CN106467112A - Vehicle-mounted DAS (Driver Assistant System) - Google Patents
Vehicle-mounted DAS (Driver Assistant System) Download PDFInfo
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- CN106467112A CN106467112A CN201610888563.8A CN201610888563A CN106467112A CN 106467112 A CN106467112 A CN 106467112A CN 201610888563 A CN201610888563 A CN 201610888563A CN 106467112 A CN106467112 A CN 106467112A
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- 238000004891 communication Methods 0.000 claims abstract description 90
- 238000012545 processing Methods 0.000 claims abstract description 81
- 231100001261 hazardous Toxicity 0.000 claims description 25
- 238000005516 engineering process Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 7
- 101001093748 Homo sapiens Phosphatidylinositol N-acetylglucosaminyltransferase subunit P Proteins 0.000 claims 1
- 238000000034 method Methods 0.000 description 18
- 230000006399 behavior Effects 0.000 description 16
- 230000006870 function Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000003542 behavioural effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0014—Adaptive controllers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present invention provides a kind of vehicle-mounted DAS (Driver Assistant System).This vehicle-mounted DAS (Driver Assistant System) includes car-mounted terminal, roadside unit and is installed on the central control system on vehicle；This car-mounted terminal includes data acquisition module, data processing module, first communication module and second communication module.Data acquisition module obtains first vehicle operation data of this car, obtains running environment information by first communication module, and this first vehicle operation data and this running environment information are sent to data processing module；Data processing module, according to this first vehicle operation data and this running environment information, generates operational order, and this operational order is sent to this central control system；Central control system is according to this operational order, this car is controlled to travel, achieve and control this car to travel according to this first vehicle operation data and this running environment information, in current running environment it may happen that danger predicted in real time and early warning, improve the safety of vehicle drive.
Description
Technical field
The present embodiments relate to technical field of intelligent traffic, more particularly, to a kind of vehicle-mounted DAS (Driver Assistant System).
Background technology
With the fast development of Modern Traffic and auto industry, whole world automobile pollution and highway mileage number are rapid
Increase, existing path resource gradually can not meet demand, and traffic congestion becomes the universal phenomenon of each big and medium-sized cities both at home and abroad.With
And come vehicle accident also sharply increase, cause very big economic loss and casualties.
Because the accident that the anthropic factor of driver causes accounts for significant proportion, DAS (Driver Assistant System) in all vehicle accidents
Appearance, can effectively reduce incidence rate and its order of severity of vehicle accident.
Existing vehicle-mounted monitoring system is most to be used for providing navigation information, network service etc. to driving vehicle, in this process
Middle vehicle passively receives remote service information, in its current driving environment it may happen that danger cannot be carried out prediction and pre-
Alert, lead to existing DAS (Driver Assistant System) inconspicuous for benefiting of the safety of vehicle drive.
Content of the invention
The embodiment of the present invention provides a kind of vehicle-mounted DAS (Driver Assistant System), to solve in existing vehicle-mounted monitoring system for car
In current driving environment it may happen that danger cannot predict in real time and early warning, lead to existing DAS (Driver Assistant System) for
The safety of vehicle drive benefit unconspicuous problem.
The embodiment of the present invention is to provide a kind of vehicle-mounted DAS (Driver Assistant System) on one side, including：Car-mounted terminal, trackside list
Unit and be installed on the central control system on vehicle；Described car-mounted terminal include data acquisition module, data processing module,
One communication module and second communication module；
Described data acquisition module is used for obtaining first vehicle operation data of this car, and described first vehicle is travelled number
According to being sent to described data processing module；
Described data acquisition module is used for obtaining running environment information by described first communication module, and by described traveling
Environmental information is sent to described data processing module；
Described data processing module is used for, according to described first vehicle operation data and described running environment information, generating behaviour
Instruct, and described operational order is sent to described central control system；
Described central control system is used for according to described operational order, controls this car to travel.
Vehicle-mounted DAS (Driver Assistant System) provided in an embodiment of the present invention, including：Car-mounted terminal, roadside unit and be installed on car
Central control system on；Described car-mounted terminal includes data acquisition module, data processing module, first communication module and
Two communication modules.Described data acquisition module obtains first vehicle operation data of this car, is obtained by described first communication module
Take running environment information, and the first vehicle operation data of described car and described running environment information are sent to described data
Processing module；Described data processing module, according to described first vehicle operation data and described running environment information, generates operation
Instruction, and described operational order is sent to described central control system；Described central control system is used for according to described operation
Instruction, controls this car to travel.The embodiment of the present invention passes through the first vehicle operation data and running environment information according to this car, raw
Become operational order, and control this car travel it is achieved that in current running environment it may happen that danger carry out in real time
Prediction and early warning, improve the safety of vehicle drive.
