CN115593414A - A driving assistance method, vehicle, computer and storage medium based on V2X perception fusion technology - Google Patents
A driving assistance method, vehicle, computer and storage medium based on V2X perception fusion technologyDownload PDFInfo
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及自动驾驶技术领域，具体涉及一种基于V2X感知融合技术的驾驶辅助方法、车辆、计算机以及存储介质。The present invention relates to the technical field of automatic driving, in particular to a driving assistance method based on V2X perception fusion technology, a vehicle, a computer and a storage medium.
背景技术Background technique
在智能网联汽车领域，车、路、智慧城市网联融合一体化是当前跨行业的发展趋势，“智能”+“网联”+“大数据”云平台技术发展和成熟是实现”智能汽车+”的技术基础和保障。In the field of intelligent networked vehicles, the integration of vehicles, roads, and smart city networks is the current cross-industry development trend. +” technical basis and guarantee.
智能驾驶技术是智能网联汽车的核心技术领域之一。其中，环境感知和控制决策是智能驾驶系统的核心技术瓶颈。当前在智能驾驶技术领域，系统环境感知能力远不成熟，是技术瓶颈中的瓶颈，也是实现智能驾驶的关键制约因素。单车感知(车载传感器)和车路协同(V2X)各有其局限性，两者的组合才能实现智能感知技术的突破和飞跃，是智能驾驶目前最可行系统解决方案和技术路线和方向。也就是说，实现为汽车智能驾驶赋能的环境感知能力，需要通过车载传感器和车路协同信息技术的融合，从而大大增强汽车的感知能力，最终达到大幅度增强汽车智能驾驶的功能、性能和安全可靠度。同时，车路协同应用普及后可以大大降低单车智能感知的成本。Intelligent driving technology is one of the core technical fields of intelligent networked vehicles. Among them, environmental perception and control decision-making are the core technical bottlenecks of the intelligent driving system. At present, in the field of intelligent driving technology, the system environment perception ability is far from mature, which is the bottleneck of the technical bottleneck and the key restricting factor for the realization of intelligent driving. Bicycle perception (on-board sensors) and vehicle-to-road coordination (V2X) have their own limitations. The combination of the two can achieve breakthroughs and leaps in intelligent perception technology. It is currently the most feasible system solution and technical route and direction for intelligent driving. That is to say, to realize the environmental perception ability that empowers the intelligent driving of automobiles, it is necessary to integrate vehicle-mounted sensors and vehicle-road collaborative information technology, thereby greatly enhancing the perception ability of automobiles, and finally greatly enhancing the functions, performance and capabilities of intelligent driving of automobiles. Safety and reliability. At the same time, the popularization of vehicle-road collaborative applications can greatly reduce the cost of single-vehicle intelligent perception.
开发基于车路协同的智能网联汽车，实现智能驾驶技术，解决场景超级复杂多变的问题是一个漫长的道路和过程。尽管实现全自动驾驶是智能网联汽车技术发展方向，但这是一个长远目标，实现普遍的商业化应用还需要很长的路要走。市场需求是推动技术进步和落地的决定因素。最近行业开始形成共识，通过V2X技术，解决关键危险场景的行车安全、交通拥堵和提高交通效率等问题，是最重要的市场第一刚需，也是交通出行中安全行车的最大痛点问题，这是今后几十年内需要逐步解决的问题。也就是说，解决关键危险场景的行车安全问题为当前最关键的目标，并促进技术的产业化落地。It is a long road and process to develop intelligent networked vehicles based on vehicle-road coordination, realize intelligent driving technology, and solve the problem of super complex and changeable scenarios. Although the realization of fully automatic driving is the development direction of intelligent networked vehicle technology, it is a long-term goal and there is still a long way to go to achieve universal commercial application. Market demand is the decisive factor to promote technological progress and implementation. Recently, the industry has begun to form a consensus. Using V2X technology to solve the problems of driving safety, traffic congestion, and improving traffic efficiency in key dangerous scenarios is the most important first demand in the market, and it is also the biggest pain point of safe driving in traffic travel. This is the future. A problem that needs to be solved step by step over decades. That is to say, solving the driving safety problem in key dangerous scenes is the most critical goal at present, and promoting the industrialization of technology.
