The invention discloses a forward collision early warning method. The method comprises the following steps: acquiring position information of a current vehicle and a target vehicle; establishing a coordinate system by taking the current vehicle as an original point and the driving direction of the current vehicle as a y-axis positive direction; according to the distance component Dx of each target vehicle on the X axis in the coordinate system, whether the current vehicle and the target vehicles are on the same lane is judged; if Dx is smaller than or equal to W, the vehicle is on the same lane; according to the absolute value beta of the course angle difference between the current vehicle and the target vehicle, whether the current vehicle and the target vehicle run in the same direction or not is judged, and if beta is smaller than or equal to 10 degrees, the current vehicle and the target vehicle run in the same direction; screening out a final target vehicle running on the same lane and in the same direction as the current vehicle; whether the minimum safe distance value between the current vehicle and the final target vehicle is larger than the actual distance between the two vehicles or not is judged, and the minimum safe distance value is Smin = (VS-VF) (T + t1 + 1/2t2) + (VS-VF) 2/2a + d1; and if the minimum safe distance value between the current vehicle and the final target vehicle is greater than the actual distance between the two vehicles, sending a forward collision early warning prompt.
本发明公开了一种前向碰撞预警方法,包括获取当前车辆与目标车辆的位置信息;以当前车辆为原点,当前车辆的行驶方向为y轴正方向,建立坐标系;根据每辆目标车辆在所述坐标系中的X轴上的距离分量Dx,判断当前车辆与目标车辆是否在同一车道上;若|Dx|≤W时,则在同一车道;根据当前车辆与目标车辆的航向角差值的绝对值β,判断当前车辆与目标车辆是否同向行驶,若β≤10°时,则为同向行驶;筛选出与当前车辆同一个车道和同向行驶的最终目标车辆;判断当前车辆与最终目标车辆的最小安全距离值是否大于两车的实际距离,其中,所述最小安全距离值为Smin=(VS‑VF)(T+t1+1/2t2)+(VS‑VF)2/2a+d1;若当前车辆与最终目标车辆的最小安全距离值大于两车实际距离,则发送前向碰撞预警提示。
Forward collision early warning method and device
一种前向碰撞预警方法及装置
2023-12-22
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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