技术领域Technical Field
本发明属于安全辅助驾驶领域，涉及汽车主动安全技术，具体涉及一种智能网联汽车汇入目标车道的防撞辅助系统，用于帮助驾驶员安全地完成汇入操作，提高汽车的行驶安全性和通行效率。The present invention belongs to the field of safe assisted driving and relates to automobile active safety technology, and specifically to a collision avoidance assistance system for an intelligent connected automobile to merge into a target lane, which is used to help the driver to safely complete the merging operation and improve the driving safety and traffic efficiency of the automobile.
背景技术Background Art
汇入过程是指在辅道或非正常路线上的车汇入主要道路或车流量大的道路的过程。汇入操作对驾驶员的驾驶技术要求较高，然而部分驾驶员缺少驾驶经验，难以判断汇入时机是否恰当，具体表现为两种情况：一种情况为错过恰当的汇入时机，导致通行效率降低；另一种情况为在错误的汇入时机进行汇入操作，导致交通秩序混乱，甚至造成碰撞事故。因此，采用防撞辅助系统帮助驾驶员完成汇入操作，可以有效地提高通行效率，并减小碰撞事故发生的可能性，还能在一定程度上提高驾驶员的驾驶技术。The merging process refers to the process of vehicles on auxiliary roads or non-normal routes merging into main roads or roads with heavy traffic. The merging operation requires high driving skills from the driver. However, some drivers lack driving experience and find it difficult to judge whether the merging time is appropriate. There are two specific situations: one is missing the appropriate merging time, resulting in reduced traffic efficiency; the other is merging at the wrong merging time, resulting in traffic disorder and even collision accidents. Therefore, the use of collision avoidance assistance systems to help drivers complete merging operations can effectively improve traffic efficiency, reduce the possibility of collision accidents, and improve the driver's driving skills to a certain extent.
随着通讯技术的发展，智能网联汽车成为了汽车行业研究的热点。智能网联汽车通过车联网技术实现了车与车、车与人、车与路、车与云平台的全方位信息交互，提升了车辆的智能化水平，提高了车辆行驶的安全性、舒适性、高效性和便利性。With the development of communication technology, intelligent connected vehicles have become a hot topic in the automotive industry. Through the Internet of Vehicles technology, intelligent connected vehicles realize all-round information interaction between vehicles, vehicles and people, vehicles and roads, and vehicles and cloud platforms, which improves the intelligence level of vehicles and improves the safety, comfort, efficiency and convenience of vehicle driving.
目前，现有的用于汇入目标车道的防撞辅助系统存在以下问题1)未考虑车辆在汇入过程的行驶轨迹，导致计算出的结果与实际情况差距过大；2)未考虑路段交通状况、天气状况、驾驶员特性和路面附着情况对汇入过程的影响，在一些极端条件下无法保证汇入的安全性；3)预警方式单一，无法使驾驶员直观地了解到汇入行为的危险程度。At present, the existing collision avoidance assistance systems for merging into the target lane have the following problems: 1) The driving trajectory of the vehicle during the merging process is not taken into account, resulting in a large gap between the calculated results and the actual situation; 2) The impact of road traffic conditions, weather conditions, driver characteristics and road adhesion conditions on the merging process is not considered, and the safety of merging cannot be guaranteed under some extreme conditions; 3) The warning method is single, which cannot enable the driver to intuitively understand the degree of danger of the merging behavior.
发明内容Summary of the invention
针对上述存在的问题，本发明提供一种智能网联汽车汇入目标车道的防撞辅助系统，用于帮助驾驶员安全地完成汇入操作，提高汽车的行驶安全性和通行效率。In view of the above-mentioned problems, the present invention provides a collision avoidance assistance system for an intelligent connected vehicle merging into a target lane, which is used to help the driver complete the merging operation safely and improve the driving safety and traffic efficiency of the vehicle.
为了实现上述目的，本发明具体技术方案如下：In order to achieve the above object, the specific technical solution of the present invention is as follows:
一种智能网联汽车汇入目标车道的防撞辅助系统，包括车联网信息接收模块、车载状态感知模块、汇入过程预估模块、前向安全距离计算模块、后向第一安全距离计算模块、后向第二安全距离计算模块、防撞决策模块和危险预警模块；A collision avoidance assistance system for an intelligent network-connected vehicle merging into a target lane, comprising a vehicle network information receiving module, a vehicle state sensing module, a merging process estimation module, a forward safety distance calculation module, a rearward first safety distance calculation module, a rearward second safety distance calculation module, a collision avoidance decision module and a danger warning module;
所述车联网信息接收模块包括车对路通信子模块和车对车通信子模块，所述车对路通信子模块采集道路状况信息，所述道路状况信息包括：当前道路的上下坡度角α、当前道路的能见度D、当前路段的车流量ρ和当前路段的极限车流量ρ0；所述车对车通信子模块获取目标车道前车的状态信息和目标车道后车的状态信息，所述目标车道前车的状态信息包括：目标车道前车的行驶车速vf和目标车道前车的车辆类型，所述目标车道后车的状态信息包括：目标车道后车的行驶车速vr、目标车道后车的车辆类型和目标车道后车的最大制动减速度ar；The vehicle networking information receiving module includes a vehicle-to-road communication submodule and a vehicle-to-vehicle communication submodule. The vehicle-to-road communication submodule collects road condition information, and the road condition information includes: the up and down slope angles α of the current road, the visibility D of the current road, the vehicle flow ρ of the current road section, and the limit vehicle flow ρ0 of the current road section; the vehicle-to-vehicle communication submodule obtains the state information of the front vehicle of the target lane and the state information of the rear vehicle of the target lane. The state information of the front vehicle of the target lane includes: the driving speed vf of the front vehicle of the target lane and the vehicle type of the front vehicle of the target lane, and the state information of the rear vehicle of the target lane includes: the driving speed vr of the rear vehicle of the target lane, the vehicle type of the rear vehicle of the target lane, and the maximum braking deceleration ar of the rear vehicle of the target lane;
其中，所述目标车道前车为在目标车道内，位于本车前方且距离本车最近的一辆车；所述目标车道后车为在目标车道内，位于本车后方且距离本车最近的一辆车；所述本车为准备汇入目标车道的车辆；The target lane front vehicle is a vehicle in the target lane that is located in front of the vehicle and closest to the vehicle; the target lane rear vehicle is a vehicle in the target lane that is located behind the vehicle and closest to the vehicle; the vehicle is a vehicle that is about to merge into the target lane;
所述车载状态感知模块包括车载传感器、车载摄像头、车载人机交互屏幕和车载雷达，所述车载传感器采集本车的行驶车速v、当前道路的路面附着系数μ，所述车载摄像头采集本车与目标车道中心线之间的距离L、本车车身与目标车道中心线之间的夹角θ，所述车载人机交互屏幕采集驾驶员保守度Y，所述车载雷达采集本车与目标车道前车之间的纵向距离sf和本车与目标车道后车之间的纵向距离sr，所述纵向为与车道线平行的方向；The vehicle state perception module includes a vehicle sensor, a vehicle camera, a vehicle human-computer interaction screen and a vehicle radar. The vehicle sensor collects the vehicle speed v and the road adhesion coefficient μ of the current road. The vehicle camera collects the distance L between the vehicle and the center line of the target lane and the angle θ between the vehicle body and the center line of the target lane. The vehicle human-computer interaction screen collects the driver's conservatism Y. The vehicle radar collects the longitudinal distance sf between the vehicle and the front vehicle in the target lane and the longitudinal distance sr between the vehicle and the rear vehicle in the target lane, where the longitudinal direction is a direction parallel to the lane line.
所述汇入过程预估模块根据车载状态感知模块采集到的相关信息，对本车汇入目标车道的行驶轨迹进行拟合，并计算预估汇入时间t和预估汇入纵向位移x；The merging process estimation module fits the driving trajectory of the vehicle merging into the target lane according to the relevant information collected by the vehicle state perception module, and calculates the estimated merging time t and the estimated merging longitudinal displacement x;
所述前向安全距离计算模块根据车联网信息接收模块、车载状态感知模块和汇入过程预估模块得到的相关信息，计算本车与目标车道前车之间的纵向安全距离The forward safety distance calculation module calculates the longitudinal safety distance between the vehicle and the vehicle in front of the target lane based on the relevant information obtained by the vehicle network information receiving module, the vehicle state perception module and the merging process estimation module.
