CN105741542B - The method and device of traffic safety early warning - Google Patents
The method and device of traffic safety early warning Download PDFInfo
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- CN105741542B CN105741542B CN201610064968.XA CN201610064968A CN105741542B CN 105741542 B CN105741542 B CN 105741542B CN 201610064968 A CN201610064968 A CN 201610064968A CN 105741542 B CN105741542 B CN 105741542B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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Abstract
The present embodiments relate to a kind of traffic safety method for early warning, obtain vehicle traveling intrinsic information and real-time vehicle running information, the vehicle traveling intrinsic information includes width, the lane width of driving vehicle, and the real-time vehicle running information includes the corner of time, the speed of driving vehicle and vehicle；Maximum transversal of the vehicle in transformation period section is calculated according to the vehicle real time of acquisition and changes distance；Driving behavior at the end of transformation period section is judged according to maximum transversal change distance and vehicle traveling intrinsic information, and safe driving behavior is determined whether according to the driving behavior；When the driving behavior judged is unsafe driving behavior, traffic safety early warning is exported, or send thermoacoustic prime engine signal and the driving vehicle is controlled.
Description
Technical field
The present invention relates to field of automobile safety, more particularly to a kind of method and device of traffic safety early warning.
Background technology
With economic development and the improvement of people's living standards, the quantity of automobile is more and more, the complexity of road
Increasingly severe, traffic safety is just into an important problem, and the driving of S types is the key factor to cause the accident, and S
Type is driven a vehicle, and some are probably caused by due to fatigue driving, more dangerous.However, there is presently no carry out S type rows for vehicle
The safe early warning carried out in terms of car, and driving behavior are reminded.
The content of the invention
The present invention provides a kind of traffic safety method for early warning and device, is sentenced based on the current speed of driving vehicle, corner
Disconnected and driving vehicle intrinsic information ensure that the safety of driving to determine whether need early warning.
In a first aspect, the present invention provides a kind of traffic safety method for early warning, for driving vehicle, the method bag
Include：
Vehicle traveling intrinsic information and real-time vehicle running information are obtained, the vehicle traveling intrinsic information includes Travel vehicle
Width, lane width, the real-time vehicle running information includes the corner of time, the speed of driving vehicle and vehicle；
Maximum transversal of the vehicle in transformation period section is calculated according to the vehicle real time of acquisition and changes distance；
The driving row at the end of transformation period section is judged according to maximum transversal change distance and vehicle traveling intrinsic information
For, and safe driving behavior is determined whether according to the driving behavior；
When the driving behavior judged is unsafe driving behavior, traffic safety early warning is exported, or send driving
Control signal is controlled the driving vehicle.
In second aspect, the present invention provides a kind of traffic safety prior-warning device, for driving vehicle, described device bag
Include：
Acquisition module, processing module, analysis judgment module and output module；
The acquisition module, for obtaining vehicle traveling intrinsic information and real-time vehicle running information, the vehicle traveling
Intrinsic information includes width, the lane width of driving vehicle, and the real-time vehicle running information includes time, the car of driving vehicle
The corner of speed and vehicle；
The processing module, it is horizontal for calculating maximum of the vehicle in transformation period section according to the vehicle traveling information of acquisition
To change distance；
The analysis judgment module, for being judged according to maximum transversal change apart from vehicle traveling intrinsic information in a change
Driving behavior at the end of period, and safe driving behavior is determined whether according to the driving behavior；
The output module, for when the driving behavior judged is unsafe driving behavior, output traffic safety to be pre-
Alert prompting, or send thermoacoustic prime engine signal and the driving vehicle is controlled.
Therefore, by applying traffic safety method for early warning provided by the invention, the vehicle of acquisition is travelled intrinsic information and
Real-time vehicle running information handled with obtain maximum transversal change distance, according to maximum transversal change distance analysis whether be
Safe driving behavior, when for unsafe driving behavior when, then send traffic safety early warning, or send thermoacoustic prime engine signal pair
The driving vehicle is controlled.It ensure that the safety of driver and vehicle, reduce vehicle due to walking S types curve, continuous lane change
The probability for causing to cause danger Deng unsafe driving behavior.
Brief description of the drawings
Fig. 1 is a kind of traffic safety method for early warning flow chart provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram that vehicle provided in an embodiment of the present invention walks S type curves；
Fig. 3 is a kind of traffic safety prior-warning device schematic diagram provided in an embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiment be the present invention
Part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
All other embodiments obtained under the premise of creative work are made, belong to the scope of protection of the invention.
