm, when the following distance is greater than the warning critical distance, there is no operation; when the following distance is smaller than the warning critical distance and greater than the braking critical distance, a voice prompt will be issued to inform the driver to control the speed reasonably; When the critical distance is reached, the electronic brake pedal works automatically to realize emergency braking of the vehicle, so as to avoid traffic accidents caused by the driver not braking in time.
本发明的有益效果：Beneficial effects of the present invention:
本发明提供的基于前方第二辆车行驶状态的碰撞预警系统及方法通过在前方第二辆车上安装GPS数据收发装置，避免了由于前车注意力不集中或者跟车间距过小刹车不及时所容易引发主车、前车等连环追尾事故的发生，提高了乘客的安全性以及道路通过性；通过在主车加装两个毫米波雷达能够时刻掌握前车的行驶状态，从而提前做出规避风险的举措；车辆上具有语音提醒功能，在前车和前方第二辆车行驶状态有所改变时进行语音播报能够提醒驾驶员集中注意力。提前做好应对措施，避免追尾事故的发生；车辆所装电子制动踏板当在跟车间距小于制动临界距离时，自动开启，从而减少因驾驶员未及时采取紧急制动而造成的交通事故的发生。The collision warning system and method based on the driving state of the second vehicle in front provided by the present invention installs a GPS data transmitting and receiving device on the second vehicle in front, avoiding that the vehicle in front is inattentive or the distance between the vehicle and the vehicle is too small to brake in time It is easy to cause serial rear-end collision accidents such as the main vehicle and the vehicle in front, which improves the safety of passengers and the road passability; by installing two millimeter-wave radars in the main vehicle, the driving status of the vehicle in front can be grasped at all times, so as to make advance decisions. Measures to avoid risks; the vehicle has a voice reminder function, and the voice broadcast can remind the driver to concentrate when the driving status of the vehicle in front and the second vehicle in front changes. Take countermeasures in advance to avoid rear-end collision accidents; the electronic brake pedal installed on the vehicle will automatically open when the following distance is less than the critical braking distance, thereby reducing traffic accidents caused by the driver's failure to apply emergency braking in time happened.
附图说明Description of drawings
图1为本发明所述的碰撞预警系统整体结构框图。Fig. 1 is a block diagram of the overall structure of the collision warning system according to the present invention.
图2为本发明所述的GPS数据收发装置结构框图。Fig. 2 is a structural block diagram of the GPS data transceiving device according to the present invention.
上图中的标注如下：The annotations in the above figure are as follows:
1、感知层 2、决策层 3、执行层 4、毫米波雷达 5、GPS数据收发装置 6、ECU控制单元 7、电子制动踏板 8、语音提示模块 9、接收模块 10、发送模块 11、存储单元 12、刷新模块 13、显示屏。1.
具体实施方式Detailed ways
请参阅图1至图2所示：Please refer to Figure 1 to Figure 2:
本发明提供的基于前方第二辆车行驶状态的碰撞预警系统包括有感知层1、决策层2和执行层3，其中感知层1的输出端与决策层2的输入端相连接，决策层2的输出端与执行层3的输入端相连接，感知层1内设置有毫米波雷达4和GPS数据收发装置5，决策层2内设置有ECU控制单元6，执行层3内设置有电子制动踏板7和语音提示模块8，其中感知层1内的毫米波雷达4与汽车总线相连接，感知层1内的GPS数据收发装置5通过无线信号与汽车连接，GPS数据收发装置5通过汽车总线及无线信号将感知到的车辆信息发送给决策层2内的ECU控制单元6进行处理，ECU控制单元6根据处理结果控制执行层3内的语音提示模块8和电子制动踏板7进行工作，GPS数据收发装置5装配在主车和前方第二辆车的A柱处，用来交互两车的行驶信息。The collision warning system based on the driving state of the second vehicle in front provided by the present invention includes a perception layer 1, a decision-making layer 2 and an execution layer 3, wherein the output end of the perception layer 1 is connected with the input end of the decision-making layer 2, and the decision-making layer 2 The output end of the sensor is connected to the input end of the execution layer 3, the perception layer 1 is provided with a millimeter-wave radar 4 and a GPS data transceiver device 5, the decision-making layer 2 is provided with an ECU control unit 6, and the execution layer 3 is provided with an electronic brake Pedal 7 and voice prompt module 8, wherein the millimeter-wave radar 4 in the perception layer 1 is connected with the automobile bus, the GPS data transceiver device 5 in the perception layer 1 is connected with the automobile through wireless signals, and the GPS data transceiver device 5 passes through the automobile bus and The wireless signal sends the perceived vehicle information to the ECU control unit 6 in the decision-making layer 2 for processing, and the ECU control unit 6 controls the voice prompt module 8 and the electronic brake pedal 7 in the execution layer 3 to work according to the processing results, and the GPS data The transceiver device 5 is assembled at the A-pillar of the main vehicle and the second vehicle in front, and is used for exchanging the driving information of the two vehicles.