所述后向第一安全距离计算模块根据车联网信息接收模块、车载状态感知模块和汇入过程预估模块得到的相关信息，计算本车与目标车道后车之间的第一纵向安全距离The first rearward safety distance calculation module calculates the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane according to the relevant information obtained by the vehicle network information receiving module, the vehicle state perception module and the merging process estimation module.
所述后向第二安全距离计算模块根据车联网信息接收模块、车载状态感知模块和汇入过程预估模块得到的相关信息，计算本车与目标车道后车之间的第二纵向安全距离The rear second safety distance calculation module calculates the second longitudinal safety distance between the vehicle and the vehicle behind in the target lane according to the relevant information obtained by the vehicle network information receiving module, the vehicle state perception module and the merging process estimation module.
所述防撞决策模块根据车联网信息接收模块和车载状态感知模块采集到的相关信息，计算安全修正系数K，利用安全修正系数K对本车与目标车道前车之间的纵向安全距离本车与目标车道后车之间的第一纵向安全距离和本车与目标车道后车之间的第二纵向安全距离进行修正，根据修正结果和所述车载雷达测得的距离信息，确定向危险预警模块所发送的决策信号，所述决策信号包括双向安全信号、后向一级预警信号、后向二级预警信号、前向预警信号和双向预警信号；The anti-collision decision module calculates the safety correction coefficient K based on the relevant information collected by the Internet of Vehicles information receiving module and the vehicle status perception module, and uses the safety correction coefficient K to adjust the longitudinal safety distance between the vehicle and the vehicle in front of the target lane. The first longitudinal safety distance between the vehicle and the vehicle behind in the target lane The second longitudinal safety distance between the vehicle and the vehicle behind in the target lane Perform correction, and determine a decision signal to be sent to the danger warning module according to the correction result and the distance information measured by the vehicle-mounted radar, wherein the decision signal includes a bidirectional safety signal, a rearward first-level warning signal, a rearward second-level warning signal, a forward warning signal, and a bidirectional warning signal;
所述危险预警模块包括汇入安全指示灯、蜂鸣器和车载人机交互屏幕，其通过接收防撞决策模块发送的决策信号，选择与决策信号对应的预警方式，进行危险预警。The danger warning module includes a safety indicator light, a buzzer and an on-board human-computer interaction screen. It receives the decision signal sent by the anti-collision decision module, selects the warning method corresponding to the decision signal, and issues a danger warning.
进一步地，所述汇入过程预估模块根据本车与目标车道中心线之间的距离L、本车车身与目标车道中心线之间的夹角θ和本车的行驶车速v，对本车汇入目标车道的过程进行预估，计算预估汇入时间t和预估汇入纵向位移x，具体的计算方法如下：Furthermore, the merging process estimation module estimates the process of the vehicle merging into the target lane according to the distance L between the vehicle and the center line of the target lane, the angle θ between the vehicle body and the center line of the target lane, and the driving speed v of the vehicle, and calculates the estimated merging time t and the estimated merging longitudinal displacement x. The specific calculation method is as follows:
(1)当θ＞θ0时，采用圆曲线拟合出本车汇入轨迹，预估汇入时间t的计算公式为：(1) When θ＞θ0 , the merging trajectory of the vehicle is fitted using a circular curve, and the calculation formula for the estimated merging time t is:
其中，θ0为汇入角度阈值，其具体取值由生产厂家根据本车转向性能自行设定；t为预估汇入时间，用来近似表示本车汇入目标车道所用的时间；v0为汇入车速阈值，其具体取值由生产厂家根据本车动力性能自行设定；L为本车与目标车道中心线之间的距离，θ为本车车身与目标车道中心线之间的夹角，v为本车的行驶车速；Among them,θ0 is the merging angle threshold, and its specific value is set by the manufacturer according to the steering performance of the vehicle; t is the estimated merging time, which is used to approximate the time taken by the vehicle to merge into the target lane;v0 is the merging speed threshold, and its specific value is set by the manufacturer according to the power performance of the vehicle; L is the distance between the vehicle and the center line of the target lane, θ is the angle between the vehicle body and the center line of the target lane, and v is the driving speed of the vehicle;
预估汇入纵向位移x的计算公式为：The calculation formula for estimating the longitudinal displacement x is:
其中，x为预估汇入纵向位移，用来近似表示本车汇入目标车道所经过的纵向位移；L为本车与目标车道中心线之间的距离，θ为本车车身与目标车道中心线之间的夹角；Where x is the estimated merging longitudinal displacement, which is used to approximate the longitudinal displacement of the vehicle merging into the target lane; L is the distance between the vehicle and the centerline of the target lane, and θ is the angle between the vehicle body and the centerline of the target lane;
(2)当θ≤θ0时，采用直线拟合出本车汇入轨迹，预估汇入时间t的计算公式为：(2) Whenθ≤θ0 , a straight line is used to fit the vehicle’s merging trajectory. The calculation formula for the estimated merging time t is:
其中，θ0为汇入角度阈值，其具体取值由生产厂家根据本车转向性能自行设定；t为预估汇入时间，用来近似表示本车汇入目标车道所用的时间；v0为汇入车速阈值，其具体取值由生产厂家根据本车动力性能自行设定；L为本车与目标车道中心线之间的距离，θ为本车车身与目标车道中心线之间的夹角，v为本车的行驶车速；Among them,θ0 is the merging angle threshold, and its specific value is set by the manufacturer according to the steering performance of the vehicle; t is the estimated merging time, which is used to approximate the time taken by the vehicle to merge into the target lane;v0 is the merging speed threshold, and its specific value is set by the manufacturer according to the power performance of the vehicle; L is the distance between the vehicle and the center line of the target lane, θ is the angle between the vehicle body and the center line of the target lane, and v is the driving speed of the vehicle;
预估汇入纵向位移x的计算公式为：The calculation formula for estimating the longitudinal displacement x is:
其中，x为预估汇入纵向位移，用来近似表示本车汇入目标车道所经过的纵向位移；θ0为汇入角度阈值，其具体取值由生产厂家根据本车转向性能自行设定；L为本车与目标车道中心线之间的距离。Where x is the estimated merging longitudinal displacement, which is used to approximate the longitudinal displacement that the vehicle goes through when merging into the target lane;θ0 is the merging angle threshold, and its specific value is set by the manufacturer according to the steering performance of the vehicle; L is the distance between the vehicle and the center line of the target lane.
进一步地，所述前向安全距离计算模块根据当前道路的上下坡度角α、当前道路的路面附着系数μ、本车的行驶车速v、预估汇入时间t、预估汇入纵向位移x、目标车道前车的行驶车速vf和目标车道前车的车辆类型，计算本车与目标车道前车之间的纵向安全距离具体的计算方法如下：Furthermore, the forward safety distance calculation module calculates the longitudinal safety distance between the vehicle and the vehicle in front of the target lane according to the up and down slope angles α of the current road, the road adhesion coefficient μ of the current road, the vehicle speed v of the vehicle, the estimated merging time t, the estimated merging longitudinal displacement x, the vehicle speedvf of the vehicle in front of the target lane, and the vehicle type of the vehicle in front of the target lane. The specific calculation method is as follows:
当v＞vf时，本车与目标车道前车之间的纵向安全距离的计算公式为：When v>vf , the longitudinal safety distance between the vehicle and the vehicle in front of the target lane is The calculation formula is:
当v≤vf时，本车与目标车道前车之间的纵向安全距离的计算公式为：When v≤vf, the longitudinal safety distance between the vehicle and the vehicle in front of the target lane The calculation formula is:
其中，为本车与目标车道前车之间的纵向安全距离，x为预估汇入纵向位移，t为预估汇入时间，vf为目标车道前车的行驶车速，v为本车的行驶车速，μ为当前道路的路面附着系数，g为重力加速度，α为当前道路的上下坡度角；a1为本车在水平良好路面上的最大制动减速度，其具体取值由生产厂家根据本车制动性能自行设定；df为本车与目标车道前车之间的最小纵向安全距离，由目标车道前车的车辆类型决定，所述车辆类型按照汽车最大允许总质量进行分类，分为轻型车、中型车、重型车，所述轻型车为最大允许总质量小于或等于3000kg的车辆，所述中型车为最大允许总质量大于3000kg且小于或等于12000kg的车辆，所述重型车为最大允许总质量大于12000kg的车辆；本车与目标车道前车之间的最小纵向安全距离df的取值方法为：in, is the longitudinal safety distance between the vehicle and the vehicle in front of the target lane, x is the estimated longitudinal displacement of the merge, t is the estimated merge time,vf is the speed of the vehicle in front of the target lane, v is the speed of the vehicle, μ is the road adhesion coefficient of the current road, g is the acceleration of gravity, and α is the up and down slope angle of the current road;a1 is the maximum braking deceleration of the vehicle on a level and good road surface, and its specific value is set by the manufacturer according to the braking performance of the vehicle;df is the minimum longitudinal safety distance between the vehicle and the vehicle in front of the target lane, which is determined by the vehicle type of the vehicle in front of the target lane. The vehicle type is classified according to the maximum allowable gross mass of the vehicle, and is divided into light vehicles, medium vehicles, and heavy vehicles. The light vehicle is a vehicle with a maximum allowable gross mass less than or equal to 3000kg, the medium vehicle is a vehicle with a maximum allowable gross mass greater than 3000kg and less than or equal to 12000kg, and the heavy vehicle is a vehicle with a maximum allowable gross mass greater than 12000kg; The method for determining the value of the minimum longitudinal safety distancedf between the vehicle and the vehicle in front of the target lane is:
当目标车道前车的车辆类型为所述轻型车时，df为2m；When the vehicle type of the front vehicle in the target lane is the light vehicle, df is 2m;
当目标车道前车的车辆类型为所述中型车时，df为3m；When the vehicle type of the front vehicle in the target lane is the medium-sized vehicle, df is 3m;
当目标车道前车的车辆类型为所述重型车时，df为4m。When the vehicle type of the front vehicle in the target lane is the heavy vehicle, df is 4m.