ADAS是解决行车安全的典型系统驾驶员辅助系统，也是实现自动驾驶的技术基础，最近正在迅速发展，并且市场巨大。然而，尽管ADAS系统产品在市场上应用已经多年，但其技术还远不够成熟，ADAS的功能和性能也是严重受制于系统的感知能力。尤其在一些特殊的危险场景下，ADAS无法实现有效避撞功能。通过V2X技术，车载系统与路侧感知信息实现融合感知，可以突破系统在一些高风险场景中在感知和决策算法上的技术瓶颈，开发在功能得到拓展和和在性能上得到加强的ADAS+系统。本技术发明，目的是解决传统ADAS系统技术无法解决的高危场景之一，即基于V2X感知融合技术的高级驾驶辅助系统(ADAS+)在前方车辆突然切入场景下的驾驶辅助控制决策技术。ADAS is a typical driver assistance system that solves driving safety and is also the technical basis for automatic driving. It is developing rapidly recently and has a huge market. However, although ADAS system products have been used in the market for many years, its technology is far from mature enough, and the function and performance of ADAS are also severely restricted by the perception ability of the system. Especially in some special dangerous scenarios, ADAS cannot achieve effective collision avoidance. Through V2X technology, in-vehicle systems and roadside perception information can achieve fusion perception, which can break through the technical bottleneck of the system in perception and decision-making algorithms in some high-risk scenarios, and develop ADAS+ systems with expanded functions and enhanced performance. The purpose of this technical invention is to solve one of the high-risk scenarios that cannot be solved by traditional ADAS system technology, that is, the advanced driver assistance system (ADAS+) based on V2X perception fusion technology in the scene where the vehicle in front suddenly cuts into the driving assistance control decision-making technology.
安全行使是汽车用户的第一刚性需求。在行使过程中，车辆碰撞是造成交通事故的主要因素，譬如车辆由匝道汇入主路时，需要驾驶员提前观察主路路况状态，提前做出预判，减速或停车避让主路车辆，一旦驾驶员注意力不集中未能及时有效的预判碰撞风险，将导致车辆碰撞发生交通事故。Safe driving is the first rigid demand of car users. During driving, vehicle collision is the main factor causing traffic accidents. For example, when a vehicle merges into the main road from a ramp, the driver needs to observe the road conditions of the main road in advance, make a prediction in advance, and slow down or stop to avoid vehicles on the main road. If the driver's inattention fails to predict the collision risk in a timely and effective manner, it will lead to vehicle collisions and traffic accidents.
尽管现有技术试图解决这一问题，如前车碰撞报警(FCW)和紧急制动辅助(AEB)等传统辅助驾驶系统，但由于传统辅助驾驶系统普遍采用摄像头或毫米波等传感器，受传感器探测角度、探测范围等物理因素以及现有目标行为预测算法的限制，系统只能在有限范围内发现目标车辆，风险的预判能力大打折扣。Although existing technologies try to solve this problem, such as traditional assisted driving systems such as front collision warning (FCW) and emergency brake assist (AEB), because traditional assisted driving systems generally use sensors such as cameras or millimeter waves, they are subject to sensor detection. Due to physical factors such as angle and detection range, as well as the limitations of existing target behavior prediction algorithms, the system can only detect target vehicles within a limited range, and the ability to predict risks is greatly reduced.
总之，实现智能驾驶，核心技术瓶颈很多，其中环境感知技术和车辆控制策略是核心的核心，也是智能驾驶系统落地的制约因素。In short, to realize intelligent driving, there are many core technical bottlenecks, among which environmental perception technology and vehicle control strategy are the core core, and they are also the restrictive factors for the implementation of intelligent driving system.
发明内容Contents of the invention
本发明所要解决的技术问题是：提供一种降低匝道并入风险的基于V2X感知融合技术的驾驶辅助方法、车辆、计算机以及存储介质。The technical problem to be solved by the present invention is to provide a driving assistance method based on V2X perception fusion technology, a vehicle, a computer and a storage medium that reduce the risk of on-ramp merging.