Brief description
The structure chart of the vehicle-mounted DAS (Driver Assistant System) that Fig. 1 provides for the embodiment of the present invention one；
The flow chart of the vehicle-mounted auxiliary driving method that Fig. 2 provides for the embodiment of the present invention two；
The flow chart of the vehicle-mounted auxiliary driving method that Fig. 3 provides for the embodiment of the present invention three；
The flow chart of the vehicle-mounted auxiliary driving method that Fig. 4 provides for the embodiment of the present invention four；
The structure chart of the vehicle-mounted DAS (Driver Assistant System) that Fig. 5 provides for the embodiment of the present invention five；
The flow chart of the vehicle-mounted auxiliary driving method that Fig. 6 provides for the embodiment of the present invention five.
Specific embodiment
The vehicle-mounted DAS (Driver Assistant System) structure chart that Fig. 1 provides for the embodiment of the present invention one.The embodiment of the present invention is directed to existing
Vehicle-mounted monitoring system in in vehicle current driving environment it may happen that danger cannot predict in real time and early warning, lead to
Existing DAS (Driver Assistant System) benefits unconspicuous problem for the safety of vehicle drive, there is provided vehicle-mounted auxiliary drives system
System, as shown in figure 1, this vehicle-mounted DAS (Driver Assistant System) includes：Car-mounted terminal 101, roadside unit 102 and be installed on vehicle
Central control system 103；Described car-mounted terminal 101 includes data acquisition module 1011, data processing module 1012, first communication
Module 1013 and second communication module 1014；The first vehicle that described data acquisition module 1011 is used for obtaining this car travels number
According to, and described first vehicle operation data is sent to described data processing module 1012；Described data acquisition module 1011 is used
In running environment information is obtained by described first communication module 1013, and described running environment information is sent to described data
Processing module 1012；Described data processing module 1012 is used for according to described first vehicle operation data and described running environment letter
Breath, generates operational order, and described operational order is sent to described central control system 103；Described central control system 103
For according to described operational order, controlling this car to travel.
Alternatively, car-mounted terminal 101 at least can obtain the position of the current vehicle of this car, travel speed, turn information,
The information such as brake information, oil consumption, distance travelled and information of vehicles.
Preferably, car-mounted terminal 101 adopts vehicle-mounted T-BOX (Telematics Box, abbreviation T-BOX), and vehicle-mounted T-BOX can
Directly pass through CAN (Controller Area Network, control area network) communication and obtain vehicle body with vehicle main frame
The information of vehicles such as state, situation of remote it is also possible to obtain the position of vehicle, travel speed, turn information, brake information, oil consumption,
The information such as distance travelled.Vehicle-mounted T-BOX can also be controlled to multiple mobile units, thus realizing wagon control, vehicle prison
Control, vehicle mounted multimedia control, emergency relief etc., for example, can be adjusted in-car air-conditioner temperature, be dialed or answer by vehicle-mounted T-BOX
Phone, open or close vehicle window car door etc..
Preferably, described running environment information at least includes：Second vehicle operation data of other car-mounted terminals transmission, institute
State the road information of roadside unit 102 transmission.
Alternatively, car-mounted terminal 101 and other car-mounted terminals, the communication between car-mounted terminal 101 and roadside unit 102 can
With using DSRC (Dedicated Short Range Communications, DSRC technology) technology so that car
Mounted terminal 101 can obtain the data of roadside unit 102 it is possible to realize phase between car-mounted terminal 101 and other car-mounted terminals
Mutual communication, such that it is able to get the running data of other vehicles around this car, and road information.
Alternatively, described first communication module 1013 adopts DSRC communication technology；Described second communication module 1014 adopts
At least one communication technology as follows：GPRS, 2G, 3G, 4G and 5G.