进一步地，所述后向第一安全距离计算模块根据当前道路的上下坡度角α、当前道路的路面附着系数μ、本车的行驶车速v、预估汇入时间t、预估汇入纵向位移x、目标车道后车的行驶车速vr和目标车道后车的车辆类型，计算本车与目标车道后车之间的第一纵向安全距离具体的计算方法如下：Furthermore, the rear first safety distance calculation module calculates the first longitudinal safety distance between the vehicle and the vehicle behind the target lane according to the up and down slope angles α of the current road, the road adhesion coefficient μ of the current road, the vehicle speed v of the vehicle, the estimated merging time t, the estimated merging longitudinal displacement x, the vehicle speed vr of the vehicle behind the target lane, and the vehicle type of the vehicle behind the target lane. The specific calculation method is as follows:
当v＜vr时，本车与目标车道后车之间的第一纵向安全距离的计算公式为：When v < vr , the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane The calculation formula is:
当v≥vr时，本车与目标车道后车之间的第一纵向安全距离的计算公式为：When v ≥ vr , the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane The calculation formula is:
其中，为本车与目标车道后车之间的第一纵向安全距离，x为预估汇入纵向位移，t为预估汇入时间，vr为目标车道后车的行驶车速，v为本车的行驶车速，μ为当前道路的路面附着系数，g为重力加速度，α为当前道路的上下坡度角；a2为本车加速时的参考加速度，其具体取值由生产厂家根据本车动力性能自行设定；dr为本车与目标车道后车之间的最小纵向安全距离，由目标车道后车的车辆类型决定，所述车辆类型按照汽车最大允许总质量进行分类，分为轻型车、中型车、重型车，所述轻型车为最大允许总质量小于或等于3000kg的车辆，所述中型车为最大允许总质量大于3000kg且小于或等于12000kg的车辆，所述重型车为最大允许总质量大于12000kg的车辆；本车与目标车道后车之间的最小纵向安全距离dr的取值方法为：in, is the first longitudinal safety distance between the vehicle and the vehicle behind the target lane, x is the estimated longitudinal displacement of the merge, t is the estimated merge time, vr is the speed of the vehicle behind the target lane, v is the speed of the vehicle, μ is the road adhesion coefficient of the current road, g is the gravitational acceleration, and α is the up and down slope angle of the current road; a2 is the reference acceleration when the vehicle accelerates, and its specific value is set by the manufacturer according to the power performance of the vehicle; dr is the minimum longitudinal safety distance between the vehicle and the vehicle behind the target lane, which is determined by the vehicle type of the vehicle behind the target lane. The vehicle type is classified according to the maximum allowable gross mass of the vehicle, and is divided into light vehicles, medium vehicles, and heavy vehicles. The light vehicle is a vehicle with a maximum allowable gross mass less than or equal to 3000 kg, the medium vehicle is a vehicle with a maximum allowable gross mass greater than 3000 kg and less than or equal to 12000 kg, and the heavy vehicle is a vehicle with a maximum allowable gross mass greater than 12000 kg; The method for determining the value of the minimum longitudinal safety distance dr between the vehicle and the vehicle behind the target lane is:
当目标车道后车的车辆类型为所述轻型车时，dr为2m；When the vehicle type of the vehicle behind the target lane is the light vehicle, dr is 2m;
当目标车道后车的车辆类型为所述中型车时，dr为3m；When the vehicle type of the vehicle behind the target lane is the medium-sized vehicle, dr is 3m;
当目标车道后车的车辆类型为所述重型车时，dr为4m。When the vehicle type of the rear vehicle in the target lane is the heavy vehicle, dr is 4m.
进一步地，所述后向第二安全距离计算模块根据当前道路的上下坡度角α、当前道路的路面附着系数μ、本车的行驶车速v、预估汇入时间t、预估汇入纵向位移x、目标车道后车的行驶车速vr、目标车道后车的车辆类型和目标车道后车的最大制动减速度ar，计算本车与目标车道后车之间的第二纵向安全距离具体的计算方法如下：Furthermore, the rear second safety distance calculation module calculates the second longitudinal safety distance between the vehicle and the vehicle behind the target lane according to the up and down slope angles α of the current road, the road adhesion coefficient μ of the current road, the vehicle speed v of the vehicle, the estimated merging time t, the estimated merging longitudinal displacement x, the vehicle speed vr of the vehicle behind the target lane, the vehicle type of the vehicle behind the target lane and the maximum braking deceleration ar of the vehicle behind the target lane. The specific calculation method is as follows:
当v＜vr时，本车与目标车道后车之间的第二纵向安全距离的计算公式为：When v < vr , the second longitudinal safety distance between the vehicle and the vehicle behind in the target lane The calculation formula is:
当v≥vr时，本车与目标车道后车之间的第二纵向安全距离的计算公式为：When v ≥ vr , the second longitudinal safety distance between the vehicle and the vehicle behind in the target lane The calculation formula is:
其中，为本车与目标车道后车之间的第二纵向安全距离，x为预估汇入纵向位移，t为预估汇入时间，vr为目标车道后车的行驶车速，v为本车的行驶车速，μ为当前道路的路面附着系数，g为重力加速度，α为当前道路的上下坡度角，ar为目标车道后车的最大制动减速度；tr为目标车道后车的制动反应时间，由驾驶员反应时间和制动协调时间组成，tr取为1.5s；dr为本车与目标车道后车之间的最小纵向安全距离，由目标车道后车的车辆类型决定，所述车辆类型按照汽车最大允许总质量进行分类，分为轻型车、中型车、重型车，所述轻型车为最大允许总质量小于或等于3000kg的车辆，所述中型车为最大允许总质量大于3000kg且小于或等于12000kg的车辆，所述重型车为最大允许总质量大于12000kg的车辆；本车与目标车道后车之间的最小纵向安全距离dr的取值方法为：in, is the second longitudinal safety distance between the vehicle and the vehicle behind in the target lane, x is the estimated merging longitudinal displacement, t is the estimated merging time, vr is the speed of the vehicle behind in the target lane, v is the speed of the vehicle, μ is the road adhesion coefficient of the current road, g is the gravitational acceleration, α is the up and down slope angle of the current road, ar is the maximum braking deceleration of the vehicle behind in the target lane; tr is the braking reaction time of the vehicle behind in the target lane, which is composed of the driver's reaction time and the braking coordination time, and tr is taken as 1.5s; dr is the minimum longitudinal safety distance between the vehicle and the vehicle behind the target lane, which is determined by the vehicle type of the vehicle behind the target lane. The vehicle type is classified according to the maximum allowable total mass of the vehicle, and is divided into light vehicles, medium vehicles, and heavy vehicles. The light vehicle is a vehicle with a maximum allowable total mass less than or equal to 3000kg, the medium vehicle is a vehicle with a maximum allowable total mass greater than 3000kg and less than or equal to 12000kg, and the heavy vehicle is a vehicle with a maximum allowable total mass greater than 12000kg. The method for determining the value of the minimum longitudinal safety distance dr between the vehicle and the vehicle behind the target lane is:
当目标车道后车的车辆类型为所述轻型车时，dr为2m；When the vehicle type of the vehicle behind the target lane is the light vehicle, dr is 2m;
当目标车道后车的车辆类型为所述中型车时，dr为3m；When the vehicle type of the vehicle behind the target lane is the medium-sized vehicle, dr is 3m;
当目标车道后车的车辆类型为所述重型车时，dr为4m。When the vehicle type of the rear vehicle in the target lane is the heavy vehicle, dr is 4m.
