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CN-115675449-B - Method and system for dynamically adjusting forward collision early warning moment

CN115675449BCN 115675449 BCN115675449 BCN 115675449BCN-115675449-B

Abstract

The invention discloses a dynamic adjustment method for forward collision early warning time, which comprises the steps of obtaining a vehicle-by-vehicle signal, obtaining target information acted by an FCW through environment sensing, wherein the target information comprises motion information, position information and shape, judging whether a current vehicle-by-vehicle driving scene belongs to a preset vehicle-by-vehicle driving scene according to the vehicle-by-vehicle signal and the target information, calculating an adjustment value for triggering an FCW collision time threshold according to the current vehicle-by-vehicle driving scene, and adjusting the triggering FCW collision time threshold according to the adjustment value. According to the invention, the time for triggering the FCW is dynamically adjusted according to the real-time whole vehicle signal, the driving state of the driver and the driving scene acquired by the environment sensing sensor, and the sensitivity degree of the FCW triggering condition is automatically changed, so that the time for alarming the FCW is more reasonable.

Inventors

  • ZHANG SHUQI
  • MA XIAOWEI
  • XU CHUANG
  • TIAN HE
  • LU CHANG

Assignees

  • 联创汽车电子有限公司

Dates

Publication Date
20260512
Application Date
20221031

Claims (20)