For ease of the understanding to the embodiment of the present invention, it is further explained below in conjunction with attached drawing with specific embodiment
Bright, embodiment does not form the restriction to the embodiment of the present invention.
The traffic safety method for early warning that embodiment 1 that the present invention will be described in detail by taking Fig. 1 as an example below provides, and please tie at the same time
Close with reference to figure 2, subject of implementation is a comprehensive treatment equipment in embodiments of the present invention.As shown in Figure 1, the embodiment specifically includes
Following steps 110- steps 140：
Step 110, obtain vehicle traveling intrinsic information and real-time vehicle running information；
In the present embodiment, the vehicle traveling intrinsic information includes but not limited to the width of driving vehicle, lane width,
The real-time vehicle running information includes the corner of time, the speed of driving vehicle and vehicle.
Where it is assumed that bicycle road width is W2, overall width W1, then the ultimate range W of the side of car to lane line2–W1, one
The width of half lane line is W2÷2。
In the present embodiment, the comprehensive treatment device from the car-mounted terminal of vehicle with fixed frequency (such as 5Hz) from controller
Local area network obtains the current vehicle speed and corner of the driving vehicle.
In other embodiments, the comprehensive treatment device directly obtains working as the driving vehicle by acceleration transducer
Preceding speed, and obtain by gyro sensor the corner of the driving vehicle.
Step 120, travel intrinsic information and real-time vehicle running information according to the vehicle of acquisition and calculate vehicle in change
Between maximum transversal change distance in section.The maximum transversal change distance is that driving vehicle deviates just in a transformation period section
The maximum lateral displacement during beginning position.
Please refer to Fig. 2 below, in the present embodiment, by taking driving vehicle completes once complete S types traveling as an example into
Row explanation.
The initial time t1 of transformation period section, vehicle are zero by zero, opposite rotational angle theta of uniform velocity s, initial corner α
Parameter in the road between travel；From the t1 moment to the t2 moment, vehicle is turned right with speed s, in transformation period section t1 to the t2 times
The t2 moment of section, corner are α 1, and opposite rotational angle theta becomes θ 1=α 1*T1 by 0, and the distance that vehicle is passed by is S1=s*T1, vehicle
It is H1=S1*Tan (θ 1-0) to deviate initial traveling lane maximum transversal distance；Vehicle continue using speed S, to corner as α 2 to the left
Change one's profession and sail to the t3 moment, at the t3 moment, vehicle has reached the maximum transversal deviation point of this complete curve shape traveling, at this time, phase
To corner θ 2=0 are become by θ 1, the distance S2=s*T2 that vehicle is passed by, vehicle from the t2 moment to the cross directional variations at t3 moment away from
From for H2=S2*Tan (θ 2- θ 1)；The process of original lane position is returned back to for vehicle from the t3 moment to the t5 moment, it is substantially
From the t1 moment to the reverse process at t3 moment, details are not described herein.It is clear that from the t1 moment to this transformation period of t5 moment
In section, maximum transversal distance is H=H1+H2.This embodiment be exemplified by a S type curve driving occurs in transformation period section into
Row explanation, it is therefore apparent that if occurring multiple maximum transversal deviation distance in transformation period section, and be with reference to vehicle driving trace
It can analyze that there are multiple similar driving behaviors.
Step 130, according to maximum transversal change distance and vehicle traveling intrinsic information judge to terminate in a transformation period section
When driving behavior, and export the driving behavior result；
In the present embodiment, when maximum transversal change distance H arrives W 02-W1Between when changing, then export normal driving
Behavioural analysis is as a result, i.e., it is believed that vehicle simply in a track, does slight oscillatory, belong to normal driving back and forth.
When maximum transversal change distance H is always close to W2-W1During change, then output is done by a relatively large margin in current lane
The driving behavior of swing is as a result, i.e., it is believed that vehicle still in a track, does swing by a relatively large margin back and forth；When the change
Period is less than a predetermined threshold value, and the number that maximum transversal change distance occurs in transformation period section is more than 1, then exports
Driving behavior for drive unskilled or fatigue driving；Otherwise driving behavior is normally travel.