进一步地，所述防撞决策模块根据当前路段的车流量ρ、当前路段的极限车流量ρ0、当前道路的能见度D、驾驶员保守度Y和当前道路的路面附着系数μ，计算安全修正系数K，其计算公式为：Furthermore, the anti-collision decision module calculates the safety correction coefficient K according to the traffic flow ρ of the current road section, the limit traffic flow ρ0 of the current road section, the visibility D of the current road, the driver's conservatism Y and the road adhesion coefficient μ of the current road. The calculation formula is:
其中，K为安全修正系数，1≤K＜2；ω1、ω2、ω3、ω4为权重因子，通过神经网络加以训练得到合适的值，且ω1+ω2+ω3+ω4＝1；ρ为当前路段的车流量，ρ0为当前路段的极限车流量，D为当前道路的能见度，D0为能见度的危险阈值，D0取为500m；Y为驾驶员保守度，0≤Y≤100，其具体取值由驾驶员在车载人机交互屏幕上手动设置，默认值为50；μ为当前道路的路面附着系数，μ0为路面附着系数的危险阈值，μ0取为0.3；Wherein, K is the safety correction coefficient, 1≤K＜2; ω1 , ω2 , ω3 , ω4 are weight factors, which are trained by neural network to obtain appropriate values, and ω1 +ω2 +ω3 +ω4 =1; ρ is the traffic flow of the current section, ρ0 is the limit traffic flow of the current section, D is the visibility of the current road, D0 is the dangerous threshold of visibility, and D0 is taken as 500m; Y is the driver's conservatism, 0≤Y≤100, and its specific value is manually set by the driver on the on-board human-computer interaction screen, and the default value is 50; μ is the road adhesion coefficient of the current road, μ0 is the dangerous threshold of the road adhesion coefficient, and μ0 is taken as 0.3;
所述防撞决策模块向所述危险预警模块发送决策信号，所述决策信号的确定方法为：The anti-collision decision module sends a decision signal to the danger warning module, and the decision signal is determined by:
当且且时，向所述危险预警模块发送双向安全信号；when and and When the warning module is in the state of being in danger, a two-way safety signal is sent to the danger warning module;
当且时，向所述危险预警模块发送后向一级预警信号；when and When a warning signal is sent to the danger warning module,
当且时，向所述危险预警模块发送后向二级预警信号；when and When the hazard warning module is activated, a backward secondary warning signal is sent to the hazard warning module;
当且时，向所述危险预警模块发送前向预警信号；when and When a forward warning signal is sent to the danger warning module;
当且时，向所述危险预警模块发送双向预警信号；when and When a warning signal is sent to the danger warning module;
其中，sf为本车与目标车道前车之间的纵向距离，sr为本车与目标车道后车之间的纵向距离，为本车与目标车道前车之间的纵向安全距离，为本车与目标车道后车之间的第一纵向安全距离，为本车与目标车道后车之间的第二纵向安全距离，K为安全修正系数。Among them,sf is the longitudinal distance between the vehicle and the vehicle in front of the target lane,sr is the longitudinal distance between the vehicle and the vehicle behind the target lane, is the longitudinal safety distance between the vehicle and the vehicle ahead in the target lane, is the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane, is the second longitudinal safety distance between the vehicle and the vehicle behind in the target lane, and K is the safety correction factor.
进一步地，所述危险预警模块接收所述防撞决策模块发送的决策信号，根据决策信号进行预警，预警的具体方法为：Furthermore, the danger warning module receives the decision signal sent by the anti-collision decision module and issues a warning according to the decision signal. The specific method of the warning is:
当接收到的决策信号为双向安全信号时，所述汇入安全指示灯显示绿色，所述蜂鸣器不发出警报声，所述车载人机交互屏幕不显示箭头图案；When the received decision signal is a two-way safety signal, the incoming safety indicator light displays green, the buzzer does not sound an alarm, and the on-board human-computer interaction screen does not display an arrow pattern;
当接收到的决策信号为后向一级预警信号时，所述汇入安全指示灯显示黄色，所述蜂鸣器以频率f0发出警报声，所述车载人机交互屏幕显示闪烁的箭头图案，箭头指向后方，箭头闪烁频率为f0，箭头的透明度为p0；When the decision signal received is a backward first-level warning signal, the incoming safety indicator light is displayed in yellow, the buzzer emits an alarm sound at a frequency of f0 , and the on-board human-computer interaction screen displays a flashing arrow pattern, the arrow points to the rear, the arrow flashes at a frequency of f0 , and the transparency of the arrow is p0 ;
当接收到的决策信号为后向二级预警信号时，所述汇入安全指示灯显示红色，所述蜂鸣器以频率2f0发出警报声，所述车载人机交互屏幕显示闪烁的箭头图案，箭头指向后方，箭头闪烁频率为2f0，箭头的透明度为0.5p0；When the decision signal received is a rear-level secondary warning signal, the incoming safety indicator light is red, the buzzer emits an alarm at a frequency of 2f0 , and the on-board human-computer interaction screen displays a flashing arrow pattern, the arrow points to the rear, the arrow flashes at a frequency of 2f0 , and the transparency of the arrow is 0.5p0 ;
当接收到的决策信号为前向预警信号时，所述汇入安全指示灯显示红色，所述蜂鸣器以频率2f0发出警报声，所述车载人机交互屏幕显示闪烁的箭头图案，箭头指向前方，箭头闪烁频率为2f0，箭头的透明度为0.5p0；When the received decision signal is a forward warning signal, the incoming safety indicator light is displayed in red, the buzzer emits an alarm sound at a frequency of 2f0 , and the on-board human-computer interaction screen displays a flashing arrow pattern, the arrow points forward, the arrow flashes at a frequency of 2f0 , and the transparency of the arrow is 0.5p0 ;
当接收到的决策信号为双向预警信号时，所述汇入安全指示灯显示红色，所述蜂鸣器以频率3f0发出警报声，所述车载人机交互屏幕显示闪烁的双箭头图案，双箭头指向前方和后方，双箭头闪烁频率为3f0，双箭头的透明度为0.3p0；When the received decision signal is a bidirectional warning signal, the incoming safety indicator light is displayed in red, the buzzer emits an alarm sound at a frequency of 3f0 , and the on-board human-computer interaction screen displays a flashing double arrow pattern, the double arrows point to the front and the rear, the flashing frequency of the double arrows is 3f0 , and the transparency of the double arrows is 0.3p0 ;
其中，f0为警报标准频率，p0为图案标准透明度；Among them, f0 is the alarm standard frequency, p0 is the pattern standard transparency;
所述警报标准频率f0的控制方法采用模糊控制，具体方法如下：The control method of the alarm standard frequencyf0 adopts fuzzy control, and the specific method is as follows:
该模糊控制方法的输入为前向距离相对偏差e1和后向距离相对偏差e2，输出为所述警报标准频率f0，其中e1和e2的计算公式为：The input of the fuzzy control method is the forward distance relative deviatione1 and the backward distance relative deviatione2 , and the output is the alarm standard frequencyf0 , wherein the calculation formulas ofe1 ande2 are:
其中，e1为前向距离相对偏差，e2为后向距离相对偏差，K为安全修正系数，为本车与目标车道前车之间的纵向安全距离，sf为本车与目标车道前车之间的纵向距离，为本车与目标车道后车之间的第一纵向安全距离，sr为本车与目标车道后车之间的纵向距离；Among them,e1 is the relative deviation of the forward distance,e2 is the relative deviation of the backward distance, K is the safety correction factor, is the longitudinal safety distance between the vehicle and the vehicle in front of the target lane,sf is the longitudinal distance between the vehicle and the vehicle in front of the target lane, is the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane, sr is the longitudinal distance between the vehicle and the vehicle behind in the target lane;
该模糊控制方法输入的模糊子集定义为e1＝{NB,NM,NS,ZE,PS,PM,PB}，即{负大、负中、负小、零、正小、正中、正大}，e2＝{NB,NM,NS,ZE,PS,PM,PB}，即{负大、负中、负小、零、正小、正中、正大}，输出的模糊子集定义为f0＝{ZE,PO,PS,PM,PB}，即{零、正、正小、正中、正大}；The fuzzy subset of the input of the fuzzy control method is defined as e1 ={NB,NM,NS,ZE,PS,PM,PB}, that is, {negative large, negative medium, negative small, zero, positive small, positive medium, positive large}, e2 ={NB,NM,NS,ZE,PS,PM,PB}, that is, {negative large, negative medium, negative small, zero, positive small, positive medium, positive large}, and the fuzzy subset of the output is defined as f0 ={ZE,PO,PS,PM,PB}, that is, {zero, positive, positive small, positive medium, positive large};
上述模糊控制规则为：The above fuzzy control rules are:
所述图案标准透明度p0的计算公式如下：The calculation formula of the pattern standard transparency p0 is as follows:
其中，β1、β2为权重因子，通过神经网络加以训练得到合适的值，且β1+β2＝1；p0为图案标准透明度，K为安全修正系数，为本车与目标车道前车之间的纵向安全距离，sf为本车与目标车道前车之间的纵向距离，为本车与目标车道后车之间的第一纵向安全距离，sr为本车与目标车道后车之间的纵向距离。Among them, β1 and β2 are weight factors, which are trained by neural network to obtain appropriate values, and β1 +β2 =1; p0 is the standard transparency of the pattern, K is the safety correction factor, is the longitudinal safety distance between the vehicle and the vehicle in front of the target lane,sf is the longitudinal distance between the vehicle and the vehicle in front of the target lane, is the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane, and sr is the longitudinal distance between the vehicle and the vehicle behind in the target lane.
