CN105339993A - Method and sensor for transferring information between vehicles - Google Patents
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- CN105339993A CN105339993A CN201480036420.3A CN201480036420A CN105339993A CN 105339993 A CN105339993 A CN 105339993A CN 201480036420 A CN201480036420 A CN 201480036420A CN 105339993 A CN105339993 A CN 105339993A
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
- B60R2300/406—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components using wireless transmission
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/50—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Traffic Control Systems (AREA)
- Measuring Fluid Pressure (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The methods (300, 500) and sensors (111, 112) for transferring information associated with an object (120) detected by a first sensor (111) in a first vehicle (101) to a second sensor (112) in a second vehicle (102) over a wireless interface.
Description
Technical field
The present invention relates to the method in vehicle and sensor.More particularly, the invention describes the mechanism for the information associated with the object detected by the first sensor in the first vehicle being sent to the second sensor in the second vehicle.
Background technology
Vehicle comprises driver assistance system sometimes, and driver assistance system comprises sensor, such as, the sensor of radar, video camera and similar type, described sensor identification around the object of vehicle, such as, road sign, mark, pedestrian, animal and other surrounding vehicles.
In this article, vehicle relates to such as goods vehicle, long-distance semitrailer, haulage vehicle, automobile, ambulance, ship, motorbus, electric motor car, motorcycle, fire truck, amphicar, ship, aircraft, helicopter or other similar motor-driven manned or unmanned conveying arrangement, and described conveying arrangement is configured for geographic movements in land, sea or air.
But in many cases, the sensor in vehicle stops by leading car, especially when leading car and being heavy vehicle, such as, long-distance semitrailer, motorbus or large-scale and/or obstructive vehicle similarly.
Motorbus under such as passenger and when motorbus front walking with through road, for trailer and/or may be difficult to discover pedestrian leading front side for vehicle, even if trailer has sensor, because lead the visual field that car hinders sensor and vehicle driver.If trailer starts to overtake other vehicles in this case do not have the motorbus of movement, serious accident may be produced, unless passenger discovers and recognizes that his action is dangerous.
Another example of potential approximate accident can be when the wild animal of such as wild boar, elk, deer or analog is passed in suddenly the road leading front side.Sensor in main vehicle then stops by leading car, and therefore the driver of trailer and/or may follow the first animal and frightens through another wild animal of road by the unexpected and braking of transverse direction.
It is clear that still have many to do to improve sensor in vehicle and driver assistance system.
Summary of the invention
Therefore, the object of the invention is to improve vehicle driver perceive the object that occurs in the road with solves in foregoing problems one of at least and realize the ability of vehicle improvement thus.
According to a first aspect of the invention, this object realizes by means of the method for the second sensor information associated with the object detected by first sensor be sent in the second vehicle in the first sensor in the first vehicle.Described method comprises inspected object.Described method also comprises the wireless messages sending and associate with the object detected, to be received by the second sensor in the second vehicle.
According to a second aspect of the invention, this object realizes by means of the sensor in the first vehicle, and described sensor setting becomes inspected object and the information associated with the object detected is sent to the second sensor in the second vehicle.Described sensor comprises the detecting device being arranged to inspected object.Described sensor also comprises transmitter, and transmitter is arranged to send the wireless messages associated with the object detected, to be received by the second sensor in the second vehicle.
According to a third aspect of the invention we, this object realizes by means of the method for the information associated for the object received with detected by the first sensor in the first vehicle in the second sensor in the second vehicle.Described method comprises and receives from the first sensor the first vehicle the wireless messages associated with object.Described method also comprises startup accident avoiding measures to avoid the accident with object.
According to a forth aspect of the invention, this object realizes by means of the sensor in the second vehicle.Described sensor setting becomes to receive the information associated with the object detected by the first sensor in the first vehicle.Described sensor comprises detecting device, and detecting device is arranged to receive from the first sensor the first vehicle the wireless messages associated with object.Described sensor also comprises processor circuit, and processor circuit is arranged to startup accident avoiding measures to avoid the accident with object.
With detected that by the sensor in described first vehicle being sent to close to the information that the object of the first vehicle is relevant the second sensor being arranged in the second vehicle on the stretch identical with the first vehicle can warn the harm of the driver of the second vehicle about having been detected by the first sensor of the first vehicle.Therefore, such as, even if the driver in described second vehicle or sensor object by hidden time can not see/detect described object, the driver of the second vehicle also can perceive be positioned on road close to main vehicle but by the hidden object (such as, pedestrian or wild boar) of the second vehicle.Vehicle and around other driving safety of driver therefore improve.Can avoid warning not by the vehicle driver of situation impact occurred via the light wireless transmission information of carrying between sensor that interface direct is connected on vehicle in limited range, such as.In some embodiments, the existing sensor on vehicle can be used, such as, radar, LIDAR and/or video camera, such as, time-of-flight camera, time-of-flight camera itself may be used for other object, such as, measure the distance of leading car whether too short with alerting driver distance, and/or vehicle cruise is controlled the speed adjusting to vehicle, therefore additional functional can be obtained by means of the present invention and quantity without the need to increasing parts in vehicle, and the cost of material and manufacture.Realize the improvement of vehicle thus.