In addition, the data processing module 1012 in car-mounted terminal 101 is used for according to described first vehicle operation data and institute
State running environment information, generate operational order, and described operational order is sent to described central control system by CAN
103.Described central control system 103 is typically made up of sensor, executor and controller, can be used for controlling each height of vehicle
System and/or mobile unit, for example：Can control electromotor, automatic transmission, brake anti-lock device, air bag, etc..
Different automobile types and different configuration of vehicle, its attainable control function of central control system 103 can be different.
The embodiment of the present invention passes through the first vehicle operation data and the running environment information of active obtaining this car current, according to
First vehicle operation data of this car and running environment information, generate operational order, and control this car travel it is achieved that for work as
In front running environment it may happen that danger predicted in real time and early warning, improve the active safety of vehicle drive.
The flow chart of the vehicle-mounted auxiliary driving method that Fig. 2 provides for the embodiment of the present invention two.Base in above-described embodiment one
On plinth, in the embodiment of the present invention two, alternatively, described data processing module is specifically for travelling number according to described first vehicle
According to the second vehicle operation data sending with other car-mounted terminals described, judge whether the described affiliated vehicle of other car-mounted terminals has
Hazardous act；If it is determined that the dangerous behavior of the affiliated vehicle of described other car-mounted terminals, it is pre- that described data processing module generates first
Alert instruction, and described first alarm command is sent to described central control system；Described central control system is specifically for root
According to described first alarm command, adjust speed and/or send the first information warning.
As shown in Fig. 2 the vehicle-mounted auxiliary driving method that the embodiment of the present invention two provides specifically includes following steps：
Step S101, data acquisition module obtain first vehicle operation data of this car, and described first vehicle is travelled
Data is activation is to data processing module.
Wherein, first vehicle operation data of this car at least includes：The position of the current vehicle of this car, travel speed, turn
The information such as curved information, brake information, oil consumption, distance travelled and information of vehicles.
In the present embodiment, data acquisition module obtains the information of vehicles such as vehicle body state, situation of remote by CAN,
Can also the information such as the position of direct access vehicle, travel speed, turn information, brake information, oil consumption, distance travelled.
Step S102, data acquisition module obtain running environment information by described first communication module, and by described row
Sail environmental information and be sent to data processing module.
Wherein, described running environment information at least includes：The second vehicle operation data, described that other car-mounted terminals send
The road information that roadside unit sends.Described first communication module adopts DSRC communication technology.
Preferably, car-mounted terminal and other car-mounted terminals, the communication between car-mounted terminal and roadside unit can adopt
DSRC technology is so that car-mounted terminal can obtain the data of roadside unit it is possible to realize car-mounted terminal and other car-mounted terminals
Intercommunication, such that it is able to get the running data of other vehicles around this car, and road information.
In addition, the second vehicle operation data at least includes the position of the affiliated vehicle of other car-mounted terminals, travel speed, turning
The information such as information, brake information, oil consumption, distance travelled and information of vehicles.Road information at least includes：Road sign, traffic lights with
And other are provided with the positional information of the road side facility of roadside unit, the traffic information that photographic head shoots, and other road conditions letter
Breath etc..
Step S103, data processing module send according to described first vehicle operation data and other car-mounted terminals described
Second vehicle operation data, judges the described whether dangerous behavior of the affiliated vehicle of other car-mounted terminals however, it is determined that other cars described
The dangerous behavior of the affiliated vehicle of mounted terminal, execution step S104 is however, it is determined that the affiliated vehicle of other car-mounted terminals described is safe from danger
Behavior, then execute above-mentioned steps S101-S103.
Specifically, in this step, described data processing module specifically for according to described first vehicle operation data and
The second vehicle operation data that other car-mounted terminals described send, determines between this car and the affiliated vehicle of other car-mounted terminals described
Beeline；If described beeline is less than the first predetermined threshold value, described in described data processing module determination, other are vehicle-mounted
The dangerous behavior of the affiliated vehicle of terminal；And/or, if the affiliated vehicle of arbitrary other car-mounted terminals described is more than near the speed of this car
Second predetermined threshold value, then the dangerous behavior of the affiliated vehicle of other car-mounted terminals described in described data processing module determination.
Further, it is determined that the beeline between Ben Che and the affiliated vehicle of other car-mounted terminals described, can be according to this
Car is obtained with the positional information calculation of the affiliated vehicle of other car-mounted terminals.Ruo Benche with described other car-mounted terminals affiliated vehicle it
Between beeline be less than the first predetermined threshold value it is believed that there being other vehicle distances Ben Chetai near, for example, other this cars of vehicle distances
Closely easily scratch very much.In this case occur the probability of vehicle accident larger, determine that the affiliated vehicle of other car-mounted terminals has danger
Dangerous behavior.