与现有技术相比，本发明的有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1.本发明利用车联网技术采集道路状况信息和目标车道上车辆的状态信息，保证了信息的准确性和实时性，使得防撞辅助系统的计算和决策更加精确。1. The present invention utilizes vehicle networking technology to collect road condition information and status information of vehicles in the target lane, thereby ensuring the accuracy and real-time nature of the information and making the calculation and decision-making of the collision avoidance assistance system more accurate.
2.本发明考虑了路段交通状况、大气能见度、驾驶员特性和路面附着情况对汇入过程的影响，使得防撞辅助系统的决策更符合实际情况，提高了车辆汇入目标车道的安全性。2. The present invention takes into account the impact of road traffic conditions, atmospheric visibility, driver characteristics and road adhesion conditions on the merging process, so that the decision of the collision avoidance assistance system is more in line with the actual situation and the safety of the vehicle merging into the target lane is improved.
3.本发明根据不同的危险情况，采用不同的预警方式对驾驶员进行提醒，向驾驶员直观地展示了汇入行为的危险程度，帮助驾驶员在合适的汇入时机下安全地完成汇入操作，不仅最大程度地减小了碰撞风险，而且提高了通行效率。3. The present invention uses different warning methods to remind the driver according to different dangerous situations, intuitively showing the driver the danger level of the merging behavior, and helping the driver to safely complete the merging operation at the appropriate merging time, which not only minimizes the risk of collision but also improves traffic efficiency.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
下面结合附图对本发明做进一步说明：The present invention will be further described below in conjunction with the accompanying drawings:
图1是所提出的防撞辅助系统组成及工作流程示意图；FIG1 is a schematic diagram of the composition and working process of the proposed collision avoidance assistance system;
图2是本车以圆曲线行驶轨迹汇入目标车道的示意图；FIG2 is a schematic diagram of the vehicle merging into the target lane along a circular curve driving trajectory;
图3是本车以直线行驶轨迹汇入目标车道的示意图。FIG. 3 is a schematic diagram of the vehicle merging into the target lane along a straight driving trajectory.
具体实施方式DETAILED DESCRIPTION
下面结合附图对本发明做进一步解释。The present invention will be further explained below in conjunction with the accompanying drawings.
如图1所示，整个系统包括车联网信息接收模块、车载状态感知模块、汇入过程预估模块、前向安全距离计算模块、后向第一安全距离计算模块、后向第二安全距离计算模块、防撞决策模块和危险预警模块。As shown in Figure 1, the entire system includes a vehicle network information receiving module, a vehicle status perception module, an import process estimation module, a forward safety distance calculation module, a rearward first safety distance calculation module, a rearward second safety distance calculation module, an anti-collision decision module and a danger warning module.
对于车联网信息接收模块，所述车联网信息接收模块包括车对路通信子模块和车对车通信子模块，所述车对路通信子模块采集道路状况信息，所述道路状况信息包括：当前道路的上下坡度角α、当前道路的能见度D、当前路段的车流量ρ和当前路段的极限车流量ρ0；所述车对车通信子模块获取目标车道前车的状态信息和目标车道后车的状态信息，所述目标车道前车的状态信息包括：目标车道前车的行驶车速vf和目标车道前车的车辆类型，所述目标车道后车的状态信息包括：目标车道后车的行驶车速vr、目标车道后车的车辆类型和目标车道后车的最大制动减速度ar；其中，所述目标车道前车为在目标车道内，位于本车前方且距离本车最近的一辆车；所述目标车道后车为在目标车道内，位于本车后方且距离本车最近的一辆车；所述本车为准备汇入目标车道的车辆。As for the vehicle networking information receiving module, the vehicle networking information receiving module includes a vehicle-to-road communication submodule and a vehicle-to-vehicle communication submodule. The vehicle-to-road communication submodule collects road condition information, and the road condition information includes: the up and down slope angles α of the current road, the visibility D of the current road, the traffic flow ρ of the current section, and the limit traffic flow ρ0 of the current section; the vehicle-to-vehicle communication submodule obtains the state information of the front vehicle of the target lane and the state information of the rear vehicle of the target lane. The state information of the front vehicle of the target lane includes: the driving speed vf of the front vehicle of the target lane and the vehicle type of the front vehicle of the target lane, and the state information of the rear vehicle of the target lane includes: the driving speed vr of the rear vehicle of the target lane, the vehicle type of the rear vehicle of the target lane, and the maximum braking deceleration ar of the rear vehicle of the target lane; wherein the front vehicle of the target lane is a vehicle in the target lane, located in front of the vehicle and closest to the vehicle; the rear vehicle of the target lane is a vehicle in the target lane, located behind the vehicle and closest to the vehicle; and the vehicle is a vehicle preparing to merge into the target lane.
对于车载状态感知模块，所述车载状态感知模块包括车载传感器、车载摄像头、车载人机交互屏幕和车载雷达，所述车载传感器采集本车的行驶车速v、当前道路的路面附着系数μ，所述车载摄像头采集本车与目标车道中心线之间的距离L、本车车身与目标车道中心线之间的夹角θ，所述车载人机交互屏幕采集驾驶员保守度Y，所述车载雷达采集本车与目标车道前车之间的纵向距离sf和本车与目标车道后车之间的纵向距离sr，所述纵向为与车道线平行的方向。As for the vehicle-mounted state perception module, the vehicle-mounted state perception module includes a vehicle-mounted sensor, a vehicle-mounted camera, a vehicle-mounted human-computer interaction screen and a vehicle-mounted radar. The vehicle-mounted sensor collects the vehicle speed v and the road adhesion coefficient μ of the current road. The vehicle-mounted camera collects the distance L between the vehicle and the center line of the target lane and the angle θ between the vehicle body and the center line of the target lane. The vehicle-mounted human-computer interaction screen collects the driver's conservatism Y. The vehicle-mounted radar collects the longitudinal distance sf between the vehicle and the front vehicle in the target lane and the longitudinal distance sr between the vehicle and the rear vehicle in the target lane, where the longitudinal direction is a direction parallel to the lane line.