Other advantage and additional new feature will become obvious from following detailed description of the invention.
Accompanying drawing explanation
Describe the present invention in further detail referring now to accompanying drawing, various embodiment of the present invention shown by described accompanying drawing:
Figure 1A shows the embodiment of two vehicles of the sensor had according to an embodiment with side view.
Figure 1B shows the embodiment of two vehicles of the sensor had according to an embodiment with planimetric map.
Fig. 2 A shows the embodiment of two vehicles of the sensor had according to an embodiment from the angle of trailer.
Fig. 2 B illustrates the enlarged drawing of the display screen according to an embodiment of the invention.
Fig. 3 illustrates the process flow diagram being illustrated in an embodiment of the invention of leading in car.
Fig. 4 is the schematic diagram leading the sensor in car according to an embodiment of the invention.
Fig. 5 illustrates the process flow diagram of the embodiments of the present invention be illustrated in trailer.
Fig. 6 is the schematic diagram according to the sensor in the trailer of an embodiment of the invention.
Embodiment
The present invention is restricted to a kind of method and sensor, and it is for being sent to the second sensor in the second vehicle by the information associated with the object detected by first sensor, and the second sensor can arbitrary middle realization in embodiment described below.But the present invention can be performed by many different forms, and be not seen as and limited by embodiment described here, described embodiment is intended to illustrate and illustrate various aspect of the present invention.
Additional aspect of the present invention and feature can become obvious from the following detailed description taken into consideration with accompanying drawing.But accompanying drawing is only seen as the example of various embodiment of the present invention, and is not seen as restriction of the present invention, and the present invention is only defined by the following claims.And unless otherwise stated, accompanying drawing not necessarily are drawn in proportion, accompanying drawing is intended to conceptually set forth each aspect of the present invention.
Figure 1A illustrates stretch 100, and the travel direction 105 of leading car 101 and trailer 102 edge design on described stretch travels.Vehicle 101,102 can along travel direction 105 move or transfixion to prepare along the planned movement of travel direction 105.Also it is possible that, lead car 101 transfixion and trailer 102 along travel direction 105 through described trailer.
Lead car 101 and have sensor 111, described sensor setting becomes to detect surrounding objects 120, such as, and wild animal, pedestrian, another vehicle, barrier etc.Object 120 be motion or transfixion for the purpose of the present invention and insignificant.
Trailer 102 also has sensor 112.Described sensor 111,112 can the optional position on corresponding vehicle 101,102 be arranged, but preferably towards or on the roof of corresponding vehicle 101,102 as far as possible highland arrange, to realize absolute visual field and to be stopped as few as possible by other object of such as other vehicle.Sensor 111,112 also can be arranged in the pilothouse of each corresponding vehicle 101,102, such as, the most nearly close to top.Described sensor is prevented from by external action (such as, because dust or snowflake splash dirty) and is prevented from being damaged and is prevented to a certain extent meeting with pilferage there.
First sensor 111 and/or the second sensor 112 can comprise such as video camera, 3D video camera, flight time (ToF) video camera, stereo camera, lightfield camera, radar detection device, laser detector, laser radar (LIDAR), based on hyperacoustic distance detection device or similar sensor.
Laser radar is a kind of optical detecting instrument, and its characteristic measuring reflected light is to determine the scope (and/or other characteristic) of distant objects 120.Although this technology height is similar to radar (radio detection and ranging), use radiowave but not light.Distance to object 120 is measured typically via the time delay of measuring between the laser pulse of transmitting and the reflection of record.
ToF video camera is a kind of camera chain, its shooting a series of images and by measure light signal send between sensor 11,112 and object 120 cost time and based on the distance of known light velocity measurement to object 120.
And according to different embodiment, first sensor 111 and the second sensor 112 can comprise the sensor of identical type or dissimilar sensor.In some embodiments, more than one respective sensor 111,112 can be arranged in the first vehicle 101 and/or the second vehicle 102.An advantage with multiple sensor 111,112 can make more reliable distance and determine, and can cover scope widely by described sensor.
In scene in figure ia, the driver of trailer 102 or sensor 112 all could not see the object 120 leading car 101 front, because described object stops by leading car 101.On the other hand, object 120 is detected by the sensor 111 led in car.The described sensor 111 led in car 101 sends the information relevant with the object 120 detected at main vehicle front, is received by the sensor 112 in the second vehicle 102 to make described information.Therefore, the driver in trailer 102 can receive and lead the relevant warning of object 120 that car 101 front occurs.The driver of trailer 102 therefore can the same with the driver leading car 101 by means of the sound signal in various embodiment, audio-frequency information, light signal, the warning shown on a display screen, will the tactile alert signal or similar caution signal that send to driver be vibrated via the Vib. in operating seat, bearing circle and/or shift lever and be warned.