Further, the affiliated vehicle of other car-mounted terminals can be according to Ben Che and other car-mounted terminals near the speed of this car
The positional information of affiliated vehicle and speed calculation obtain.If the affiliated vehicle of arbitrary other car-mounted terminals described is near the speed of this car
Degree is more than the second predetermined threshold value it is believed that having other vehicles rapidly near this car, for example, other vehicles have passing behavior.This feelings
Occur the probability of vehicle accident larger under condition, determine the described dangerous behavior of the affiliated vehicle of other car-mounted terminals.
Alternatively, if the affiliated vehicle of arbitrary other car-mounted terminals described is more than the second predetermined threshold value near the speed of this car,
In conjunction with current road information, can after occurring car overtake other vehicles, meeting when overtake other vehicles, the dangerous feelings of other vehicles such as bend is overtaken other vehicles
Condition.
Wherein, the first predetermined threshold value and the second predetermined threshold value independently can be set according to practical situation by technical staff, this
Inventive embodiments are not specifically limited to this.
Step S104, data processing module generate the first alarm command, and described first alarm command are sent to described
Central control system.
If in step S103, data processing module determines the described dangerous behavior of the affiliated vehicle of other car-mounted terminals, then root
According to described hazardous act, generate the first alarm command.This first alarm command includes the relevant information of hazardous act, for example,
This first alarm command comprises to determine the foundation of the dangerous behavior of the affiliated vehicle of other car-mounted terminals.
Step S105, described central control system, according to described first alarm command, according to described first alarm command, are adjusted
Car load is fast and/or sends the first information warning.
In the present embodiment, determine in step S103 that the hazardous act of the described affiliated vehicle of other car-mounted terminals is different, step
The first alarm command generating in rapid S104 is different, and this first alarm command includes the relevant information of hazardous act, in this step
In rapid S105, central control system, according to the first alarm command, controls this car to travel.For example, when Ben Che is with described other are vehicle-mounted
Beeline between the affiliated vehicle of terminal is less than the first predetermined threshold value, determines the dangerous row of the affiliated vehicle of other car-mounted terminals
For generating the determination foundation that the first alarm command includes this hazardous act.Central control system is according in the first alarm command
This hazardous act determination foundation, adjustment speed and/or send the first information warning.
Alternatively, adjustment speed can be deceleration and/or brake hard；Described first information warning can be for pre-setting
With each vehicle risk behavior respectively corresponding prompt tone, or comprise " too near with other vehicle distances it is noted that ", " have it
His vehicle is quickly close ", the voice message of this vehicle risk behavioural information content such as " there are other vehicle cut-ins at turning ", or
Display display dangerous information prompting in the vehicle mounted, or human pilot can be reminded to note using other, or remind
The information warning that other vehicles note, the embodiment of the present invention is not specifically limited to this.
The embodiment of the present invention passes through data processing module according to described first vehicle operation data and other vehicle-mounted ends described
The second vehicle operation data that end sends, judges the described whether dangerous behavior of the affiliated vehicle of other car-mounted terminals；If it is determined that institute
State the dangerous behavior of the affiliated vehicle of other car-mounted terminals, described data processing module generates the first alarm command, and by described the
One alarm command is sent to described central control system；Described central control system, according to described first alarm command, adjusts car
Speed and/or send the first information warning.Can be actively discovered in current running environment it may happen that other vehicles danger
Behavior, and speed can be adjusted in time and/or send the first information warning it is achieved that in current driving environment it may happen that
The hazardous act of other vehicles predicted in real time and early warning, improve the active safety of vehicle drive.
The flow chart of the vehicle-mounted auxiliary driving method that Fig. 3 provides for the embodiment of the present invention three.On above-described embodiment one basis
On, alternatively, described data processing module is additionally operable to, according to the described road information obtaining from described roadside unit, judge described
Whether there is road obstacle information in the communication coverage of first communication module；If the communication of described first communication module covers model
There is road obstacle information, then described data processing module is additionally operable to generate the second alarm command in enclosing, and by described second early warning
Instruction is sent to described central control system, so that described central control system is according to described second alarm command, adjusts speed
And/or send the second information warning；Described data processing module is additionally operable to broadcast described road by described first communication module
Complaint message, so that other car-mounted terminals described receive described road obstacle information.