为了解决上述技术问题，本发明采用的第一种技术方案为：In order to solve the problems of the technologies described above, the first technical solution adopted in the present invention is:
一种基于V2X感知融合技术的驾驶辅助方法，包括A driving assistance method based on V2X perception fusion technology, comprising
步骤一、主车进入匝道并道场景后并判断主道最右侧是否存在目标车辆，若否则记为事件A并正常行使，若是则判断主车是否先到达碰撞点，若是则判断主车进入主道后是否满足TTC大于第一预设值且THW大于第一设定阈值，若是则记为事件C并正常驾驶，若否则执行步骤二；若主车未能先到达碰撞点则预测主车进入主道后是否满足TTC大于第一预设值且THW大于第二设定阈值；若是则记为事件B并正常驾驶，若否则执行步骤二；Step 1. After the main vehicle enters the ramp merge scene, judge whether there is a target vehicle on the far right side of the main road. If not, record it as event A and drive normally. If so, determine whether the main vehicle has reached the collision point first. If so, determine whether the main vehicle entered After the main road, whether TTC is greater than the first preset value and THW is greater than the first set threshold, if so, record it as event C and drive normally, if not, perform step 2; if the main vehicle fails to reach the collision point first, predict the main vehicle After entering the main road, whether TTC is greater than the first preset value and THW is greater than the second set threshold; if so, record it as event B and drive normally, if not, go to step 2;
步骤二、判断安全线与主车的距离是否小于紧急制动的第三设定阈值，若是则紧急制动并执行步骤三，若否则判断安全线与主车的距离是否小于温和制动的第四设定阈值，若是则温和制动并执行步骤三，若否则判断安全线与主车的距离是否小于预警的第五设定阈值，若否则正常行使，若是则进行预警并执行步骤三；Step 2. Determine whether the distance between the safety line and the main vehicle is less than the third set threshold for emergency braking. If so, perform emergency braking and perform step 3. Otherwise, determine whether the distance between the safety line and the main vehicle is less than the third threshold for gentle braking. 4. Set the threshold, if yes, perform gentle braking and perform step 3, if otherwise, judge whether the distance between the safety line and the main vehicle is less than the fifth set threshold of the warning, if not, proceed normally, if so, perform the warning and perform step 3;
步骤三、当事件A、事件B、事件C至少满足的一个时，系统退出警报或制动，若主车已经停止，则提醒驾驶员及时驶入主道；Step 3. When at least one of event A, event B, and event C is satisfied, the system exits the alarm or brakes, and if the main vehicle has stopped, reminds the driver to drive into the main road in time;
所述TTC为主车与目标车辆发生碰撞的时间，若主车先到达碰撞点，则TTC的计算公式为：The TTC is the time when the main vehicle collides with the target vehicle. If the main vehicle arrives at the collision point first, the calculation formula of TTC is:
若主车未能先到达碰撞点，则TTC的计算公式为：If the main vehicle fails to reach the collision point first, the calculation formula of TTC is:
THW为车头时距，计算公式为：THW is the time headway, the calculation formula is:
其中，vSV为主车的行驶车速；vT为目标车辆的行驶速度；aSV为主车的加速度；aT为目标车辆的加速度；dR为车辆进入主道后与目标车辆之间的距离。Among them,vSV is the driving speed of the main vehicle;vT is the driving speed of the target vehicle;aSV is the acceleration of the main vehicle;aT is the acceleration of the target vehicle;dR is the distance between the vehicle and the target vehicle after entering the main road distance.
进一步的，所述第三设定阈值Dstop的计算公式为：Further, the calculation formula of the third set threshold Dstop is:
其中，tRBR制动系统响应时间。Among them, tRBR braking system response time.
进一步的，所述第四设定阈值dstop的计算公式为：Further, the calculation formula of the fourth set thresholddstop is:
其中，tSVD为驾驶员反应时间。Among them,tSVD is the reaction time of the driver.