In other embodiments, can using about leading this information of concealed body 120 in car 101 front with startup accident avoiding measures, such as, making to accelerate, start braking and/or start evasion manoeuvre and become possibility.
Can realize sending from the first sensor 111 led car 101 to the information of the second sensor 112 in trailer 102 via wave point, described wave point is based on such as global system for mobile communications (GSM), enhanced data speed GSM evolution technology (EDGE), Universal Mobile Telecommunications System (UMTS), CDMA (CDMA), (CDMA2000), time division synchronous CDMA (TD-SCDMA), Long Term Evolution (LTE), advanced LTE; The adopting wireless fidelity technology (Wi-Fi) defined by IEEE (IEEE) standard 802.11a, b, g and/or n, Internet protocol (IP), bluetooth and/or near-field communication (NFC).
An advantage by means of the wireless transmission information of radiowave can be, it provides enough scopes to warn other vehicle 102 a large amount of.Such as, if animal has crossed the wild animal fence along highway, then it works the mischief not only to main vehicle 101 and trailer 102, and works the mischief to other vehicle travelled on relevant stretch along either direction.
In some embodiments, wave point comprises light and carries interface, so information can send between first sensor 111 and the second sensor 112 by means of the light of modulate emission.
Second sensor 112 can not see object 120 certainly, but it can detect the reflection of the light launched from first sensor 111, and these light waves may be used for information being sent to the second sensor 112.Such as, this information can comprise single bit in some embodiments, that is, " object detected " or " not having object to be detected ".
This quantity of information seems may be less, but it still can be enough to alerts triggered or action.The comparison travelled along road in the dark under can being made at oncoming wagon flow.If a people sees the light beam of front from oncoming vehicle behind mountain, then he not and know to run into which type of vehicle, how soon etc. described wagon flow travels, but start to overtake other vehicles be still inappropriate.
In other embodiments, can additional information be sent, such as, the size of the type of object, position that object 120 is detected relative to vehicle 101, object and other similar information.Therefore second sensor 112 of receives information can be provided additional information, and the object 120 that described additional information can realize being detected has determination or the assessment of heterogeneous pass or danger with regard to the driving safety of main vehicle 102.
The light launched from respective sensor 111,112 can be positioned at visible spectrum (about 390 to 770 nanometer), but in some embodiments described light can supplement or replaceability comprise have more than the wavelength of 770 nanometers infrared (IR) light and/or there is ultraviolet (UV) radiation of the wavelength being shorter than 390 nanometers.
In some embodiments, optical modulation can realize by modulating its frequency, wavelength, amplitude and/or time in various embodiments.
Simple example, the constant outflow from the infrared light of first sensor 111 can transmit information " does not have object to be detected ", and strong pulse orange light can transmit information " object detected ".Therefore, the sensor 102 in trailer 102 can translate this information.In some embodiments, if even if main vehicle 102 does not have sensor 112 fault of sensor or main vehicle or refers to wrong direction, by means of the direct warning by the light signal from the first sensor 111 in the first vehicle 101, the driver of trailer 102 also directly can recognize the object 120 in the first vehicle 101 front.
The advantage sending light information carrying breath is, it can directly be sent by first sensor 111 and directly be received by the second sensor 112, and without the need to via radiowave process or conversion.Therefore described information can send, because do not need the tie-time than when sending and realizing via wave point more quickly.The advantage that the limited range that the transmission ceased with light information carrying associates has is, because the object 120 occurred is positioned at main vehicle 102 at a distance (may another on the way or along another horizontal or vertical direction) and incoherent information will be filtered very simply, because the sensor 112 in trailer 102 can not receive this information very simply.Therefore light information carrying breath has high credible for take over party.
In some embodiments, the information relevant to the object detected can be sent to by first sensor 111: all vehicles; Be configured to all vehicles receiving described information; Be configured to all vehicles receiving described information in certain segment distance; Or be connected to all vehicles realizing the server receiving this information according to various embodiment.
Figure 1B illustrates and the same identical stretch 100 with same vehicle 101,102 and identical traffic is shown in figure ia, but is planimetric map.
Fig. 2 A also illustrates the same with shown in Figure 1A with Figure 1B identical stretch 100 with same vehicle 101,102 and identical traffic, but looks from the angle of the operating seat trailer 102.Sensor 112 in described trailer 102 receives information from the first sensor 111 led car 1010.
In such examples, vehicle 102 comprises the side form block 130 with display screen 140, described side form block be arranged to sensor 112 communication and such as by means of sound signal or the warning communication that the potential traffic of received relevant appearance endangered by presenting the situation of appearance and/or object 120 (some this warnings of citing according to various embodiment) on display screen 140 to vehicle driver.
