The invention relates to an automatic driving takeover prompt time calculation method in a car-following scene. The method comprises the following steps: acquiring takeover response time t1; the braking force increasing time t2 is obtained and comprises the time t '2 from pedal stepping to braking starting and the time t' 2 from braking starting to the maximum braking force, and the maximum braking force acceleration am is obtained; the braking time t3 of the maximum braking force is obtained; when a takeover prompt is received, the vehicle speed vj of a takeover vehicle, the vehicle speed vi of a front vehicle and the distance L0 are obtained; according to t '2, t' '2, am and vi, the total displacement li of the front vehicle from receiving the takeover prompt to the time when the vehicle slows down to 0 is obtained; according to t1, t '2, t' '2, am and vj, the total displacement lj of the takeover vehicle from receiving the takeover prompt to deceleration of 0 is obtained; and according to li, lj, vj and L0, at least the time t0 for prompting the driver to take over the pipe in advance is obtained. According to the method, various times are considered when the takeover information appears, so that the obtained takeover prompt time is more accurate, and the safety and reliability of driving takeover are facilitated.
本专利涉及一种跟驰场景下的自动驾驶接管提示时间计算方法,包括:获取接管反应时间t1;获取制动力增大时间t2,包括从踩下踏板到开始制动的时间t′2,从开始制动到最大制动力的时间t″2,得到最大制动力加速度为am;获取最大制动力制动时间t3;当接收到接管提示时,获取接管车辆的车速vj,前车的车速vi,距离L0;根据t′2,t″2,am和vi,得到前车从接收到接管提示到车辆减速为0的总位移li;根据t1,t′2,t″2,am和vj,得到接管车辆从接收到接管提示到减速为0的总位移lj;根据li,lj,vj和L0,得到至少提前提示驾驶员接管时间t0。本专利考虑到了当接管信息出现时,各种时间,使得到的接管提示时间更加精准,有利于驾驶接管的安全性与可靠性。
Method for calculating automatic driving takeover prompt time in car-following scene
一种跟驰场景下的自动驾驶接管提示时间计算方法
2022-03-01
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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