进一步的，所述判断主车是否先到达碰撞点进一步包括Further, the judging whether the host vehicle arrives at the collision point first further includes
先判断目标车辆达到目标点的的时间T1，计算公式为First judge the time T1 when the target vehicle reaches the target point, the calculation formula is
其中，dT为目标车辆到碰撞点的距离；Among them,dT is the distance from the target vehicle to the collision point;
判断主车达到目标点的的时间T2，计算公式为To judge the time T2 when the main vehicle reaches the target point, the calculation formula is
其中，dS为主车到碰撞点的距离；Among them,dS is the distance from the main vehicle to the collision point;
若T1大于等于T2，则主车先到达碰撞点，否则目标车辆先到达碰撞点。If T1 is greater than or equal to T2, the host vehicle arrives at the collision point first, otherwise the target vehicle arrives at the collision point first.
进一步的，所述第一设定阈值为4.4。Further, the first set threshold is 4.4.
进一步的，所述第二设定阈值为1.2s。Further, the second set threshold is 1.2s.
进一步的，若目标车辆有多个，则每个目标车辆都进行判断。Further, if there are multiple target vehicles, each target vehicle will make a judgment.
为了解决上述技术问题，本发明采用的第二种技术方案为：In order to solve the above technical problems, the second technical solution adopted by the present invention is:
一种车辆，包括控制器，所述控制器执行上述的基于V2X感知融合技术的驾驶辅助方法。A vehicle, including a controller, the controller executes the above-mentioned driving assistance method based on V2X perception fusion technology.
为了解决上述技术问题，本发明采用的第三种技术方案为：In order to solve the above technical problems, the third technical solution adopted by the present invention is:
一种计算机，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述的基于V2X感知融合技术的驾驶辅助方法。A computer, including a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program, the above-mentioned driving assistance based on V2X perception fusion technology is realized method.
为了解决上述技术问题，本发明采用的第四种技术方案为：In order to solve the problems of the technologies described above, the fourth technical solution adopted in the present invention is:
一种存储介质，所述存储介质计算机可读并存储有计算机程序，所述计算机程序被处理器执行时实现如上述的基于V2X感知融合技术的驾驶辅助方法。A storage medium is readable by a computer and stores a computer program. When the computer program is executed by a processor, the above-mentioned driving assistance method based on the V2X perception fusion technology is realized.
本发明的有益效果在于：通过本申请辅助方法，在车辆由匝道汇入主路时，通过主车自身的预判代替驾驶员提前观察主路路况状态而提前做出预判，能够减速或停车避让主路的目标车辆，也能够发出警告，避免了一旦驾驶员注意力不集中未能及时有效的预判碰撞风险，将导致车辆碰撞发生交通事故。The beneficial effect of the present invention is that: through the auxiliary method of the application, when the vehicle merges into the main road from the ramp, the main vehicle can make a prediction in advance instead of the driver to observe the road conditions of the main road in advance through the prediction of the main vehicle itself, so that it can slow down or stop The target vehicle that avoids the main road can also issue a warning, avoiding that once the driver is distracted and fails to predict the collision risk in a timely and effective manner, it will lead to vehicle collision and traffic accidents.
附图说明Description of drawings
图1为本发明具体实施方式的一种基于V2X感知融合技术的驾驶辅助方法的应用场景图；1 is an application scene diagram of a driving assistance method based on V2X perception fusion technology according to a specific embodiment of the present invention;
图2为本发明具体实施方式的一种基于V2X感知融合技术的驾驶辅助方法的应用时各个参与主体的系统图；FIG. 2 is a system diagram of each participating subject during the application of a driving assistance method based on V2X perception fusion technology according to a specific embodiment of the present invention;
图3为本发明具体实施方式的一种基于V2X感知融合技术的驾驶辅助方法的主车的逻辑控制图(图中&&为且的意思，图中TBD为to be determined待定的意思，即对应的第一预设值和第二预设值)。Fig. 3 is a logic control diagram of the main vehicle of a driving assistance method based on V2X perception fusion technology according to a specific embodiment of the present invention (&& in the figure means and, and TBD in the figure means to be determined to be determined, that is, the corresponding first preset value and second preset value).
具体实施方式detailed description
为详细说明本发明的技术内容、所实现目的及效果，以下结合实施方式并配合附图予以说明。In order to describe the technical content, achieved goals and effects of the present invention in detail, the following descriptions will be made in conjunction with the embodiments and accompanying drawings.