Fig. 2 B illustrates how this performance can perform to guarantee that driver will grasp the situation of appearance and the example that takes appropriate measures of having an opportunity rapidly.In some other embodiment, can be substituting or by way of caution supplementary take measures the consequence avoiding or at least alleviate accident, such as, prevent acceleration, start the braking of vehicle 102, start evasion manoeuvre, call release/smell to frighten animal, etc.
Fig. 3 is illustrated in the example of the embodiment of the method 300 in the first sensor 111 in the first vehicle 101.Method 300 is arranged to the second sensor 112 information associated with the object 120 detected by first sensor 111 be sent in the second vehicle 102.
Described information is according to some embodiment wireless transmission.This wireless messages can comprise light information carrying breath, and described smooth information carrying breath can send by means of the modulation of the light launched from sensor 111.This modulation can launched phase place, the amplitude of light wave and/or perform in the time.
According to some embodiment, wireless messages can send via the radiowave between vehicle 101,102; Arbitrary such as based in following technology: according to the GSM of various embodiment, EDGE, UMTS, CDMA, CDMA2000, TD-SCDMA, LTE, advanced LTE; Wi-Fi, IP, bluetooth and/or NFC.
In order to correctly send information, method 300 can comprise multiple step 301-304.But it should be noted that, according to various embodiment, some in the step 301-304 of description can to perform from the different chronological order indicated by numerical order, and some in the step 301-304 described can alongside one anotherly perform.And some step only performs in some embodiments, such as, step 302 and 303.Method 300 comprises the following steps:
Step 301
Object 120 is detected by first sensor 111.
Step 302
This method step can in method 300 some but perform in all embodiments of not necessarily.
301 objects 120 detected are identified as potential traffic harm.
This detection can by determining that object realizes relative to the position of vehicle 101, and such as described object is positioned on road 100 or in the outside of road; Object 120 moves towards or away from vehicle 100 ground; Such as via the size of the object compared with ultimate value; Or by means of the type of recognition object 120 or classification.These various types of objects can be classified as harmful or harmless from traffic safety angle.
In some embodiments, the such as form on road 100 in the distance of such as 50 meters is that the object 120 of row human or animal is identified as potential traffic harm.In some embodiments, the outside being positioned at road 100 is still identified as potential traffic harm towards the object 120 of road 100 movement.In some embodiments, on road and the object 120 that size exceedes prescribed limit value is identified as potential traffic harm.
These be only some identifications just configuring potential traffic harm with when not formed traffic harm (when such as, the traffic sign along the permanent installation of road 100 side being detected at sensor 111) open the indefiniteness example of the various possibilities of the warning in main vehicle 101 and/or the second vehicle 102.
Step 303
This method step can in method 300 some but perform in all embodiments of not necessarily.
Detect that the second sensor 112, second sensor setting in the second vehicle 102 becomes to receive the transmission of wireless messages.And, according to some embodiment, only just perform the transmission of this wireless messages when the second sensor 112 in the second vehicle 102 is detected.
This detection can detect with the first sensor 111 led in car 101 and perform from the mode of the light of the second sensor 112 transmitting trailer 102.Therefore, can be confirmed to be, the second sensor 112 is also sufficiently closely located, such as can receive information by means of the light information carrying breath sent by first sensor 112 from first sensor 112.
This can be avoided when meaningless (such as, because neighbouring without other vehicle 102) to send the information associated with 301 objects 120 detected.Therefore processor capacity and energy are stored in sensor 101.
Step 304
The wireless messages associated with 301 objects 120 detected is sent out to be received by the second sensor 112 in the second vehicle 102.
In various embodiments, the information be sent out can comprise the existence of object 120 or disappearance, detect object 120 type, from first sensor 111 to the distance of described object 120, the size of object 120, the geographic position of object, the threat level of object.
According to some embodiment, only just send wireless messages when 301 objects 120 detected are identified 302 for during potential traffic harm.Inessential warning can be avoided thus to be published to surrounding vehicles 102.
According to some embodiment, only just send wireless messages when the second sensor 112 of the wireless messages being configured to receive such as light information carrying breath has been detected 303.This can be avoided spended time and processor capacity to issue the warning that can receive without other sensor.
Fig. 4 illustrates the embodiment of the sensor 111 in the first vehicle 101.Described sensor 111 be configured to perform in the above-described method step 301-304 that the explanation of method 300 is comprised at least some, be sent to the second sensor 112 in the second vehicle 102 for inspected object 120 and by the information associated with the object 120 detected.
Sensor 111 such as can comprise video camera, 3D video camera, time-of-flight camera, stereo camera, lightfield camera, radar detection device, laser detector, LIDAR and/or based on hyperacoustic distance detection device.