感知层1内的毫米波雷达4设置有两个，毫米波雷达4的型号为德尔福76GHz ESR型，毫米波雷达4通过汽车总线与车辆的中控屏相连接，毫米波雷达4能够实时显示与前车的距离及前车的车速并且具有语音播报功能。There are two millimeter-wave radars 4 in the sensing layer 1. The model of the millimeter-wave radar 4 is the Delphi 76GHz ESR type. The millimeter-wave radar 4 is connected to the central control panel of the vehicle through the vehicle bus. The distance of the vehicle in front and the speed of the vehicle in front also have a voice broadcast function.
GPS数据收发装置5是由接收模块9、发送模块10、存储单元11、刷新模块12和显示屏13组成，其中存储单元11分别与接收模块9、发送模块10和显示屏13相连接，刷新模块12与显示屏13相连接，接收模块9用来接收其他车辆发送过来的车辆行驶状态信息，包括车辆位置和速度信息；发送模块10用来向他车发送本车的车辆行驶状态信息，包括车辆位置和速度信息；存储单元11用来存储从其他车辆传来的车辆行驶状态信息；刷新模块12用来实时刷新从他车传送过来的数据，刷新时间间隔为1s；显示屏13用来显示从其他车辆传送过来的位置和速度信息，以便了解他车状态。GPS
决策层2内设置的ECU控制单元6在工作时，若前车速度变化率δ1稳定在a-b之间，a<0,b<0，则ECU控制单元6优先处理从前方第二辆车传送过来的行驶速度信息；此时，若前方第二辆车的速度变化率δ2稳定在a-b之间，则主车按原来的行驶方式继续行驶，不做改变；若前方第二辆车的速度变化率未在a-b之间变化，则主车和前车中控屏发出语音提醒，提醒车辆注意减速，控制车距；若前车速度变化率δ1超出a-b范围，当主车与前车的间距小于警告临界距离dw时，主车中控屏发出语音警报，提醒驾驶员注意控制车速和车距；当主车与前车的间距小于制动临界距离dbr时，则ECU控制单元6控制执行层3内的电子制动踏板7进行紧急制动。When the ECU control unit 6 set in the decision-
上述的语音提示模块8、电子制动踏板7、ECU控制单元6、接收模块9、发送模块10、存储单元11、刷新模块12和显示屏13均为现有设备的组装，因此，具体型号和规格没有进行赘述。The above-mentioned voice
本发明提供的基于前方第二辆车行驶状态的碰撞预警方法，其方法包括如下步骤：The collision warning method based on the driving state of the second vehicle in front provided by the present invention comprises the following steps:
第一步、布置GPS数据收发装置5，具体步骤如下：The first step, arrange
步骤一、将GPS数据收发装置5通过魔术贴粘贴在汽车A柱处，GPS数据收发装置5通过无线信号与汽车相连接；Step 1, the GPS
步骤二、在汽车行驶过程中前方第二辆车通过GPS数据收发装置5将自车的行驶状态信息通过云端发送给主车，主车获得前车行驶状态数据；
第二步、布置毫米波雷达4，具体步骤如下：The second step is to arrange the millimeter wave radar 4, the specific steps are as follows:
步骤一、将两个德尔福76GHz ESR毫米波雷达4布置在前保险杆两侧，对称放置；Step 1. Arrange two Delphi 76GHz ESR millimeter-wave radars 4 on both sides of the front bumper, symmetrically;
步骤二、将两个毫米波雷达4的CAN总线接口与汽车总线相连接并将电源线连接；
步骤三、毫米波雷达4将感知到的前车行驶状态信息通过汽车CAN总线发送到主车，主车获得前车行驶状态数据；Step 3: The millimeter-wave radar 4 sends the perceived driving state information of the preceding vehicle to the main vehicle through the vehicle CAN bus, and the main vehicle obtains the driving state data of the preceding vehicle;
第三步、算法运行，具体步骤如下：The third step is to run the algorithm. The specific steps are as follows:
主车ECU控制单元6根据设计的算法对前两步所获取的前车和前车行驶状态数据进行处理，将主车与前车的跟车距离与警告临界距离和制动临界距离进行比较；其中制动临界距离：The main vehicle ECU control unit 6 processes the preceding vehicle and the driving state data of the preceding vehicle acquired in the first two steps according to the designed algorithm, and compares the following distance between the main vehicle and the preceding vehicle with the warning critical distance and the braking critical distance; Among them, the braking critical distance is:
上式中，vr为两车相对车速；Tdelay为系统延迟时间；f(μ)为路面摩擦系数；v为主车车速；amax为本车最大减速度；Trea为驾驶员反映时间；d1为制动停车后两车间距；d2为不同车辆型号影响下的可变距离；In the above formula, vr is the relative speed of the two vehicles; Tdelay is the system delay time; f(μ) is the friction coefficient of the road surface; v is the speed of the main vehicle; amax is the maximum deceleration of the vehicle; Trea is the driver's reaction time ;d1 is the distance between two vehicles after braking and stopping; d2 is the variable distance under the influence of different vehicle models;
警告临界距离：Warning critical distance:
dw＝dbr+vTh,mindw =dbr +vTh,min
上式中，Th,min为最小车间时距；v为主车车速；In the above formula, Th,min is the minimum headway time; v is the speed of the main vehicle;
各参数的具体获取方法如下：The specific method of obtaining each parameter is as follows:
相对速度vr由毫米波雷达4感知获取，主车车速v由主车系统提供，其他相关参数均为预设定值；The relative speed vr is sensed and acquired by the millimeter wave radar 4, the vehicle speed v of the main vehicle is provided by the main vehicle system, and other relevant parameters are preset values;
主车安装两个德尔福76GHz ESR毫米波雷达4，安装位置分别位于前保险杠两侧；毫米波雷达4监测方位角为±10度，探测距离可达100m；采用两个毫米波雷达4来监测前车的行驶状态，范围更广且获取的信息更准确可靠；Two Delphi 76GHz ESR millimeter-wave radars 4 are installed on the main vehicle, and the installation positions are respectively located on both sides of the front bumper; the monitoring azimuth angle of the millimeter-wave radar 4 is ±10 degrees, and the detection distance can reach 100m; two millimeter-wave radars 4 are used for monitoring The driving status of the vehicle in front has a wider range and the information obtained is more accurate and reliable;
第四步、执行机构运作，具体步骤如下：The fourth step is the operation of the executive agency. The specific steps are as follows:
第三步数据处理之后，根据比较结果，ECU控制单元6控制语音提示模块8或电子制动踏板7开始工作，主车通过毫米波雷达4探测前车的行驶车速与跟车间距，数据经ECU控制单元6处理判断前车是否处于稳定行驶状态；若前车处于稳定行驶状态，则主车优先处理前方第二辆车的行驶信息，此情形下，主车与前车所获取的前方第二辆车行驶信息一致，主车提前根据前方第二辆车的行驶信息作出预判性动作，提前规避风险；若前车行驶状态不稳定即速度和行驶轨迹变化明显，此时主车优先处理前车的行驶信息，通过安全距离算法，当跟车间距大于警告临界距离时，无操作；当跟车间距小于警告临界距离大于制动临界距离时，发出语音提示，告知驾驶员合理控制车速；当跟车间距小于制动临界距离时，电子制动踏板7自动工作，实现车辆紧急制动，以避免因驾驶员刹车不及时造成交通事故的发生。After the third step of data processing, according to the comparison result, the ECU control unit 6 controls the voice
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