A kind of following vehicle collision danger monitoring device and monitoring method thereof

A kind of following vehicle collision danger monitoring device and monitoring method thereof

  • CN 102,275,587 B
  • Filed: 06/07/2011
  • Issued: 12/09/2015
  • Est. Priority Date: 06/07/2011
  • Status: Active Grant
First Claim
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1. a following vehicle collision danger monitoring method, be applicable to chaufeur in normal forward driving procedure, it is based on following vehicle collision danger monitoring device, described following vehicle collision danger monitoring device comprises:

  • two wheel speed sensors, be arranged in vehicle rear left wheel and right rear wheel respectively, for the rotating speed of measuring vehicle rear left wheel and right rear wheel;

    An inertia sensor, is arranged on vehicle centroid position, measures the yaw velocity of vehicle;

    A laser scanner, is arranged in the middle of vehicle rear bumper arm backward, measures the relative distance of other vehicles of rear and vehicle, relative angle and relative velocity;

    A microprocessor, be arranged on operator'"'"'s compartment, be electrically connected two wheel speed sensors, inertia sensor and laser scanners respectively, receive the data that wheel speed sensor, inertia sensor and laser scanner export, calculated the radius of curvature of vehicle driving trace by data;

    Then, based on the radius of curvature of vehicle driving trace and relative distance, the relative angle of other vehicles of rear and vehicle, the relative position relation of front vehicle and vehicle is judged;

    Finally, make collision risk according to relative velocity and judge, output alarm information;

    It is characterized in that, described following vehicle collision danger monitoring method comprises the following steps;

    (1) demarcate rear wheel and travel radius, obtain the traveling radius of rear wheel;

    (2) relative distance, relative angle, the relative velocity parameters of vehicle wheel rotational speed, yaw velocity that inertia sensor exports, other vehicles of rear that laser scanner exports and vehicle that export of microprocessor Real-time Collection wheel speed sensors;

    (3) calculate rear wheel radius of curvature, utilize vehicle wheel rotational speed and yaw velocity to calculate the radius of curvature of corresponding wheel driving trace;

    (4) according to the physical dimension relation between wheel, calculate barycenter radius of curvature, i.e. the radius of curvature of vehicle driving trace, and the radius of curvature calculated is revised;

    (5) according to the vehicle driving trace radius of curvature that calculates, and obtain with relative distance, the relative angle of other vehicles of rear, utilize geometric formula to calculate, and judge the relative position relation of vehicle and other vehicles of rear;

    Specifically;

    The horizontal relative distance d of vehicle and other vehicles of rear represents, i.e. the relative distance of other vehicles of vehicle and rear on vertical traffic lane line direction;

    D is subject to the impact of the relative distance d 3 of vehicle driving trace radius of curvature R, vehicle and other vehicles of rear, relative angle a, lane width b, according to geometric relationship, meets following geometric relationship between these parameters;

    d2 2=d1 2+(d3+L/2) 2-2×

    d1×

    (d3+L/2)×

    cos(c) c=90-ad=︱

    d1-d2︱

    d1=RD2+d=R, other vehicles of rear are in curve inner sideD2-d=R, other vehicles of rear are in outside bendWherein d2 is the distances of other vehicles of rear to driving trace circle center, and L is vehicle wheelbase;

    Above-mentioned Formula Solution is utilized to calculate the d2 of other vehicles of rear,Then the relative position relation of vehicle and other vehicles of rear is judged according to following logical relation;

    1) other vehicles of rear and vehicle are in same track;

    d2 ∈

    (R-b/2, R+b/2);

    2) other vehicles of rear are in adjacent lane on the right side of vehicle;

    d2 ∈

    (R-b-b/2, R-b/2) and other vehicles of rear are in curve inner side;

    3) other vehicles of rear are in adjacent lane on the left of vehicle;

    d2 ∈

    (R+b/2, R+b+b/2) and other vehicles of rear are in outside outer course;

    4) equidirectional number of track-lines is greater than 2, and other vehicles of rear are in non-conterminous track;

    d<

    R-b-b/2 on the right side of self track and other vehicles of rear are in curve inner side;

    5) equidirectional number of track-lines is greater than 2, and other vehicles of rear are in non-conterminous track;

    d>

    R+b+b/2 on the left of self track and other vehicles of rear are in outside outer course;

    (6) according to the relative position relation of vehicle and other vehicles of rear, and relative velocity carries out collision risk judgement, output alarm information;

    Specifically;

    The vehicle obtained measured by laser scanner and the relative velocity of other vehicles carry out collision risk judgement, when front vehicle is at a high speed close to vehicle, if chaufeur now carries out braking or turning to when namely relative velocity is larger, the concrete operations according to chaufeur are carried out collision risk prompting to chaufeur by device.

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