In order to can correctly the inspected object 120 and information associated with described object 120 is sent to other unit (such as, the second sensor 122), sensor 111 comprises the multiple parts be described in more detail below.Some in the subassembly described to occur in all embodiments of not necessarily at some.Additional electronics also may exist in sensor 111, and they are for the function understood according to sensor 111 of the present invention and non-fully is necessary.
Sensor 111 comprises the detecting device 410 being arranged to inspected object 120.
Detecting device 410 the second sensor 112, second sensor setting can also be arranged in detection second vehicle 102 becomes to receive the transmission of wireless messages.
Sensor 111 also comprises transmitter 430, and transmitter is arranged to send the wireless messages associated with the object 120 detected, to be received by the second sensor 112 in the second vehicle 102.
In some embodiments, described transmitter 430 can be arranged to send the light information carrying breath received by the second sensor 112 in the second vehicle 102.
Transmitter 430 can also be arranged to such as send wireless messages based on one of following technology via radiowave: GSM, EDGE, UMTS, CDMA, CDMA2000, TD-SCDMA, LTE, advanced LTE; According to ieee standard 802.11a, the arbitrary Wi-Fi in b, g and/or n, IP, bluetooth and/or NFC.
Transmitter 430 also can be arranged to only just send wireless messages when the second sensor 112 in the second vehicle 102 is detected.
Sensor 111 can also comprise the processor circuit 420 being arranged to the object 120 detected is identified as potential traffic harm.
Processor circuit 420 can comprise such as one or more CPU (central processing unit) (CPU), microprocessor or be designed to translate and other logical block performing instruction and/or read and write data.Processor circuit 420 can process for the inflow of data, outflow or the data, controlling functions etc. of data processing also comprising buffered data.
According to some embodiment, sensor 111 can also comprise or be connected to memory cell 425, and memory cell can comprise the storage medium for data in some embodiments.Memory cell 425 such as can comprise storage card, flash memory, USB storage, hard-drive or other similar data storage cell, arbitrary in a group of described data storage cell all following formations in this way in various embodiments: ROM (ROM (read-only memory)), PROM (programmable ROM (read-only memory)), EPROM (erasable PROM), flash memory, EEPROM (electric erasable PROM), etc.
According to some embodiment, the present invention also comprises computer program, the second sensor 112 that the information associated with the object 120 detected by the first sensor 111 in the first vehicle 101 is sent in the second vehicle 102 by means of the method 300 according at least one the step 301-304 when performing in one or more processor circuits 420 of computer program in sensor 111 by described computer program.
Therefore, according to for by with the information that the object 120 detected by the first sensor 111 in the first vehicle 101 associates be sent to method 300 one of at least in the step 301-304 of the second sensor 112 in the second vehicle 102 can by means of be used for performing one described above, several, some or 301-304 in steps computer program code together with sensor 111 in one or more processor circuit 420 and be used.Thus, comprise and when program is loaded in processor circuit 420 for performing the computer program of the instruction of step 301-304 can be.
In some embodiments, the computer program in above-described vehicle 101 is arranged to such as be arranged on via wave point in the memory cell 425 in sensor 111.
Fig. 5 shows the example of the embodiment of the method 500 of the information associated for the object 120 received with detected by the first sensor 111 in the first vehicle 101 in the second sensor 112 in the second vehicle 102.
This information according to some embodiment by wireless receiving.This wireless messages can comprise light information carrying breath, and light information carrying breath can be sent out by means of the modulation of the light launched from sensor 111 and be translated by means of the corresponding demodulation by the second sensor 112.This modulation and demodulation can be sent out/phase place, the amplitude of received light wave and/or perform in the time.
According to some embodiment, wireless messages can such as send via the radiowave between vehicle 101,102 based on one of following technology according to various embodiment: GSM, EDGE, UMTS, CDMA, CDMA2000, TD-SCDMA, LTE, advanced LTE; Wi-Fi, IP, bluetooth and/or NFC.
In order to correctly receive information, method 500 can comprise multiple step 501-504.But it should be noted that, according to various embodiment, some in the step 501-504 of description can to perform from the different chronological order indicated by numerical order to a certain extent, and some in the step described can alongside one anotherly perform.And some step only performs in some embodiments, such as, step 501 and 503.Method 500 comprises the following steps:
Step 501
This method step can perform in all embodiment of some but not necessarily in method 500.
Send wireless messages to notify that the first sensor 111 in the first vehicle 101 can realize the transmission of wireless messages.
Step 502
The wireless messages associated with object 120 is received from the first sensor 111 the first vehicle 101.
Received wireless messages can comprise light information carrying breath in some embodiments, and wherein, described information is decoded by means of the demodulation of received light.
According to some embodiment, received wireless messages can on a wireless interface such as based on or to be inspired in following technology arbitrary received: GSM, EDGE, UMTS, CDMA, CDMA2000, TD-SCDMA, LTE, advanced LTE; Wi-Fi, IP, bluetooth and/or NFC.
Step 503
This method step can perform in all embodiment of some but not necessarily in method 500.