对于汇入过程预估模块，所述汇入过程预估模块根据车载状态感知模块采集到的相关信息，对本车汇入目标车道的行驶轨迹进行拟合，并计算预估汇入时间t和预估汇入纵向位移x，具体的计算方法如下：For the merging process prediction module, the merging process prediction module fits the driving trajectory of the vehicle merging into the target lane according to the relevant information collected by the vehicle state perception module, and calculates the estimated merging time t and the estimated merging longitudinal displacement x. The specific calculation method is as follows:
(1)如图2所示，当θ＞θ0时，采用圆曲线拟合出本车汇入轨迹，预估汇入时间t的计算公式为：(1) As shown in Figure 2, when θ＞θ0 , the merging trajectory of the vehicle is fitted using a circular curve, and the calculation formula for the estimated merging time t is:
其中，θ0为汇入角度阈值，其具体取值由生产厂家根据本车转向性能自行设定；t为预估汇入时间，用来近似表示本车汇入目标车道所用的时间；v0为汇入车速阈值，其具体取值由生产厂家根据本车动力性能自行设定；L为本车与目标车道中心线之间的距离，θ为本车车身与目标车道中心线之间的夹角，v为本车的行驶车速；Among them,θ0 is the merging angle threshold, and its specific value is set by the manufacturer according to the steering performance of the vehicle; t is the estimated merging time, which is used to approximate the time taken by the vehicle to merge into the target lane;v0 is the merging speed threshold, and its specific value is set by the manufacturer according to the power performance of the vehicle; L is the distance between the vehicle and the center line of the target lane, θ is the angle between the vehicle body and the center line of the target lane, and v is the driving speed of the vehicle;
预估汇入纵向位移x的计算公式为：The calculation formula for estimating the longitudinal displacement x is:
其中，x为预估汇入纵向位移，用来近似表示本车汇入目标车道所经过的纵向位移；L为本车与目标车道中心线之间的距离，θ为本车车身与目标车道中心线之间的夹角；Where x is the estimated merging longitudinal displacement, which is used to approximate the longitudinal displacement that the vehicle goes through when merging into the target lane; L is the distance between the vehicle and the centerline of the target lane, and θ is the angle between the vehicle body and the centerline of the target lane;
(2)如图3所示，当θ≤θ0时，采用直线拟合出本车汇入轨迹，预估汇入时间t的计算公式为：(2) As shown in Figure 3, whenθ≤θ0 , a straight line is used to fit the vehicle's merging trajectory, and the calculation formula for the estimated merging time t is:
其中，θ0为汇入角度阈值，其具体取值由生产厂家根据本车转向性能自行设定；t为预估汇入时间，用来近似表示本车汇入目标车道所用的时间；v0为汇入车速阈值，其具体取值由生产厂家根据本车动力性能自行设定；L为本车与目标车道中心线之间的距离，θ为本车车身与目标车道中心线之间的夹角，v为本车的行驶车速；Among them,θ0 is the merging angle threshold, and its specific value is set by the manufacturer according to the steering performance of the vehicle; t is the estimated merging time, which is used to approximate the time taken by the vehicle to merge into the target lane;v0 is the merging speed threshold, and its specific value is set by the manufacturer according to the power performance of the vehicle; L is the distance between the vehicle and the center line of the target lane, θ is the angle between the vehicle body and the center line of the target lane, and v is the driving speed of the vehicle;
预估汇入纵向位移x的计算公式为：The calculation formula for estimating the longitudinal displacement x is:
其中，x为预估汇入纵向位移，用来近似表示本车汇入目标车道所经过的纵向位移；θ0为汇入角度阈值，其具体取值由生产厂家根据本车转向性能自行设定；L为本车与目标车道中心线之间的距离。Where x is the estimated merging longitudinal displacement, which is used to approximate the longitudinal displacement that the vehicle goes through when merging into the target lane;θ0 is the merging angle threshold, and its specific value is set by the manufacturer according to the steering performance of the vehicle; L is the distance between the vehicle and the centerline of the target lane.
对于前向安全距离计算模块，所述前向安全距离计算模块根据车联网信息接收模块、车载状态感知模块和汇入过程预估模块得到的相关信息，计算本车与目标车道前车之间的纵向安全距离具体的计算方法如下：For the forward safety distance calculation module, the forward safety distance calculation module calculates the longitudinal safety distance between the vehicle and the vehicle in front of the target lane based on the relevant information obtained by the vehicle network information receiving module, the vehicle state perception module and the merging process estimation module. The specific calculation method is as follows:
当v＞vf时，本车与目标车道前车之间的纵向安全距离的计算公式为：When v>vf , the longitudinal safety distance between the vehicle and the vehicle in front of the target lane is The calculation formula is:
当v≤vf时，本车与目标车道前车之间的纵向安全距离的计算公式为：When v≤vf , the longitudinal safety distance between the vehicle and the vehicle in front of the target lane The calculation formula is:
其中，为本车与目标车道前车之间的纵向安全距离，x为预估汇入纵向位移，t为预估汇入时间，vf为目标车道前车的行驶车速，v为本车的行驶车速，μ为当前道路的路面附着系数，g为重力加速度，α为当前道路的上下坡度角；a1为本车在水平良好路面上的最大制动减速度，其具体取值由生产厂家根据本车制动性能自行设定；df为本车与目标车道前车之间的最小纵向安全距离，由目标车道前车的车辆类型决定，所述车辆类型按照汽车最大允许总质量进行分类，分为轻型车、中型车、重型车，所述轻型车为最大允许总质量小于或等于3000kg的车辆，所述中型车为最大允许总质量大于3000kg且小于或等于12000kg的车辆，所述重型车为最大允许总质量大于12000kg的车辆；本车与目标车道前车之间的最小纵向安全距离df的取值方法为：in, is the longitudinal safety distance between the vehicle and the vehicle in front of the target lane, x is the estimated longitudinal displacement of the merge, t is the estimated merge time,vf is the speed of the vehicle in front of the target lane, v is the speed of the vehicle, μ is the road adhesion coefficient of the current road, g is the acceleration of gravity, and α is the up and down slope angle of the current road;a1 is the maximum braking deceleration of the vehicle on a level and good road surface, and its specific value is set by the manufacturer according to the braking performance of the vehicle;df is the minimum longitudinal safety distance between the vehicle and the vehicle in front of the target lane, which is determined by the vehicle type of the vehicle in front of the target lane. The vehicle type is classified according to the maximum allowable gross mass of the vehicle, and is divided into light vehicles, medium vehicles, and heavy vehicles. The light vehicle is a vehicle with a maximum allowable gross mass less than or equal to 3000kg, the medium vehicle is a vehicle with a maximum allowable gross mass greater than 3000kg and less than or equal to 12000kg, and the heavy vehicle is a vehicle with a maximum allowable gross mass greater than 12000kg; The method for determining the value of the minimum longitudinal safety distancedf between the vehicle and the vehicle in front of the target lane is:
当目标车道前车的车辆类型为所述轻型车时，df为2m；When the vehicle type of the front vehicle in the target lane is the light vehicle, df is 2m;
当目标车道前车的车辆类型为所述中型车时，df为3m；When the vehicle type of the front vehicle in the target lane is the medium-sized vehicle, df is 3m;
当目标车道前车的车辆类型为所述重型车时，df为4m。When the vehicle type of the front vehicle in the target lane is the heavy vehicle, df is 4m.