  1. 1. The dynamic adjustment method for the forward collision early warning moment is characterized by comprising the following steps of: s1, acquiring a whole vehicle signal of a self-vehicle; s2, obtaining target information acted by the FCW through environment awareness, wherein the target information comprises motion information, position information and shape; s3, judging which of preset self-vehicle driving scenes the current self-vehicle driving scene belongs to according to the self-vehicle whole-vehicle signal and the target information, wherein the preset self-vehicle driving scene comprises the following steps: scene 1, driver steps on the brake pedal; scene 2, driver actively decelerating; scene 3, the driver releases the accelerator pedal; Scene 4, the driver deeply steps on the accelerator pedal; scene 5, the driver actively accelerates; Scene 6, the driver turns the steering wheel; scene 7, driver braking due to front target; Scene 8, acc is in cruise; Scene 9, acc is in braking state; scene 10, curve driving; scene 11, low speed driving; scene 12, urban road; Scene 13, overtaking; if the current self-driving scene is scene 1, selecting a scene 1 duration threshold T1, a TTC adjustment time upper limit C1_max of scene 1 and a TTC adjustment time lower limit C1_min of scene 1; Calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 1 according to the formula (1) Where t is the duration after entering scenario 1; formula (1); S4, calculating an adjusting value for triggering the FCW collision time threshold according to the current driving scene of the self-vehicle, and adjusting the triggering FCW collision time threshold according to the adjusting value.
  2. 2. The method for dynamically adjusting forward collision warning time according to claim 1, further comprising: s5, comparing the FCW collision time threshold value with the collision time TTC, and triggering forward collision early warning FCW if the FCW collision time threshold value is smaller than the collision time TTC.
  3. 3. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: The vehicle signal comprises a vehicle speed, a longitudinal acceleration, a transverse acceleration, a brake pedal signal, an accelerator pedal signal, a steering wheel corner speed and an ACC self-adaptive cruise function starting state signal.
  4. 4. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: if the current self-driving scene is scene 2, selecting a duration time threshold T2 of the scene 2, a TTC adjustment time upper limit C2_max of the scene 2 and a TTC adjustment time lower limit C2_min of the scene 2; Calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 2 according to the formula (2) Where t is the duration after entering scenario 2; equation (2).
  5. 5. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: if the current self-driving scene is scene 3, selecting TTC adjustment time C3 under the working condition of scene 3; Calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 3 according to the formula (3) ; Equation (3).
  6. 6. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: If the current self-driving scene is scene 4, selecting TTC adjustment time C4 under the working condition of scene 4; calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 4 according to the formula (4) ; Equation (4).
  7. 7. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: If the current self-driving scene is scene 5, selecting an upper TTC adjustment time limit C5_max of scene 5, a lower TTC adjustment time limit C5_min of scene 5, a minimum time limit T5 required for changing adjustment time from C5_max to C5_min, a maximum self-vehicle longitudinal acceleration limit ALgt _max of scene 5 and a minimum self-vehicle longitudinal acceleration limit ALgt _min of scene 5; calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 5 according to the formula (5) ; Equation (5).
  8. 8. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: if the current self-driving scene is scene 6, selecting TTC adjustment time C6 under the working condition of scene 6; Calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 6 according to the formula (6) ; Equation (6).
  9. 9. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: if the current self-driving scene is scene 7, selecting TTC adjustment time C7 under the working condition of scene 7; Calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 7 according to the formula (7) ; Equation (7).
  10. 10. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: if the current self-driving scene is scene 8, selecting TTC adjustment time C8 under the working condition of scene 8; Calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 8 according to the formula (8) ; Equation (8).
  11. 11. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: If the current self-driving scene is scene 9, selecting an upper TC adjustment time limit C9_max of the scene 9, a lower TTC adjustment time limit C9_min of the scene 9, a minimum time limit T9 required for changing adjustment time from C9_max to C9_min, a self-vehicle longitudinal acceleration maximum limit ALgt _acc_max and a self-vehicle longitudinal acceleration minimum limit ALgt _acc_min; Calculating the adjustment value of the FCW collision time threshold in this scene according to the following formula (9) Wherein aLgt is the vehicle longitudinal acceleration value; Equation (9).
  12. 12. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: If the current self-driving scene is scene 10, selecting an upper TTC adjustment time limit C10_max of scene 10, a lower TTC adjustment time limit C10_min of scene 10, a minimum time limit T10 required for changing adjustment time from C10_max to C10_min, a self-vehicle lateral acceleration maximum limit ALat _max and a self-vehicle longitudinal acceleration minimum limit ALat _min; calculating the adjustment value of the FCW collision time threshold in this scene according to the following formula (10) Wherein aLat is the self-vehicle lateral acceleration value; Equation (10).
  13. 13. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: if the current self-driving scene is scene 11, searching a parameter table f1 according to the self-driving speed, wherein the parameter table f1 is obtained through form calibration under different speeds; Calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 11 according to the formula (11) ; Equation (11).
  14. 14. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: if the current self-driving scene is the scene 12, selecting TTC adjustment time C12 of the scene 12; calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 12 according to the formula (12) ; Equation (12).
  15. 15. The method for dynamically adjusting forward collision early warning time according to claim 1, wherein: If the current self-driving scene is scene 13, selecting TTC adjustment time C13 of the scene 13; Calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 13 according to the formula (13) ; Equation (13).
  16. 16. The method for dynamically adjusting forward collision warning time according to claim 1, wherein the trigger FCW collision time threshold to be finally used is calculated according to formulas (14) and (15); Equation (14); equation (15); based on the sensitivity set by the driver, calibrating the obtained fixed TTC threshold, Is the adjustment value of the FCW collision time threshold , 。
  17. 17. A forward collision warning moment dynamic adjustment system, comprising: The receiving module is used for receiving the whole vehicle signal of the self-vehicle and receiving target information acted by the FCW from the environment sensing sensor, wherein the target information comprises motion information, position information and shape; The system comprises a scene judging module, a scene judging module and a control module, wherein the scene judging module pre-stores defined self-vehicle driving scenes and judges which of the pre-stored self-vehicle driving scenes the current self-vehicle driving scene belongs to according to self-vehicle whole-vehicle signals and target information, and the scene judging module presets the self-vehicle driving scenes and comprises: scene 1, driver steps on the brake pedal; scene 2, driver actively decelerating; scene 3, the driver releases the accelerator pedal; Scene 4, the driver deeply steps on the accelerator pedal; scene 5, the driver actively accelerates; Scene 6, the driver turns the steering wheel; scene 7, driver braking due to front target; Scene 8, acc is in cruise; Scene 9, acc is in braking state; scene 10, curve driving; scene 11, low speed driving; scene 12, urban road; Scene 13, overtaking; If the current self-driving scene is scene 1, the calculation module selects a scene 1 duration threshold T1, a TTC adjustment time upper limit C1_max of the scene 1 and a TTC adjustment time lower limit C1_min of the scene 1; Calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 1 according to the formula (1) Where t is the duration after entering scenario 1; formula (1); And the calculation module is used for calculating an adjustment value of the triggering FCW collision time threshold according to the current self-driving scene and adjusting the triggering FCW collision time threshold according to the adjustment value.
  18. 18. The forward collision warning moment dynamic adjustment system of claim 17, further comprising: and the early warning module is used for comparing the adjusted FCW collision time threshold value with the collision time TTC, and triggering forward collision early warning FCW if the FCW collision time threshold value is smaller than the collision time TTC.
  19. 19. The forward collision warning moment dynamic adjustment system of claim 17, wherein: The vehicle signal comprises a vehicle speed, a longitudinal acceleration, a transverse acceleration, a brake pedal signal, an accelerator pedal signal, a steering wheel corner speed and an ACC self-adaptive cruise function starting state signal.
  20. 20. The forward collision warning moment dynamic adjustment system of claim 17, wherein: If the current self-driving scene is scene 2, the calculation module selects a duration time threshold T2 of the scene 2, a TTC adjustment time upper limit C2_max of the scene 2 and a TTC adjustment time lower limit C2_min of the scene 2; Calculating the adjustment value of the FCW collision time threshold under the working condition of the scene 2 according to the formula (2) Where t is the duration after entering scenario 2; equation (2).