As shown in figure 3, the vehicle-mounted auxiliary driving method that the embodiment of the present invention three provides comprises the following steps：
Step S201, data acquisition module obtain first vehicle operation data of this car, and described first vehicle is travelled
Data is activation is to data processing module.
This step S201 is similar with step S101, and here is omitted.
Step S202, data acquisition module obtain running environment information by first communication module, and by described traveling ring
Environment information is sent to data processing module.
This step S202 is similar with step S102, and here is omitted.
Step S203, data processing module, according to the road information obtaining from roadside unit, judge first communication module
Whether there is road obstacle information in communication coverage；If there being road barricade to believe in the communication coverage of first communication module
Breath, then execution step S204；If there is no road obstacle information, execution step in the communication coverage of first communication module
S201-S203.
Wherein, road information at least includes：Road sign, traffic lights and other be provided with roadside unit road side facility position
Confidence ceases, the traffic information that photographic head shoots, and other traffic informations etc..
In the present embodiment, data processing module, according to the road information obtaining from roadside unit, determines that road ahead has
It is determined that having road obstacle information in the communication coverage of first communication module after situations such as dangerous situation or generation vehicle accident,
And according to the road information obtaining from roadside unit, generate the road obstacle information including roadblock reason.
Alternatively, when data processing module is according to the road information obtaining from roadside unit, find that road ahead has continuously
Detour, during the Dangerous Area such as zig zag, determines in the communication coverage of first communication module there is road obstacle information, and according to
The road information obtaining from roadside unit, generates the road obstacle information including Dangerous Area information.
Alternatively, when data processing module is according to the road information obtaining from roadside unit, discovery road ahead is cross
Crossing, or other easily occur vehicle accidents section when, determine in the communication coverage of first communication module there is road barricade
Information, and according to the road information obtaining from roadside unit, generate the road including the easy road section information that vehicle accident occurs
Complaint message.
Step S204, data processing module generate the second alarm command, and this second alarm command is sent to central authorities' control
System processed.
In the present embodiment, if having road obstacle information in the communication coverage of first communication module, in step S203
Data processing module can generate, according to the road information obtaining from roadside unit, the road obstacle information including roadblock reason,
In this step S204, data processing module, according to the road obstacle information including roadblock reason, generates the second alarm command, and
This second alarm command is sent to central control system.Wherein, this second alarm command includes this road obstacle information.
Preferably, this step S204 also includes：Data processing module broadcasts this road barricade letter by first communication module
Breath, so that other car-mounted terminals described receive described road obstacle information.
Further, if having road obstacle information in the communication coverage of first communication module, number in this step S204
This road obstacle information can also be broadcasted by the first communication module according to processing module, so that other car-mounted terminals can connect
Receive described road obstacle information, realize the shared of road obstacle information.
In addition, other information can also be shared between each car-mounted terminal, can according to actual needs, each car-mounted terminal it
Between the shared available data message of any car-mounted terminal, the embodiment of the present invention is not specifically limited to this.
Step S205, central control system, according to this second alarm command, adjust speed and/or send the second warning letter
Breath.
Specifically, when control system receives the second alarm command finally, according to being somebody's turn to do that this second alarm command comprises
Road obstacle information, controls vehicle to travel by adjusting speed, can also be by sending the second information warning so that human pilot
Vehicle is controlled to travel according to this second information warning.
Wherein, adjustment speed can be deceleration and/or brake hard；Described second information warning can pre-set
With each road obstacle information respectively corresponding prompt tone, or comprise " in road ahead repairing ", " front transmission vehicle accident ",
" front is just in traffic control ", " consecutive curve in front " etc. comprise the voice message with road obstacle information related content,
Or display display road obstacle information prompting in the vehicle mounted, or human pilot can be reminded to note using other
Meaning, or remind the information warning that other vehicles note, the embodiment of the present invention is not specifically limited to this.