对于后向第一安全距离计算模块，所述后向第一安全距离计算模块根据车联网信息接收模块、车载状态感知模块和汇入过程预估模块得到的相关信息，计算本车与目标车道后车之间的第一纵向安全距离具体的计算方法如下：For the backward first safety distance calculation module, the backward first safety distance calculation module calculates the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane according to the relevant information obtained by the vehicle network information receiving module, the vehicle state perception module and the merging process estimation module. The specific calculation method is as follows:
当v＜vr时，本车与目标车道后车之间的第一纵向安全距离的计算公式为：When v < vr , the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane The calculation formula is:
当v≥vr时，本车与目标车道后车之间的第一纵向安全距离的计算公式为：When v ≥ vr , the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane The calculation formula is:
其中，为本车与目标车道后车之间的第一纵向安全距离，x为预估汇入纵向位移，t为预估汇入时间，vr为目标车道后车的行驶车速，v为本车的行驶车速，μ为当前道路的路面附着系数，g为重力加速度，α为当前道路的上下坡度角；a2为本车加速时的参考加速度，其具体取值由生产厂家根据本车动力性能自行设定；dr为本车与目标车道后车之间的最小纵向安全距离，由目标车道后车的车辆类型决定，所述车辆类型按照汽车最大允许总质量进行分类，分为轻型车、中型车、重型车，所述轻型车为最大允许总质量小于或等于3000kg的车辆，所述中型车为最大允许总质量大于3000kg且小于或等于12000kg的车辆，所述重型车为最大允许总质量大于12000kg的车辆；本车与目标车道后车之间的最小纵向安全距离dr的取值方法为：in, is the first longitudinal safety distance between the vehicle and the vehicle behind the target lane, x is the estimated longitudinal displacement of the merge, t is the estimated merge time, vr is the speed of the vehicle behind the target lane, v is the speed of the vehicle, μ is the road adhesion coefficient of the current road, g is the gravitational acceleration, and α is the up and down slope angle of the current road; a2 is the reference acceleration when the vehicle accelerates, and its specific value is set by the manufacturer according to the power performance of the vehicle; dr is the minimum longitudinal safety distance between the vehicle and the vehicle behind the target lane, which is determined by the vehicle type of the vehicle behind the target lane. The vehicle type is classified according to the maximum allowable gross mass of the vehicle, and is divided into light vehicles, medium vehicles, and heavy vehicles. The light vehicle is a vehicle with a maximum allowable gross mass less than or equal to 3000 kg, the medium vehicle is a vehicle with a maximum allowable gross mass greater than 3000 kg and less than or equal to 12000 kg, and the heavy vehicle is a vehicle with a maximum allowable gross mass greater than 12000 kg; The method for determining the value of the minimum longitudinal safety distance dr between the vehicle and the vehicle behind the target lane is:
当目标车道后车的车辆类型为所述轻型车时，dr为2m；When the vehicle type of the vehicle behind the target lane is the light vehicle, dr is 2m;
当目标车道后车的车辆类型为所述中型车时，dr为3m；When the vehicle type of the vehicle behind the target lane is the medium-sized vehicle, dr is 3m;
当目标车道后车的车辆类型为所述重型车时，dr为4m。When the vehicle type of the rear vehicle in the target lane is the heavy vehicle, dr is 4m.
对于后向第二安全距离计算模块，所述后向第二安全距离计算模块根据车联网信息接收模块、车载状态感知模块和汇入过程预估模块得到的相关信息，计算本车与目标车道后车之间的第二纵向安全距离具体的计算方法如下：For the rear second safety distance calculation module, the rear second safety distance calculation module calculates the second longitudinal safety distance between the vehicle and the vehicle behind in the target lane according to the relevant information obtained by the vehicle network information receiving module, the vehicle state perception module and the merging process estimation module. The specific calculation method is as follows:
当v＜vr时，本车与目标车道后车之间的第二纵向安全距离的计算公式为：When v < vr , the second longitudinal safety distance between the vehicle and the vehicle behind in the target lane The calculation formula is:
当v≥vr时，本车与目标车道后车之间的第二纵向安全距离的计算公式为：When v ≥ vr , the second longitudinal safety distance between the vehicle and the vehicle behind in the target lane The calculation formula is:
其中，为本车与目标车道后车之间的第二纵向安全距离，x为预估汇入纵向位移，t为预估汇入时间，vr为目标车道后车的行驶车速，v为本车的行驶车速，μ为当前道路的路面附着系数，g为重力加速度，α为当前道路的上下坡度角，ar为目标车道后车的最大制动减速度；tr为目标车道后车的制动反应时间，由驾驶员反应时间和制动协调时间组成，tr取为1.5s；dr为本车与目标车道后车之间的最小纵向安全距离，由目标车道后车的车辆类型决定，所述车辆类型按照汽车最大允许总质量进行分类，分为轻型车、中型车、重型车，所述轻型车为最大允许总质量小于或等于3000kg的车辆，所述中型车为最大允许总质量大于3000kg且小于或等于12000kg的车辆，所述重型车为最大允许总质量大于12000kg的车辆；本车与目标车道后车之间的最小纵向安全距离dr的取值方法为：in, is the second longitudinal safety distance between the vehicle and the vehicle behind in the target lane, x is the estimated merging longitudinal displacement, t is the estimated merging time, vr is the speed of the vehicle behind in the target lane, v is the speed of the vehicle, μ is the road adhesion coefficient of the current road, g is the gravitational acceleration, α is the up and down slope angles of the current road, ar is the maximum braking deceleration of the vehicle behind in the target lane; tr is the braking reaction time of the vehicle behind in the target lane, which is composed of the driver's reaction time and the braking coordination time, and tr is taken as 1.5s; dr is the minimum longitudinal safety distance between the vehicle and the vehicle behind the target lane, which is determined by the vehicle type of the vehicle behind the target lane. The vehicle type is classified according to the maximum allowable total mass of the vehicle, and is divided into light vehicles, medium vehicles, and heavy vehicles. The light vehicle is a vehicle with a maximum allowable total mass less than or equal to 3000kg, the medium vehicle is a vehicle with a maximum allowable total mass greater than 3000kg and less than or equal to 12000kg, and the heavy vehicle is a vehicle with a maximum allowable total mass greater than 12000kg. The method for determining the value of the minimum longitudinal safety distance dr between the vehicle and the vehicle behind the target lane is:
当目标车道后车的车辆类型为所述轻型车时，dr为2m；When the vehicle type of the vehicle behind the target lane is the light vehicle, dr is 2m;
当目标车道后车的车辆类型为所述中型车时，dr为3m；When the vehicle type of the vehicle behind the target lane is the medium-sized vehicle, dr is 3m;
当目标车道后车的车辆类型为所述重型车时，dr为4m。When the vehicle type of the rear vehicle in the target lane is the heavy vehicle, dr is 4m.
对于防撞决策模块，所述防撞决策模块根据车联网信息接收模块和车载状态感知模块采集到的相关信息，计算安全修正系数K，其计算公式为：For the anti-collision decision module, the anti-collision decision module calculates the safety correction coefficient K according to the relevant information collected by the Internet of Vehicles information receiving module and the vehicle status perception module. The calculation formula is:
其中，K为安全修正系数，1≤K＜2；ω1、ω2、ω3、ω4为权重因子，通过神经网络加以训练得到合适的值，且ω1+ω2+ω3+ω4＝1；ρ为当前路段的车流量，ρ0为当前路段的极限车流量，D为当前道路的能见度，D0为能见度的危险阈值，D0取为500m；Y为驾驶员保守度，0≤Y≤100，其具体取值由驾驶员在车载人机交互屏幕上手动设置，默认值为50；μ为当前道路的路面附着系数，μ0为路面附着系数的危险阈值，μ0取为0.3；Wherein, K is the safety correction coefficient, 1≤K＜2; ω1 , ω2 , ω3 , ω4 are weight factors, which are trained by neural network to obtain appropriate values, and ω1 +ω2 +ω3 +ω4 =1; ρ is the traffic flow of the current section, ρ0 is the limit traffic flow of the current section, D is the visibility of the current road, D0 is the dangerous threshold of visibility, and D0 is taken as 500m; Y is the driver's conservatism, 0≤Y≤100, and its specific value is manually set by the driver on the on-board human-computer interaction screen, and the default value is 50; μ is the road adhesion coefficient of the current road, μ0 is the dangerous threshold of the road adhesion coefficient, and μ0 is taken as 0.3;
所述防撞决策模块利用安全修正系数K，对本车与目标车道前车之间的纵向安全距离本车与目标车道后车之间的第一纵向安全距离和本车与目标车道后车之间的第二纵向安全距离进行修正，根据修正结果和所述车载雷达测得的距离信息，确定向危险预警模块所发送的决策信号，所述决策信号包括双向安全信号、后向一级预警信号、后向二级预警信号、前向预警信号和双向预警信号，所述决策信号的确定方法为：The collision avoidance decision module uses the safety correction factor K to calculate the longitudinal safety distance between the vehicle and the vehicle in front of the target lane. The first longitudinal safety distance between the vehicle and the vehicle behind in the target lane The second longitudinal safety distance between the vehicle and the vehicle behind in the target lane Correction is performed, and according to the correction result and the distance information measured by the vehicle-mounted radar, a decision signal sent to the danger warning module is determined, wherein the decision signal includes a bidirectional safety signal, a backward first-level warning signal, a backward second-level warning signal, a forward warning signal and a bidirectional warning signal, and the method for determining the decision signal is:
当且且时，向所述危险预警模块发送双向安全信号；when and and When the warning module is in the state of being in danger, a two-way safety signal is sent to the danger warning module;
当且时，向所述危险预警模块发送后向一级预警信号；when and When a warning signal is sent to the danger warning module,
当且时，向所述危险预警模块发送后向二级预警信号；when and When the hazard warning module is activated, a backward secondary warning signal is sent to the hazard warning module;
当且时，向所述危险预警模块发送前向预警信号；when and When a forward warning signal is sent to the danger warning module;
当且时，向所述危险预警模块发送双向预警信号；when and When a warning signal is sent to the danger warning module;
其中，sf为本车与目标车道前车之间的纵向距离，sr为本车与目标车道后车之间的纵向距离，为本车与目标车道前车之间的纵向安全距离，为本车与目标车道后车之间的第一纵向安全距离，为本车与目标车道后车之间的第二纵向安全距离，K为安全修正系数。Among them,sf is the longitudinal distance between the vehicle and the vehicle in front of the target lane,sr is the longitudinal distance between the vehicle and the vehicle behind the target lane, is the longitudinal safety distance between the vehicle and the vehicle ahead in the target lane, is the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane, is the second longitudinal safety distance between the vehicle and the vehicle behind in the target lane, and K is the safety correction factor.