Description

Method and system for dynamically adjusting forward collision early warning moment Technical Field The invention relates to the field of automobiles, in particular to a method for dynamically adjusting forward collision early warning time in an active safe driving assistance technology and a system for dynamically adjusting forward collision early warning time in the active safe driving assistance technology. Background The forward collision warning Function (FCW) is an important component in an active safe driving assistance system. The basic working principle of the forward collision early warning Function (FCW) is that the distance, speed, acceleration and the like between a front target and a vehicle are measured in real time through a camera or a radar and the like, and the longitudinal collision time TTC between the vehicle and the front target under the condition of keeping a certain safety distance is calculated through the distance between the target and the vehicle and the relative speed and the relative acceleration between the target and the vehicle. When TTC is smaller than a certain threshold TTC_Cal and the driver does not take measures such as stepping on a brake pedal or steering wheel, a forward collision early warning Function (FCW) is activated, and the driver is reminded of collision danger through information such as sound, light and vibration, so that the driver can take certain measures in time to avoid collision. The trigger threshold ttc_cal of the FCW function is typically a fixed parameter obtained by calibration, which is typically related to the speed of the vehicle and the relative speed of the vehicle to the target in front. According to the sensitivity of a driver set through the whole vehicle central control platform, the system can distinguish and use a plurality of groups of different TTC_Cal fixed parameters. Currently, as for a method for judging the triggering timing of a forward collision warning Function (FCW), the following disadvantages are common: 1) Judging whether a collision time TTC threshold value of a forward collision early warning Function (FCW) is too fixed and single, and can not automatically adjust the triggering sensitivity and early warning time according to the current real-time driving state and driving scene, and under the scene that some drivers actively participate in driving (such as curve driving, urban road working conditions and the like), the forward collision early warning (FCW) is triggered prematurely, so that the driving experience of the drivers can be influenced; 2) The judgment logic of whether the driver behavior triggers a forward collision early warning Function (FCW) is too simple, for example, if the driver is detected to step on a driving pedal or turn a steering wheel, the forward collision early warning is not triggered, so that under some working conditions, the driver is slightly stepped on the pedal to cause the FCW to trigger too late, and the driver cannot be effectively reminded to take more active collision avoidance measures. Disclosure of Invention In the summary section, a series of simplified form concepts are introduced that are all prior art simplifications in the section, which are described in further detail in the detailed description section. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. The invention aims to provide a method and a system for dynamically adjusting forward collision early warning time, which can dynamically adjust a triggering FCW collision time threshold according to a real-time driving scene. In order to solve the technical problems, the method for dynamically adjusting the forward collision early warning moment provided by the invention comprises the following steps: s1, acquiring a whole vehicle signal of a self-vehicle; s2, obtaining target information acted by the FCW through environment awareness, wherein the target information comprises motion information, position information and shape; S3, judging which of the preset self-driving scenes the current self-driving scene belongs to according to the self-vehicle whole-vehicle signal and the target information; S4, calculating an adjusting value for triggering the FCW collision time threshold according to the current driving scene of the self-vehicle, and adjusting the triggering FCW collision time threshold according to the adjusting value. Optionally, the method for dynamically adjusting the forward collision early warning moment is further improved, and further includes: s5, comparing the FCW collision time threshold value with the collision time TTC, and triggering forward collision early warning FCW if the FCW collision time threshold value is smaller than the collision time TTC. Optionally, the method for dynamically adjusting the forward collision early warnin