The embodiment of the present invention is additionally operable to according to the described road letter obtaining from described roadside unit by data processing module
Breath, judges whether there is road obstacle information in the communication coverage of described first communication module；If described first communication module
Communication coverage in have road obstacle information, then described data processing module is additionally operable to generate the second alarm command, and will
Described second alarm command is sent to described central control system, so that described central control system refers to according to described second early warning
Order, adjusts speed and/or sends the second information warning, can be actively discovered the road service system information of road ahead generation, and energy
Enough adjust speed in time and/or send the second information warning, the road service system of road ahead generation can be found in time simultaneously in advance
Alert, improve the active safety of vehicle drive.And, data processing module can also be broadcasted by described first communication module
Described road obstacle information, so that other car-mounted terminals described receive described road obstacle information, realizes road service system information
Shared.
The flow chart of the vehicle-mounted auxiliary driving method that Fig. 4 provides for the embodiment of the present invention four.On above-described embodiment one basis
On, in the present embodiment four, alternatively, described data processing module is additionally operable to according to the described road obtaining from described roadside unit
Road information, judges whether have pedestrian's hazardous act to occur in the communication coverage of described first communication module；If described first
Pedestrian's hazardous act is had to occur in the communication coverage of communication module, described data processing module is additionally operable to generate the 3rd early warning
Instruction, and described 3rd alarm command is sent to described central control system, so that described central control system is according to described
3rd alarm command, adjusts speed and/or sends the 3rd information warning.
As shown in figure 4, the vehicle-mounted DAS (Driver Assistant System) method that the embodiment of the present invention four provides comprises the following steps：
Step S301, data acquisition module obtain first vehicle operation data of this car, and described first vehicle is travelled
Data is activation is to data processing module.
This step S301 is similar with step S101, and here is omitted.
Step S302, data acquisition module obtain running environment information by first communication module, and by described traveling ring
Environment information is sent to data processing module.
This step S302 is similar with step S102, and here is omitted.
Step S303, data processing module, according to the road information obtaining from described roadside unit, judge the first communication mould
Pedestrian's hazardous act whether is had to occur in the communication coverage of block；If having pedestrian in the communication coverage of first communication module
Hazardous act occurs, then execution step S304；If not having pedestrian's hazardous act to send out in the communication coverage of first communication module
Raw, then execution step S301-S303.
Wherein, road information at least includes：Road sign, traffic lights and other be provided with roadside unit road side facility position
Confidence ceases, the traffic information that photographic head shoots, and other traffic informations etc..
In the present embodiment, data processing module, according to the road information obtaining from roadside unit, determines the first communication mould
In the communication coverage of block, pedestrian's violation jaywalks, pedestrian occurs on car lane, pedestrian carries house pet near machine for generation
After situations such as walk in motor-car road, then pedestrian's hazardous act is had to occur in the communication coverage of first communication module.
Step S304, data processing module generate the 3rd alarm command, and described 3rd alarm command is sent to central authorities
Control system.
Specifically, this step S304 determines, according in step S303, the concrete condition that pedestrian's hazardous act occurs, and generates the
Three alarm commands, the 3rd alarm command includes the context information of pedestrian's hazardous act, and by the 3rd alarm command
It is sent to central control system.
Step S305, central control system, according to described 3rd alarm command, adjust speed and/or send the 3rd warning letter
Breath.
Alternatively, adjustment speed can be deceleration and/or brake hard；Described 3rd information warning can be for pre-setting
With each pedestrian's hazardous act respectively corresponding prompt tone, or comprise " have pedestrian's violation to jaywalk it is noted that ", " pedestrian
Occupancy car lane ", " pedestrian's hazardous act in front " etc. include the context information content of pedestrian's hazardous act
Voice message, or display display dangerous information prompting in the vehicle mounted, or driver can be reminded using other
Member notes, or the information warning that prompting pedestrian notes, the embodiment of the present invention is not specifically limited to this.
Data processing module described in the embodiment of the present invention is additionally operable to according to the described road obtaining from described roadside unit
Information, judges whether have pedestrian's hazardous act to occur in the communication coverage of described first communication module；If described first leads to
Pedestrian's hazardous act is had to occur in the communication coverage of letter module, described data processing module is additionally operable to generate the 3rd early warning and refers to
Order, and described 3rd alarm command is sent to described central control system, so that described central control system is according to described the
Three alarm commands, adjust speed and/or send the 3rd information warning.The embodiment of the present invention can be actively discovered current traveling ring
Domestic it may happen that pedestrian's hazardous act, and speed can be adjusted in time and/or send the 3rd information warning it is achieved that for
In current driving environment it may happen that pedestrian's hazardous act predicted in real time and early warning, improve the active of vehicle drive
Safety.