对于危险预警模块，所述危险预警模块包括汇入安全指示灯、蜂鸣器和车载人机交互屏幕，其通过接收防撞决策模块发送的决策信号，选择与决策信号对应的预警方式，进行危险预警，预警的具体方法为：As for the danger warning module, the danger warning module includes a safety indicator light, a buzzer and an on-board human-computer interaction screen. It receives the decision signal sent by the anti-collision decision module, selects the warning method corresponding to the decision signal, and performs danger warning. The specific method of warning is:
当接收到的决策信号为双向安全信号时，所述汇入安全指示灯显示绿色，所述蜂鸣器不发出警报声，所述车载人机交互屏幕不显示箭头图案；When the received decision signal is a two-way safety signal, the incoming safety indicator light displays green, the buzzer does not sound an alarm, and the on-board human-computer interaction screen does not display an arrow pattern;
当接收到的决策信号为后向一级预警信号时，所述汇入安全指示灯显示黄色，所述蜂鸣器以频率f0发出警报声，所述车载人机交互屏幕显示闪烁的箭头图案，箭头指向后方，箭头闪烁频率为f0，箭头的透明度为p0；When the decision signal received is a backward first-level warning signal, the incoming safety indicator light is displayed in yellow, the buzzer emits an alarm sound at a frequency of f0 , and the on-board human-computer interaction screen displays a flashing arrow pattern, the arrow points to the rear, the arrow flashes at a frequency of f0 , and the transparency of the arrow is p0 ;
当接收到的决策信号为后向二级预警信号时，所述汇入安全指示灯显示红色，所述蜂鸣器以频率2f0发出警报声，所述车载人机交互屏幕显示闪烁的箭头图案，箭头指向后方，箭头闪烁频率为2f0，箭头的透明度为0.5p0；When the decision signal received is a rear-level secondary warning signal, the incoming safety indicator light is displayed in red, the buzzer emits an alarm sound at a frequency of 2f0 , and the on-board human-computer interaction screen displays a flashing arrow pattern, the arrow points to the rear, the arrow flashes at a frequency of 2f0 , and the transparency of the arrow is 0.5p0 ;
当接收到的决策信号为前向预警信号时，所述汇入安全指示灯显示红色，所述蜂鸣器以频率2f0发出警报声，所述车载人机交互屏幕显示闪烁的箭头图案，箭头指向前方，箭头闪烁频率为2f0，箭头的透明度为0.5p0；When the received decision signal is a forward warning signal, the incoming safety indicator light is displayed in red, the buzzer emits an alarm sound at a frequency of 2f0 , and the on-board human-computer interaction screen displays a flashing arrow pattern, the arrow points forward, the arrow flashes at a frequency of 2f0 , and the transparency of the arrow is 0.5p0 ;
当接收到的决策信号为双向预警信号时，所述汇入安全指示灯显示红色，所述蜂鸣器以频率3f0发出警报声，所述车载人机交互屏幕显示闪烁的双箭头图案，双箭头指向前方和后方，双箭头闪烁频率为3f0，双箭头的透明度为0.3p0；When the received decision signal is a bidirectional warning signal, the incoming safety indicator light is displayed in red, the buzzer emits an alarm sound at a frequency of 3f0 , and the on-board human-computer interaction screen displays a flashing double arrow pattern, the double arrows point to the front and the rear, the flashing frequency of the double arrows is 3f0 , and the transparency of the double arrows is 0.3p0 ;
其中，f0为警报标准频率，p0为图案标准透明度；Among them, f0 is the alarm standard frequency, p0 is the pattern standard transparency;
所述警报标准频率f0的控制方法采用模糊控制，具体方法如下：The control method of the alarm standard frequencyf0 adopts fuzzy control, and the specific method is as follows:
该模糊控制方法的输入为前向距离相对偏差e1和后向距离相对偏差e2，输出为所述警报标准频率f0，其中e1和e2的计算公式为：The input of the fuzzy control method is the forward distance relative deviatione1 and the backward distance relative deviatione2 , and the output is the alarm standard frequencyf0 , wherein the calculation formulas ofe1 ande2 are:
其中，e1为前向距离相对偏差，e2为后向距离相对偏差，K为安全修正系数，为本车与目标车道前车之间的纵向安全距离，sf为本车与目标车道前车之间的纵向距离，为本车与目标车道后车之间的第一纵向安全距离，sr为本车与目标车道后车之间的纵向距离；Among them,e1 is the relative deviation of the forward distance,e2 is the relative deviation of the backward distance, K is the safety correction factor, is the longitudinal safety distance between the vehicle and the vehicle in front of the target lane,sf is the longitudinal distance between the vehicle and the vehicle in front of the target lane, is the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane, sr is the longitudinal distance between the vehicle and the vehicle behind in the target lane;
该模糊控制方法输入的模糊子集定义为e1＝{NB,NM,NS,ZE,PS,PM,PB}，即{负大、负中、负小、零、正小、正中、正大}，e2＝{NB,NM,NS,ZE,PS,PM,PB}，即{负大、负中、负小、零、正小、正中、正大}，输出的模糊子集定义为f0＝{ZE,PO,PS,PM,PB}，即{零、正、正小、正中、正大}；The fuzzy subset of the input of the fuzzy control method is defined as e1 ={NB,NM,NS,ZE,PS,PM,PB}, that is, {negative large, negative medium, negative small, zero, positive small, positive medium, positive large}, e2 ={NB,NM,NS,ZE,PS,PM,PB}, that is, {negative large, negative medium, negative small, zero, positive small, positive medium, positive large}, and the fuzzy subset of the output is defined as f0 ={ZE,PO,PS,PM,PB}, that is, {zero, positive, positive small, positive medium, positive large};
上述模糊控制规则为：The above fuzzy control rules are:
所述图案标准透明度p0的计算公式如下：The calculation formula of the pattern standard transparency p0 is as follows:
其中，β1、β2为权重因子，通过神经网络加以训练得到合适的值，且β1+β2＝1；p0为图案标准透明度，K为安全修正系数，为本车与目标车道前车之间的纵向安全距离，sf为本车与目标车道前车之间的纵向距离，为本车与目标车道后车之间的第一纵向安全距离，sr为本车与目标车道后车之间的纵向距离。Among them, β1 and β2 are weight factors, which are trained by neural network to obtain appropriate values, and β1 +β2 =1; p0 is the standard transparency of the pattern, K is the safety correction factor, is the longitudinal safety distance between the vehicle and the vehicle in front of the target lane,sf is the longitudinal distance between the vehicle and the vehicle in front of the target lane, is the first longitudinal safety distance between the vehicle and the vehicle behind in the target lane, and sr is the longitudinal distance between the vehicle and the vehicle behind in the target lane.
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