When maximum transversal changes distance H in W2-W1To W2-W1+W2When changing between ÷ 2, then discriminatory analysis goes out driving row
To be crossed over for vehicle to closing on track and ride line traveling, and the absent-minded or fatigue driving behavior without lane change with the short time.
When maximum transversal changes distance H in W2-W1+W2÷ 2 arrives W2-W1+W2Between when changing, then the driving behavior exported is
Lane change drives, i.e. thinks that vehicle has passed over and closes on track, complete lane change process, belongs to the conscious lane change of driver
Drive, when the transformation period section is less than a predetermined threshold value, and the maximum transversal change distance appearance in transformation period section
Number is more than 1, then the driving behavior exported drives for continuous lane change, and the driving behavior otherwise exported is that normal lane change is overtaken other vehicles row
For.
The driving behavior output warning information that step 140, basis are judged, when the driving behavior judged is dangerous row
Then to export traffic safety early warning, or send thermoacoustic prime engine signal and the driving vehicle is controlled.The early warning carries
It is shown as sending corresponding sound according to corresponding driving behavior or the corresponding image of display is prompted, it is described to send thermoacoustic prime engine letter
Number the driving vehicle being controlled can be to control vehicle to stop with control information such as brakes.
Therefore, by applying traffic safety method for early warning provided by the invention, the vehicle of acquisition is travelled intrinsic information and
Whether real-time vehicle running information is handled to obtain maximum transversal distance, be safe driving according to maximum transversal distance analysis
Behavior, when for unsafe driving behavior when, then send traffic safety early warning, or send thermoacoustic prime engine signal to the traveling
Vehicle is controlled.It ensure that the safety of driver and vehicle, it is dangerous due to walking S types curve, continuous lane change etc. to reduce vehicle
Driving behavior causes the probability caused danger.
Traffic safety method for early warning can be achieved in the method for above-described embodiment description, and correspondingly, present invention also offers one
Kind traffic safety prior-warning device, to realize the traffic safety method for early warning provided in previous embodiment.
Fig. 3 is a kind of traffic safety prior-warning device schematic diagram that the embodiment of the present invention 1 provides.
Please refer to Fig.3, in a preferred embodiment of traffic safety prior-warning device of the present invention, described device includes：Obtain mould
Block 410, processing module 420, analysis judgment module 430 and output module 440.
In the present embodiment, acquisition module 410 that described device includes is used for
Obtain vehicle traveling intrinsic information and real-time vehicle running information；
In the present embodiment, the vehicle traveling intrinsic information includes but not limited to the width of driving vehicle, lane width,
The real-time vehicle running information includes the corner of time, the speed of driving vehicle and vehicle.
Where it is assumed that bicycle road width is W2, overall width W1, then the ultimate range W of the side of car to lane line2-W1, one
The width of half lane line is W2÷2。
In the present embodiment, the comprehensive treatment device from the car-mounted terminal of vehicle with fixed frequency (such as 5Hz) from controller
Local area network obtains the current vehicle speed and corner of the driving vehicle.
In other embodiments, the comprehensive treatment device directly obtains working as the driving vehicle by acceleration transducer
Preceding speed, and obtain by gyro sensor the corner of the driving vehicle.
The processing module 420, for according to the vehicle traveling information of acquisition calculate vehicle in transformation period section most
Big cross directional variations distance.When the maximum transversal change distance is the driving vehicle deviation initial position in a transformation period section
The maximum lateral displacement.
Please refer to Fig. 2 below, in the present embodiment, by taking driving vehicle completes once complete S types traveling as an example into
Row explanation.
The initial time t1 of transformation period section, vehicle are zero by zero, opposite rotational angle theta of uniform velocity s, initial corner α
Parameter in the road between travel；From the t1 moment to the t2 moment, vehicle is turned right with speed s, in transformation period section t1 to the t2 times
The t2 moment of section, corner are α 1, and opposite rotational angle theta becomes θ 1=α 1*T1 by 0, and the distance that vehicle is passed by is S1=s*T1, vehicle
It is H1=S1*Tan (θ 1-0) to deviate initial traveling lane maximum transversal distance；Vehicle continue using speed S, to corner as α 2 to the left
Change one's profession and sail to the t3 moment, at the t3 moment, vehicle has reached the maximum transversal deviation point of this complete curve shape traveling, at this time, phase
To corner θ 2=0 are become by θ 1, the distance S2=s*T2 that vehicle is passed by, vehicle from the t2 moment to the cross directional variations at t3 moment away from
From for H2=S2*Tan (θ 2- θ 1)；The process of original lane position is returned back to for vehicle from the t3 moment to the t5 moment, it is substantially
From the t1 moment to the reverse process at t3 moment, details are not described herein.It is clear that from the t1 moment to this transformation period of t5 moment
In section, maximum transversal distance is H=H1+H2.This embodiment be exemplified by a S type curve driving occurs in transformation period section into
Row explanation, it is therefore apparent that if occurring multiple maximum transversal deviation distance in transformation period section, illustrate in this transformation period section
There is multiple S types curve driving, can be according to the frequency of S type curve drivings to determine whether fatigue driving etc..