请参照图1至图3，一种基于V2X感知融合技术的驾驶辅助方法，包括Please refer to Figure 1 to Figure 3, a driving assistance method based on V2X perception fusion technology, including
步骤一、主车进入匝道并道场景后并判断主道最右侧是否存在目标车辆，若否则记为事件A并正常行使，若是则判断主车是否先到达碰撞点，若是则判断主车进入主道后是否满足TTC大于第一预设值且THW大于第一设定阈值，若是则记为事件C并正常驾驶，若否则执行步骤二；若主车未能先到达碰撞点则预测主车进入主道后是否满足TTC大于第一预设值且THW大于第二设定阈值；若是则记为事件B并正常驾驶，若否则执行步骤二；Step 1. After the main vehicle enters the ramp merge scene, judge whether there is a target vehicle on the far right side of the main road. If not, record it as event A and drive normally. If so, determine whether the main vehicle has reached the collision point first. If so, determine whether the main vehicle entered After the main road, whether TTC is greater than the first preset value and THW is greater than the first set threshold, if so, record it as event C and drive normally, if not, perform step 2; if the main vehicle fails to reach the collision point first, predict the main vehicle After entering the main road, whether TTC is greater than the first preset value and THW is greater than the second set threshold; if so, record it as event B and drive normally, if not, go to step 2;
步骤二、判断安全线与主车的距离是否小于紧急制动的第三设定阈值，若是则紧急制动并执行步骤三，若否则判断安全线与主车的距离是否小于温和制动的第四设定阈值，若是则温和制动并执行步骤三，若否则判断安全线与主车的距离是否小于预警的第五设定阈值，若否则正常行使，若是则进行预警并执行步骤三；Step 2. Determine whether the distance between the safety line and the main vehicle is less than the third set threshold for emergency braking. If so, perform emergency braking and perform step 3. Otherwise, determine whether the distance between the safety line and the main vehicle is less than the third threshold for gentle braking. 4. Set the threshold, if yes, perform gentle braking and perform step 3, if otherwise, judge whether the distance between the safety line and the main vehicle is less than the fifth set threshold of the warning, if not, proceed normally, if so, perform the warning and perform step 3;
步骤三、当事件A、事件B、事件C至少满足的一个时，系统退出警报或制动，若主车已经停止，则提醒驾驶员及时驶入主道；Step 3. When at least one of event A, event B, and event C is satisfied, the system exits the alarm or brakes, and if the main vehicle has stopped, reminds the driver to drive into the main road in time;
所述TTC为主车与目标车辆发生碰撞的时间，若主车先到达碰撞点，则TTC的计算公式为：The TTC is the time when the main vehicle collides with the target vehicle. If the main vehicle arrives at the collision point first, the calculation formula of TTC is:
若主车未能先到达碰撞点，则TTC的计算公式为：If the main vehicle fails to reach the collision point first, the calculation formula of TTC is:
THW为车头时距，计算公式为：THW is the time headway, the calculation formula is:
其中，vSV为主车的行驶车速；vT为目标车辆的行驶速度；aSV为主车的加速度；aT为目标车辆的加速度；dR为车辆进入主道后与目标车辆之间的距离。Among them,vSV is the driving speed of the main vehicle;vT is the driving speed of the target vehicle;aSV is the acceleration of the main vehicle;aT is the acceleration of the target vehicle;dR is the distance between the vehicle and the target vehicle after entering the main road distance.
从上述描述可知，通过本申请辅助方法，在车辆由匝道汇入主路时，通过主车自身的预判代替驾驶员提前观察主路路况状态而提前做出预判，能够减速或停车避让主路的目标车辆，也能够发出警告，避免了一旦驾驶员注意力不集中未能及时有效的预判碰撞风险，将导致车辆碰撞发生交通事故。As can be seen from the above description, through the auxiliary method of this application, when the vehicle merges into the main road from the ramp, the main vehicle itself can make a prediction in advance instead of the driver observing the road conditions of the main road in advance, and can slow down or stop to avoid the main road. The target vehicle on the road can also issue a warning, avoiding that once the driver is distracted and fails to predict the collision risk in a timely and effective manner, it will lead to a vehicle collision and a traffic accident.