The structure chart of the vehicle-mounted DAS (Driver Assistant System) that Fig. 5 provides for the embodiment of the present invention five.Fig. 6 is the embodiment of the present invention five
The flow chart of the vehicle-mounted auxiliary driving method providing.On the basis of above-described embodiment one, in the present embodiment five, alternatively, institute
State vehicle-mounted DAS (Driver Assistant System) also to include：Vehicular display device 104；Described data processing module 1012 be additionally operable to according to described other
Second vehicle operation data of car-mounted terminal transmission, the described road information obtaining from described roadside unit 102, generate vehicle fixed
Position information, and described vehicle location information is sent to described Vehicular display device 104, so that described Vehicular display device 104 shows
Described vehicle location information.
As shown in figure 5, in embodiments of the present invention, this vehicle-mounted DAS (Driver Assistant System) also includes：Vehicular display device 104.
As shown in fig. 6, in embodiments of the present invention, include following step in the vehicle-mounted auxiliary driving method of above-described embodiment one
Suddenly：
Step S401, data acquisition module 1011 obtain first vehicle operation data of this car, and by described first vehicle
Running data is sent to data processing module 1012.
This step S401 is similar with step S101, and here is omitted.
Step S402, data acquisition module 1011 obtain running environment information by first communication module 1013, and by institute
State running environment information and be sent to data processing module 1012.
This step S402 is similar with step S102, and here is omitted.
The second vehicle operation data that step S403, data processing module 1012 send according to other car-mounted terminals described,
The described road information obtaining from described roadside unit 102, generates vehicle location information, and described vehicle location information is sent
To Vehicular display device 104.
In the present embodiment, when road ahead send congestion when, data processing module 1012 according to described other
Second vehicle operation data of car-mounted terminal transmission, the described road information obtaining from described roadside unit 102, generate vehicle fixed
Position information.
Wherein, this vehicle location information at least include this truck position information, other vehicle position informations, and Ben Che with
Position relationship between other vehicles.
Alternatively, this vehicle location information can be presented in modes such as image, photo or dynamic images.
Step S404, Vehicular display device 104 show described vehicle location information.
Described vehicle location information is shown on Vehicular display device 104 so that human pilot can be according to institute this step
Stating vehicle location information, judge current road conditions, thus adjusting speed, selecting travel route from excellent.
Alternatively, data processing module 1012 can also generate specific operational order according to described vehicle location information,
And this car adjust automatically speed is realized by central control system 103, select travel route from excellent.
In addition, in the present embodiment, alternatively, data processing module 1012 sent according to other car-mounted terminals described
Two vehicle operation data, the described road information obtaining from described roadside unit 102 can also generate the car of specified multiple vehicle
Location information is so that human pilot can determine this fleet according to the vehicle location information of vehicle in the fleet of this car place
Travel direction, it is to avoid fall behind；Or data processing module 1012 generates specific operational order according to described vehicle location information,
And this car adjust automatically speed is realized by central control system 103, select travel route from excellent, realize automatically with garage
Sail.
The embodiment of the present invention is capable of the positional information of each vehicle of active obtaining it is possible to aobvious on vehicle by being arranged on
Show that device shows described vehicle location information so that human pilot can know the position of Current vehicle, to judge current road conditions,
Select travel route from excellent.
On the basis of above-described embodiment one, in the embodiment of the present invention six, alternatively, described data processing module is additionally operable to lead to
Cross the first vehicle operation data that described first communication module broadcasts described car.
Alternatively, described data processing module is additionally operable to send institute by second communication module to transportation service information center
State first vehicle operation data of this car, so that uniting according to the vehicle operation data of all vehicles in described transportation service information center
Meter road traffic condition.So that transportation service information center, according to the vehicle flowrate at each crossing, adjusts the time of traffic lights, lead to
Cross optimization to calculate, real-time dynamicly adjust the timing of intersection all directions traffic lights it is ensured that traffic system efficiency optimization.
First vehicle operation data of this car can be shared to other car-mounted terminals by the embodiment of the present invention, can also be by this
First vehicle operation data of car shares to transportation service information center, realizes data sharing, so that described transportation service information
Center counts road traffic condition according to the vehicle operation data of all vehicles.
