The invention provides an uphill and downhill forward collision early warning method. The method comprises the following steps: acquiring GPS coordinates of a vehicle and a remote vehicle and a pitch angle of the vehicle; calculating the horizontal distance between the vehicle and the remote vehicle according to the GPS coordinates; if the horizontal distance is smaller than a preset distance threshold value, according to the pitch angle of the vehicle, the plane distance and the vertical distance of the vehicle and the remote vehicle on the pitch angle of the vehicle are calculated; calculating an included angle between a connecting line of the two vehicles and a horizontal plane, and verifying whether the vehicle and the remote vehicle are on the same slope; calculating the actual coordinate of the remote vehicle in the vehicle body coordinate system of the vehicle; judging lane, course and azimuth information of the remote vehicle and the vehicle according to the actual coordinates of the remote vehicle, and obtaining a judgment result; and calculating the collision time of the far vehicle and the vehicle, and performing forward collision early warning according to the judgment result and the collision time. Compared with the prior art, through comprehensive acquisition of information such as the distance, the lane, the course and the orientation of the vehicle and the far vehicle, the early warning accuracy of the forward collision on the ramp is improved, and false early warning is avoided.
本发明提供了一种上下坡前向碰撞预警方法。通过获取本车和远车的GPS坐标以及本车俯仰角;根据GPS坐标计算本车和远车的水平距离;若水平距离小于预定距离阈值,则根据本车俯仰角,计算本车和远车在本车俯仰角上的平面距离以及垂直距离;计算两车连线和水平面的夹角,并验证本车和远车是否都在同一斜坡上;计算远车在本车车体坐标系中的实际坐标;根据远车的实际坐标判断远车与本车的车道、航向、方位信息,获取判断结果;计算远车与本车碰撞时间,根据判断结果、碰撞时间进行前向碰撞预警。相比于现有技术,通过基于本车和远车的距离、车道、航向、方位等信息的综合获取,提高在坡道前向碰撞预警的准确率,避免误预警。
Uphill and downhill forward collision early warning method
一种上下坡前向碰撞预警方法
2024-05-14
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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