进一步的，所述第三设定阈值Dstop的计算公式为：Further, the calculation formula of the third set threshold Dstop is:
其中，tRBR制动系统响应时间。Among them, tRBR braking system response time.
进一步的，所述第四设定阈值dstop的计算公式为：Further, the calculation formula of the fourth set thresholddstop is:
其中，tSVD为驾驶员反应时间。Among them,tSVD is the reaction time of the driver.
进一步的，所述判断主车是否先到达碰撞点进一步包括Further, the judging whether the host vehicle arrives at the collision point first further includes
先判断目标车辆达到目标点的的时间T1，计算公式为First judge the time T1 when the target vehicle reaches the target point, the calculation formula is
其中，dT为目标车辆到碰撞点的距离；Among them,dT is the distance from the target vehicle to the collision point;
判断主车达到目标点的的时间T2，计算公式为To judge the time T2 when the main vehicle reaches the target point, the calculation formula is
其中，dS为主车到碰撞点的距离；Among them,dS is the distance from the main vehicle to the collision point;
若T1大于等于T2，则主车先到达碰撞点，否则目标车辆先到达碰撞点。If T1 is greater than or equal to T2, the host vehicle arrives at the collision point first, otherwise the target vehicle arrives at the collision point first.
进一步的，所述第一设定阈值为4.4。Further, the first set threshold is 4.4.
进一步的，所述第二设定阈值为1.2s。Further, the second set threshold is 1.2s.
进一步的，若目标车辆有多个，则每个目标车辆都进行判断。Further, if there are multiple target vehicles, each target vehicle will make a judgment.
一种车辆，包括控制器，所述控制器执行上述的基于V2X感知融合技术的驾驶辅助方法。A vehicle, including a controller, the controller executes the above-mentioned driving assistance method based on V2X perception fusion technology.
一种计算机，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上述的基于V2X感知融合技术的驾驶辅助方法。A computer, including a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program, the driving based on the above-mentioned V2X perception fusion technology is realized helper method.
一种存储介质，所述存储介质计算机可读并存储有计算机程序，所述计算机程序被处理器执行时实现如上述的基于V2X感知融合技术的驾驶辅助方法。A storage medium is readable by a computer and stores a computer program. When the computer program is executed by a processor, the above-mentioned driving assistance method based on the V2X perception fusion technology is realized.
实施例一Embodiment one
一种基于V2X感知融合技术的驾驶辅助方法，A driving assistance method based on V2X perception fusion technology,
使用场景参照图1；Refer to Figure 1 for usage scenarios;
各个参与主体的系统图参照图2；Refer to Figure 2 for the system diagram of each participant;
主车的逻辑控制图参照图3，Refer to Figure 3 for the logic control diagram of the main vehicle.
为方便解释说明匝道并道场景的态势评估及决策判断逻辑，定义相关参数如下：In order to facilitate the explanation of the situation assessment and decision-making logic of the ramp-merging scenario, the relevant parameters are defined as follows:
主道最右侧车辆(以下统称目标车辆)行驶速度为vT；The vehicle on the far right side of the main road (hereinafter collectively referred to as the target vehicle) travels at a speed vT ;
本车SV行驶方向与目标车辆行驶方向交汇点为碰撞点O；The collision point O is the intersection of the traveling direction of the vehicle SV and the traveling direction of the target vehicle;
目标车辆到碰撞点O的距离dT；The distance dT from the target vehicle to the collision point O;
目标车辆加速度为aT；The acceleration of the target vehicle is aT ;
主车行驶车速为vSV；The driving speed of the main vehicle is vSV ;
主车与安全线(主道最右侧车道的右侧车道线与匝道的交线)的距离为dp；The distance between the main vehicle and the safety line (the intersection line between the right lane line of the rightmost lane of the main road and the ramp) is dp ;
主车加速度为aSV；The acceleration of the main vehicle is aSV ;
主车到碰撞点O的距离ds；The distance ds from the main vehicle to the collision point O;
主车驾驶员反应时间为tSVD，主车制动系统响应时间为tRBR。The reaction time of the driver of the main vehicle is tSVD , and the response time of the braking system of the main vehicle is tRBR .