The analysis judgment module 430, for being judged according to maximum transversal change distance and vehicle traveling intrinsic information
Driving behavior at the end of one transformation period section, and export the driving behavior result；
In the present embodiment, when maximum transversal change distance H arrives W 02-W1Between when changing, then export normal driving
Behavioural analysis is as a result, i.e., it is believed that vehicle simply in a track, does slight oscillatory, belong to normal driving back and forth.
When maximum transversal change distance H is always close to W2-W1During change, then output is done by a relatively large margin in current lane
The driving behavior of swing is as a result, i.e., it is believed that vehicle still in a track, does swing by a relatively large margin back and forth；If at one
There is multiple n in period of change T in a period of time>1, then the driving behavior exported is no to drive unskilled or fatigue driving
Then driving behavior is normally travel.
When maximum transversal changes distance H in W2-W1To W2-W1+W2When changing between ÷ 2, then discriminatory analysis goes out driving row
To be crossed over for vehicle to closing on track and ride line traveling, and the absent-minded or fatigue driving behavior without lane change with the short time.
When maximum transversal changes distance H in W2-W1+W2÷ 2 arrives W2-W1+W2Between when changing, then the driving behavior exported is
Lane change drives, i.e. thinks that vehicle has passed over and closes on track, complete lane change process, belongs to the conscious lane change of driver
Drive；When the transformation period section is less than a predetermined threshold value, and the maximum transversal change distance appearance in transformation period section
Number is more than 1, then the driving behavior exported drives for continuous lane change；Otherwise the driving behavior exported is overtaken other vehicles row for normal lane change
For.
The output module 440, for exporting warning information according to the driving behavior judged, when the driving row judged
For unsafe acts, then to export traffic safety early warning, or send thermoacoustic prime engine signal and the driving vehicle is controlled
System.The early warning is to send corresponding sound according to corresponding driving behavior or show that corresponding image is prompted, described
It can be to control vehicle to stop with control information such as brakes to send thermoacoustic prime engine signal and the driving vehicle is controlled.
Therefore, by applying traffic safety method for early warning provided by the invention, the vehicle of acquisition is travelled intrinsic information and
Whether real-time vehicle running information is handled to obtain maximum transversal distance, be safe driving according to maximum transversal distance analysis
Behavior, when for unsafe driving behavior when, then send traffic safety early warning, or send thermoacoustic prime engine signal to the traveling
Vehicle is controlled.It ensure that the safety of driver and vehicle, it is dangerous due to walking S types curve, continuous lane change etc. to reduce vehicle
Driving behavior causes the probability caused danger.
Above-described embodiment, has carried out the purpose of the present invention, technical solution and beneficial effect further
Describe in detail, it should be understood that the foregoing is merely the embodiment of the present invention, be not intended to limit the present invention
Protection domain, all on the basis of technical scheme, any modification, equivalent substitution, improvement and etc. done, should all wrap
It is contained within protection scope of the present invention.
Claims (5)
- A kind of 1. traffic safety method for early warning, for driving vehicle, it is characterised in that the described method includes：Vehicle traveling intrinsic information and real-time vehicle running information are obtained, the vehicle traveling intrinsic information includes driving vehicle Width, lane width, the real-time vehicle running information include the corner of time, the speed of driving vehicle and vehicle；Maximum transversal of the vehicle in transformation period section is calculated according to the vehicle real time of acquisition and changes distance；Driving behavior at the end of transformation period section is judged according to maximum transversal change distance and vehicle traveling intrinsic information, and Safe driving behavior is determined whether according to the driving behavior；When the driving behavior judged is unsafe driving behavior, traffic safety early warning is exported, or send thermoacoustic prime engine Signal is controlled the driving vehicle,Wherein body side meets formula to lane line ultimate range：W2–W1, wherein W2Represent bicycle road width, W1Represent overall width, when Maximum transversal changes distance 0 to when changing between W2-W1, and the driving behavior result is normal driving；When maximum transversal changes distance in W2-W1To W2-W1+W2When changing between ÷ 2, then the driving behavior that discriminatory analysis goes out is car Leap is to closing on track and ride line traveling, and the absent-minded or fatigue driving behavior without lane change with the short time.