Object 120 is identified as potential traffic harm based on 502 received information.
Step 504
In the second vehicle 102, startup accident avoiding measures is to avoid the accident with object 120.
This accident avoiding measures can comprise such as will warn communication to the driver of the second vehicle 102.
The representative of object 120 that this warning can comprise such as sound signal, acoustic information, light signal, tactile vibrations and/or detect.
In some embodiments, the accident avoiding measures started can comprise the following measure be combined alternatively with above-described warning according to various embodiment: the speed reducing the second vehicle 102 can not increase to make speed, opens detent and/or starts along the evasion manoeuvre away from the direction of object 120.
Fig. 6 illustrates the embodiment of the sensor 112 in the second vehicle 102.Described sensor 112 be configured to perform be included in in the previously described method step 501-504 in the explanation of method 500 at least some, the information associated with the object 120 received with detected by the first sensor 111 in the first vehicle 101.
Sensor 112 can comprise such as video camera, 3D video camera, time-of-flight camera, stereo camera, lightfield camera, radar detection device, laser detector, laser radar and/or based on hyperacoustic distance detection device.
In order to correctly receive the information associated with object 120, sensor 112 comprises the multiple parts be described in more detail below.Some subassembly described appears at some but in all embodiments of not necessarily.Additional electronics also may reside in sensor 112, and according to sensor 112 of the present invention, also non-fully is necessary for understanding for described additional electronics.
Sensor 112 comprises detecting device 610, and detecting device is arranged to receive from the first sensor 111 the first vehicle 101 wireless messages associated with object 120.
In some embodiments, detecting device 610 also can be arranged to detect the light information carrying breath received from the first sensor 111 the first vehicle 101.
But, detecting device 610 also can be arranged to such as based on or to be inspired in following technology arbitrary via radio wave reception wireless messages: GSM, EDGE, UMTS, CDMA, CDMA2000, TD-SCDMA, LTE, LTE are advanced; Wi-Fi, IP, bluetooth and/or NFC.
Sensor 112 also comprises processor circuit 620, and processor circuit is arranged to startup accident avoiding measures to avoid the accident with object 120.
Processor circuit 620 also can be arranged to, based on the information received from the first sensor 1110 in the first vehicle 101, object 120 is identified as potential traffic harm.
In some embodiments, processor circuit 620 can be arranged to the wireless messages that receives from first sensor 111 by means of the demodulating and decoding of received light.
Processor circuit 620 can comprise such as one or more CPU (central processing unit) (CPU), microprocessor or be designed to translate and other logical block performing instruction and/or read and write data.Processor circuit 620 can management data for also comprising the inflow of data of data buffering, outflow or data processing, controlling functions etc.
According to some embodiment, sensor 112 also can comprise or be connected to memory cell 625, and in some embodiments, memory cell comprises the storage medium for data.Memory cell 625 can comprise such as storage card, flash memory, USB storage hard-drive or other similar data storage cell in various embodiments, and it is arbitrary that other similar data storage cell such as comprises in following one group: ROM, PROM, EPROM, flash memory, EEPROM, etc.
Sensor 112 also can comprise transmitter 630, and transmitter is arranged to notify that the first sensor 111 in the first vehicle 101 can perform the transmission of wireless messages.
In some embodiments, described transmitter 630 can be arranged to send light information carrying breath for receiving by the first sensor 111 in the first vehicle 101.
In some embodiments, transmitter 630 can also be arranged to such as based on or be inspired in following technology arbitrary via radiowave send wireless messages: GSM, EDGE, UMTS, CDMA, CDMA2000, TD-SCDMA, LTE, advanced LTE; According to ieee standard 802.11a, the arbitrary Wi-Fi in b, g and/or n, IP, bluetooth and/or NFC.
According to some embodiment, the present invention also comprises computer program, and computer program is by means of the information associated with the object 120 detected by the first sensor 111 in the first vehicle 101 with reception according to the method 500 one of at least in the step 501-504 when performing in one or more processing circuitry 620 of computer program in sensor 112.
Therefore, can by means of with for perform one described above, some, some or 501-504 in steps computer program code together with sensor 112 in one or more processor circuits 620 adopt according to the method 500 one of at least in step 501-504, the information associated with the object 120 received with detected by the first sensor 111 in the first vehicle 101.Thus, the computer program comprised when being loaded into when program in the one or more processor circuits 620 in sensor 112 for performing the instruction one of at least in step 501-504 can be.
In some embodiments, above-described computer program is arranged to such as be arranged on via wave point in the memory cell 425 in sensor 112 in vehicle 102.
The present invention also comprises the vehicle 101,102 comprising above-described sensor 111,112, described sensor be arranged respectively to perform according to aforementioned explanation for by with detected that by first sensor 111 information that object 120 associates is sent to the method 300,500 of the second sensor 112.