①根据V2I信息、V2V信息、自车摄像头信息、前向毫米波雷达信息、侧向角雷达信息的融合感知结果判断该场景附近主道最右侧车道内是否存在目标车辆的Flag。若无目标车辆，主车可正常并入主道，否则，做进一步风险逻辑判断。① According to the fusion perception results of V2I information, V2V information, self-vehicle camera information, forward millimeter-wave radar information, and side angle radar information, determine whether there is a flag of the target vehicle in the rightmost lane of the main road near the scene. If there is no target vehicle, the main vehicle can merge into the main road normally, otherwise, make further risk logic judgment.
②若主道右侧车道存在目标车辆，根据目标车辆和主车的运动关系及位置关系进一步判断主车在并道中和并道后是否存在发生碰撞的风险。为此，先判断目标车辆和主车到达碰撞点O的先后时间关系。目标车到点O的时间T1的计算公式如下：② If there is a target vehicle in the right lane of the main road, according to the motion relationship and position relationship between the target vehicle and the main vehicle, it is further judged whether there is a risk of collision between the main vehicle during and after merging. To this end, first judge the time relationship between the target vehicle and the host vehicle arriving at the collision point O. The calculation formula of the time T1 for the target vehicle to point O is as follows:
自车到点O的时间T2的计算公式如下：The calculation formula of the time T2 from the car to point O is as follows:
若T1≥T2，说明主车先到达碰撞点，否则目标车先到达碰撞点。若主车先到达碰撞点，待主车进入主道后，目标车作为后车对主车有无碰撞风险视二者的相对运动关系及相对位置关系而定，但由于目标车速和本车车速大小逻辑关系未知，故使用TTC和THW(车头时距)联合预测主车在不减速的情况下，进入主道后对目标车干扰的程度:If T1≥T2, it means that the main vehicle arrives at the collision point first, otherwise the target vehicle arrives at the collision point first. If the main vehicle arrives at the collision point first, after the main vehicle enters the main road, whether the target vehicle as the rear vehicle has the risk of collision with the main vehicle depends on the relative motion relationship and relative position relationship between the two, but due to the target vehicle speed and the vehicle speed The size of the logical relationship is unknown, so TTC and THW (time headway) are used to jointly predict the degree of interference to the target vehicle after the host vehicle enters the main road without decelerating:
其中，dR为车辆进入主道后与目标车辆之间的距离，若该值为正说明到达点O后，主车在目标车之前，否则，主车则位于目标车之后。其计算公式如下：Among them, dR is the distance between the vehicle and the target vehicle after entering the main road. If the value is positive, it means that after reaching point O, the host vehicle is in front of the target vehicle, otherwise, the host vehicle is behind the target vehicle. Its calculation formula is as follows:
dR＝dT-T2*vT (3.5)dR ＝dT -T2*vT (3.5)
当TTC大于设定阈值(默认为4.4)且THW大于设定阈值(默认为1.2s)时，认为二者无碰撞风险，主车可正常并入主道，反之则存在碰撞风险。When TTC is greater than the set threshold (4.4 by default) and THW is greater than the set threshold (1.2s by default), it is considered that there is no risk of collision between the two, and the main vehicle can merge into the main road normally, otherwise there is a risk of collision.
若T1<T2时，说明目标车先到达碰撞点。考虑传感器延迟误差、测量误差、计算误差等影响，对于目标车先到达碰撞点的情况，不能完全保证二者无碰撞风险，所以必须确保主车进入主道时，目标车已驶过一定距离。同样，使用TTC、THW两个参数共同表征二者存在碰撞风险的级别：If T1<T2, it means that the target vehicle arrives at the collision point first. Considering the effects of sensor delay error, measurement error, calculation error, etc., for the case where the target vehicle arrives at the collision point first, it cannot be completely guaranteed that there is no risk of collision between the two, so it must be ensured that when the host vehicle enters the main road, the target vehicle has already driven a certain distance. Similarly, the two parameters of TTC and THW are used to jointly characterize the level of collision risk between the two:
当TTC大于设定阈值时(默认为4.4)且THW大于设定阈值(默认为1.2s)，认为二者无碰撞风险，主车可正常并入主道，反之则存在碰撞风险。When TTC is greater than the set threshold (4.4 by default) and THW is greater than the set threshold (1.2s by default), it is considered that there is no risk of collision between the two, and the main vehicle can merge into the main road normally, otherwise there is a risk of collision.