- 2. traffic safety method for early warning according to claim 1, it is characterised in that when maximum transversal change distance exists always Close to W2-W1During change, then the driving behavior result swung by a relatively large margin is done in output in current lane.
- 3. traffic safety method for early warning according to claim 1, it is characterised in that when maximum transversal changes distance in W2-W1 +W2÷ 2 arrives W2-W1+W2Between when changing, then the driving behavior exported is that lane change drives, and when the transformation period section, to be less than one pre- If threshold value, and the number that maximum transversal change distance occurs in transformation period section is more than 1, then and the driving behavior exported is to connect Continuous lane change drives, and the driving behavior otherwise exported is normal lane change passing behavior.
- A kind of 4. traffic safety prior-warning device, for driving vehicle, it is characterised in that described device includes：Acquisition module, processing Module, analysis judgment module and output module；The acquisition module, for obtaining vehicle traveling intrinsic information and real-time vehicle running information, the vehicle traveling is intrinsic Information includes width, the lane width of driving vehicle, the real-time vehicle running information include the time, driving vehicle speed and The corner of vehicle；The processing module, becomes for calculating maximum transversal of the vehicle in transformation period section according to the vehicle traveling information of acquisition Change distance；The analysis judgment module, for being judged according to maximum transversal change apart from vehicle traveling intrinsic information in a transformation period Driving behavior at the end of section, and safe driving behavior is determined whether according to the driving behavior；The output module, for when the driving behavior judged is unsafe driving behavior, output traffic safety early warning to carry Show, or send thermoacoustic prime engine signal and the driving vehicle is controlled,Wherein body side to lane line ultimate range be W2–W1, wherein W2Represent bicycle road width, W1Overall width is represented, when maximum horizontal To change distance H W is arrived 02-W1Between when changing, the driving behavior result of the analysis judgment module output is normal driving；When maximum transversal changes distance H in W2-W1To W2-W1+W2When changing between ÷ 2, then the analysis judgment module judges to divide The driving behavior of precipitation is crossed over to closing on track and ride line traveling with the short time for vehicle, and absent-minded or tired without lane change Driving behavior.
- 5. traffic safety prior-warning device according to claim 4, it is characterised in that when maximum transversal changes distance H always Close to W2-W1During change, then the driving behavior knot swung by a relatively large margin is done in the analysis judgment module output in current lane Fruit；When maximum transversal changes distance H in W2-W1+W2÷ 2 arrives W2-W1+W2Between when changing, then the analysis judgment module output Driving behavior be that lane change drives, when the transformation period section is less than a predetermined threshold value, and the maximum horizontal stroke in transformation period section The number occurred to change distance is more than 1, then the driving behavior exported drives for continuous lane change, and the driving behavior otherwise exported is Normal lane change passing behavior.
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| CN108470142B (en) * | 2018-01-30 | 2021-09-03 | 西安电子科技大学 | Lane positioning method based on inverse perspective projection and lane distance constraint |
| CN108492527B (en) * | 2018-05-18 | 2020-11-17 | 武汉理工大学 | Fatigue driving monitoring method based on overtaking behavior characteristics |
| CN109801490A (en) * | 2018-12-10 | 2019-05-24 | 百度在线网络技术（北京）有限公司 | Running data processing method, device, equipment and computer readable storage medium |
| CN109615855A (en) * | 2018-12-10 | 2019-04-12 | 北京新能源汽车股份有限公司 | A kind of recognition methods, storage medium and car-mounted terminal changing driving behavior |
| CN110428621B (en) * | 2019-07-30 | 2022-07-15 | 山东交通学院 | Track data-based monitoring and early warning method for dangerous driving behavior of floating car |
| CN111703428B (en) * | 2020-07-22 | 2021-08-10 | 交通运输部公路科学研究所 | Fatigue driving monitoring method based on vehicle-road cooperation |
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