Claims (27)
1. the method (300) for the information associated with the object (120) detected by first sensor (111) being sent to the second sensor (112) in the second vehicle (102) in the first sensor (111) in the first vehicle (101), is characterized in that:
Detect (301) object (120); And
Send the wireless messages that (304) associate with (301) object (120) detected, to be received by the sensor (112) in the second vehicle (102).
2. method according to claim 1 (300), also comprises:
By (301) object (120) detected identification (302) for potential traffic endangers; And wherein, only just send wireless messages (304) when (301) object (120) detected has been identified as potential traffic harm.
3. method according to claim 1 and 2 (300), also comprises:
Detect the second sensor (112) in (303) second vehicles (102), described second sensor setting becomes to receive the transmission (304) of wireless messages, and wherein, this transmission (304) is only just performed when the second sensor (112) in the second vehicle (102) is detected (303).
4. the method (300) according to any one of claim 1-3, the wireless messages being wherein sent out (304) comprises: the existence of object (120), the type of object (120), from first sensor (111) to the distance of described object (120), the size of object (120), the geographic position of object, threat level.
5. the method (300) according to any one of claim 1-4, wherein wireless messages comprises light information carrying breath, and described smooth information carrying breath is sent out by means of the modulation of the light be launched.
6. the method (300) according to any one of claim 1-5, wherein wireless messages such as based on one of following technology via radiowave transmission: global system for mobile communications " GSM ", enhanced data speed GSM evolution technology " EDGE ", Universal Mobile Telecommunications System " UMTS ", CDMA " CDMA ", " CDMA2000 ", time division synchronous CDMA " TD-SCDMA ", Long Term Evolution " LTE ", advanced LTE; The adopting wireless fidelity technology " Wi-Fi ", Internet protocol " IP ", bluetooth and/or the near-field communication " NFC " that are defined by IEEE " IEEE " standard 802.11a, b, g and/or n.
7. being arranged to inspected object (120) and the information associated with the object detected (120) being sent to the sensor (111) of the second sensor (112) in the second vehicle (102) in the first vehicle (101), is characterized in that:
Detecting device (410), it is arranged to inspected object (120); With
Transmitter (430), it is arranged to send the wireless messages that associates with the object detected (120) to be received by the second sensor (112) in the second vehicle (102).
8. sensor according to claim 7 (111), also comprises:
Processor circuit (420), it is arranged to the object detected (120) is identified as potential traffic harm.
9. the sensor (111) according to claim 7 or 8, wherein, the second sensor (112) in detection second vehicle (102) is also arranged to by detecting device (410), described second sensor setting becomes to receive the transmission of wireless messages, and wherein, this transmission is only just performed when the second sensor (112) in the second vehicle (102) is detected.
10. according to described sensor (111) arbitrary in claim 7-9, wherein, transmitter (430) is arranged to send light information carrying breath, to be received by the second sensor (112) in the second vehicle (102), and wherein, sensor (111) comprise video camera, 3D video camera, time-of-flight camera, stereo camera, lightfield camera, radar detection device, laser detector, laser radar, based on hyperacoustic distance detection device.
11. according to described sensor (111) arbitrary in claim 7-10, wherein, transmitter (430) is arranged to such as send wireless messages based on following arbitrary technology via radiowave: global system for mobile communications " GSM ", enhanced data speed GSM evolution technology " EDGE ", Universal Mobile Telecommunications System " UMTS ", CDMA " CDMA ", " CDMA2000 ", time division synchronous CDMA " TD-SCDMA ", Long Term Evolution " LTE ", advanced LTE; The adopting wireless fidelity technology " Wi-Fi ", Internet protocol " IP ", bluetooth and/or the near-field communication " NFC " that are defined by IEEE " IEEE " standard 802.11a, b, g and/or n.
12. 1 kinds of computer programs, its for when computer program according to when performing in the processor circuit (420) in the arbitrary described sensor (111) in claim 7-11 by means of the second sensor (112) according to the arbitrary described method (300) in claim 1-6 the information associated with the object (120) detected by the first sensor (111) in the first vehicle (101) is sent in the second vehicle (102).
The method (500) for receiving the information associated with the object (120) detected by the first sensor (111) in the first vehicle (101) in 13. 1 kinds of second sensors (112) in the second vehicle (102), is characterized in that:
From the wireless messages that the first sensor (111) reception (502) the first vehicle (101) associates with object (120); And
Start (504) accident avoiding measures to avoid the accident with object (120).
14. methods according to claim 13 (500), also comprise:
Object (120) identified (503) endanger for potential traffic based on received (502) information.
15. methods (500) according to claim 13 or 14, also comprise:
Send (501) wireless messages to notify that the first sensor (111) in the first vehicle (101) can perform the transmission of wireless messages.
16. methods (500) according to any one of claim 13-15, wherein the wireless messages of received (502) comprises light information carrying breath, and described smooth information carrying breath is by means of the photodissociation code of demodulation received (502).