③当主车和目标车存在碰撞风险时，根据碰撞风险的程度控制车辆减速的程度。所以根据主车距离安全线的距离判断发生碰撞的风险等级状态。③ When there is a collision risk between the host vehicle and the target vehicle, the degree of vehicle deceleration is controlled according to the degree of collision risk. Therefore, according to the distance between the main vehicle and the safety line, the risk level state of the collision is judged.
a)系统首先会判断车辆是否处于非常紧急的状态，若通过人为干预已不能避免碰撞，则需要系统自动介入，通过强力紧急刹车来避免碰撞或减轻碰撞。设定系统紧急制动触发阈值，当车辆距安全线的距离dp小于紧急制动触发阈值时，第一时间启动紧急制动。紧急制动阈值就算公式如下:a) The system will first judge whether the vehicle is in a very urgent state. If the collision cannot be avoided through human intervention, the system needs to automatically intervene to avoid or mitigate the collision through strong emergency braking. Set the emergency braking trigger threshold of the system. When the distance dp between the vehicle and the safety line is less than the emergency braking trigger threshold, the emergency braking will be activated immediately. The formula for the emergency braking threshold is as follows:
b)其次，系统会判断车辆是否处于相对紧急的状态，这时系统会通过缓刹车进行提醒，期待驾驶员主动接管车辆。当车辆距安全线的距离dp小于温和制动触发阈值时，启动温和制动。温和制动阈值的计算公式同紧急制动，区别在于aSV的取值大小，具体取值同斑马线场景保持一致。b) Secondly, the system will judge whether the vehicle is in a relatively urgent state. At this time, the system will remind through slow braking, expecting the driver to actively take over the vehicle. When the distance dp of the vehicle from the safety line is less than the trigger threshold of gentle braking, the gentle braking is initiated. The calculation formula of the gentle braking threshold is the same as that of emergency braking, the difference lies in the value of aSV , and the specific value is consistent with the zebra crossing scene.
c)在该阶段最后，系统会判断车辆是否处于潜在风险状态，这时系统以声音和视觉提醒为主。当车辆距安全线的距离dp小于预警触发阈值时，启动预警功能。预警阈值的计算公式如下：c) At the end of this stage, the system will judge whether the vehicle is in a potential risk state. At this time, the system mainly uses sound and visual reminders. When the distance dp between the vehicle and the safety line is less than the trigger threshold of the warning, the warning function is activated. The formula for calculating the warning threshold is as follows:
④当A(目标车不存在)、B(主车后到碰撞点且已与目标车保持一定安全距离)、C(主车先到碰撞点且与目标车保持一定安全距离)事件至少有一个满足时，系统退出报警或制动。若车辆已处于刹停状态，通过仪表或声音提醒驾驶员及时驶入主车道。④ When there is at least one event in A (the target car does not exist), B (the main car arrives at the collision point and has kept a certain safe distance from the target car), and C (the main car arrives at the collision point first and keeps a certain safe distance from the target car) When satisfied, the system exits the alarm or brakes. If the vehicle is already in the braking state, the driver will be reminded to drive into the main lane in time through the instrument or sound.
另外，当存在多辆目标车时，每个目标车都要进行安全判断，各目标安全风险需同时考虑，当有至少一个目标存在碰撞风险时，都要进行安全风险等级的判断并执行相应的策略，或紧急制动，或温和制动，或声光提醒。In addition, when there are multiple target vehicles, each target vehicle must make a safety judgment, and the safety risks of each target must be considered at the same time. When at least one target has a collision risk, the safety risk level must be judged and the corresponding Strategy, or emergency braking, or gentle braking, or sound and light reminders.
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等同变换，或直接或间接运用在相关的技术领域，均同理包括在本发明的专利保护范围内。The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent transformations made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in related technical fields, are all included in the same principle. Within the scope of patent protection of the present invention.
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