17. according to described method (500) arbitrary in claim 13-16, wherein, the wireless messages of received (502) such as based on one of following technology via radiowave transmission: global system for mobile communications " GSM ", enhanced data speed GSM evolution technology " EDGE ", Universal Mobile Telecommunications System " UMTS ", CDMA " CDMA ", " CDMA2000 ", time division synchronous CDMA " TD-SCDMA ", Long Term Evolution " LTE ", advanced LTE; The adopting wireless fidelity technology " Wi-Fi ", Internet protocol " IP ", bluetooth and/or the near-field communication " NFC " that are defined by IEEE " IEEE " standard 802.11a, b, g and/or n.
18. according to described method (500) arbitrary in claim 13-17, wherein, is activated (504) and will communication is warned to the driver of the second vehicle to avoid the accident avoiding measures had an accident with object (120) to comprise.
19., according to described method (500) arbitrary in claim 13-18, wherein, comprise the representative of the object (120) detected to the warning of the driver of the second vehicle.
20., according to described method (500) arbitrary in claim 13-19, wherein, are activated (504) with the speed avoiding the accident avoiding measures had an accident with object (120) to comprise reduction by second vehicle.
Sensor (112) in 21. a kind of second vehicle (102), it is configured to receive the information associated with the object (120) detected by the first sensor (111) in the first vehicle (101), it is characterized in that:
Detecting device (610), it is arranged to receive from the first sensor (111) the first vehicle (101) wireless messages associated with object (120); With
Processor circuit (620), it is arranged to startup accident avoiding measures to avoid the accident with object (120).
22. sensors according to claim 21 (112), wherein, processor circuit (620) is arranged to, based on the information received from the first sensor (111) in the first vehicle (101), object (120) is identified as potential traffic harm.
23. sensors (112) according to claim 21 or 22, also comprise:
Transmitter (630), it is arranged to notify that the first sensor (111) in the first vehicle (101) can perform the transmission of wireless messages.
24. according to the arbitrary described sensor (112) in claim 21-23, wherein, received wireless messages comprises the light information carrying breath of the photodissociation code be received by means of demodulation, and wherein, sensor (112) comprise video camera, 3D video camera, time-of-flight camera, stereo camera, lightfield camera, radar detection device, laser detector, laser radar, based on hyperacoustic distance detection device.
25. according to the arbitrary described sensor (112) in claim 21-24, wherein, detecting device (610) be also arranged to such as based on following arbitrary technology via radio wave reception wireless messages: global system for mobile communications " GSM ", enhanced data speed GSM evolution technology " EDGE ", Universal Mobile Telecommunications System " UMTS ", CDMA " CDMA ", " CDMA2000 ", time division synchronous CDMA " TD-SCDMA ", Long Term Evolution " LTE ", advanced LTE; The adopting wireless fidelity technology " Wi-Fi ", Internet protocol " IP ", bluetooth and/or the near-field communication " NFC " that are defined by IEEE " IEEE " standard 802.11a, b, g and/or n.
26. 1 kinds of computer programs, it is for receiving by means of according to described method (500) arbitrary in claim 13-20 the information associated with the object (120) detected by the first sensor (111) in the first vehicle (101) when performing according to the processor circuit (620) in described sensor (112) arbitrary in claim 10-13 is middle when computer program.
27. 1 kinds of vehicles (101,102), it comprises respectively according to described sensor (111 arbitrary in arbitrary in claim 3-6 or claim 10-13,112), described sensor setting becomes to perform according to described method (300 arbitrary in arbitrary in claim 1-6 or claim 13-20,500), so that the information associated with the object (120) detected by first sensor (111) is sent to the second sensor (112).
Applications Claiming Priority (3)
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| SE1350901A SE539053C2 (en) | 2013-07-18 | 2013-07-18 | Procedure and sensor for information transfer between vehicles |
| SE1350901-3 | 2013-07-18 | ||
| PCT/SE2014/050817 WO2015009221A1 (en) | 2013-07-18 | 2014-06-30 | Method and sensor for transferring information between vehicles |
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| CN105339993A true CN105339993A (en) | 2016-02-17 |
| CN105339993B CN105339993B (en) | 2018-06-08 |
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| EP (1) | EP3022726A4 (en) |
| CN (1) | CN105339993B (en) |
| BR (1) | BR112015029482B1 (en) |
| SE (1) | SE539053C2 (en) |
| WO (1) | WO2015009221A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| BR112015029482A2 (en) | 2017-07-25 |
| BR112015029482B1 (en) | 2022-09-20 |
| SE1350901A1 (en) | 2015-01-19 |
| SE539053C2 (en) | 2017-03-28 |
| EP3022726A1 (en) | 2016-05-25 |
| CN105339993B (en) | 2018-06-08 |
| WO2015009221A1 (en) | 2015-01-22 |
| EP3022726A4 (en) | 2017-05-31 |
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