It should be noted that on the basis of above-described embodiment one, in other embodiments of the invention, can wrap simultaneously
Include the integration of any one or more technical schemes to embodiment six for the above-described embodiment two.
In sum, the embodiment of the present invention passes through the first vehicle operation data and the running environment of active obtaining this car current
Information, the first vehicle operation data according to this car and running environment information, generate operational order, and control this car to travel, real
Showed in current running environment it may happen that danger predicted in real time and early warning, improve the master of vehicle drive
Dynamic safety.
It should be understood that disclosed apparatus and method in several embodiments provided by the present invention, can be passed through it
Its mode is realized.For example, device embodiment described above is only schematically, for example, the division of described unit, and only
It is only a kind of division of logic function, actual can have other dividing mode when realizing, and for example multiple units or assembly can be tied
Close or be desirably integrated into another system, or some features can be ignored, or do not execute.Another, shown or discussed
Coupling each other or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING of device or unit or logical
Letter connects, and can be electrical, mechanical or other forms.
The described unit illustrating as separating component can be or may not be physically separate, show as unit
The part showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.The mesh to realize this embodiment scheme for some or all of unit therein can be selected according to the actual needs
's.
In addition, can be integrated in a processing unit in each functional unit in each embodiment of the present invention it is also possible to
It is that unit is individually physically present it is also possible to two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be to be realized in the form of hardware, it would however also be possible to employ the form that hardware adds SFU software functional unit is realized.
The above-mentioned integrated unit realized in the form of SFU software functional unit, can be stored in an embodied on computer readable and deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions with so that a computer
Equipment (can be personal computer, server, or network equipment etc.) or data processing equipment (processor) execute this
The part steps of each embodiment methods described bright.And aforesaid storage medium includes：USB flash disk, portable hard drive, read only memory
(Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD
Etc. various can be with the medium of store program codes.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division be illustrated, in practical application, can as desired will above-mentioned functions distribution complete by different functional modules
Become, the internal structure of device will be divided into different functional modules, to complete all or part of function described above.On
State the specific work process of the device of description, may be referred to the corresponding process in preceding method embodiment, will not be described here.
Finally it should be noted that：Various embodiments above only in order to technical scheme to be described, is not intended to limit；To the greatest extent
Pipe has been described in detail to the present invention with reference to foregoing embodiments, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, or wherein some or all of technical characteristic is entered
Row equivalent；And these modifications or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of vehicle-mounted DAS (Driver Assistant System) is it is characterised in that include：Car-mounted terminal, roadside unit and be installed on vehicle
Central control system；Described car-mounted terminal includes data acquisition module, data processing module, first communication module and second and leads to
Letter module；
Described data acquisition module is used for obtaining first vehicle operation data of this car, and described first vehicle operation data is sent out
Give described data processing module；
Described data acquisition module is used for obtaining running environment information by described first communication module, and by described running environment
Information is sent to described data processing module；
Described data processing module is used for according to described first vehicle operation data and described running environment information, generates operation and refers to
Order, and described operational order is sent to described central control system；
Described central control system is used for according to described operational order, controls this car to travel.
2. vehicle-mounted DAS (Driver Assistant System) according to claim 1 is it is characterised in that described running environment information is at least wrapped
Include：Second vehicle operation data of other car-mounted terminals transmission, the road information obtaining from described roadside unit.
3. vehicle-mounted DAS (Driver Assistant System) according to claim 2 it is characterised in that
Described data processing module is specifically for sending according to described first vehicle operation data and other car-mounted terminals described
Second vehicle operation data, judges the described whether dangerous behavior of the affiliated vehicle of other car-mounted terminals；
If it is determined that the dangerous behavior of the affiliated vehicle of described other car-mounted terminals, described data processing module generates the first early warning and refers to
Order, and described first alarm command is sent to described central control system；
Described central control system is specifically for according to described first alarm command, adjusting speed and/or sending the first warning letter
Breath.
4. vehicle-mounted DAS (Driver Assistant System) according to claim 3 it is characterised in that
Described data processing module is specifically for sending according to described first vehicle operation data and other car-mounted terminals described
Second vehicle operation data, determines the beeline between this car and the affiliated vehicle of other car-mounted terminals described；
If described beeline is less than the first predetermined threshold value, described data processing module determines belonging to other car-mounted terminals described
The dangerous behavior of vehicle；
And/or,
If the affiliated vehicle of arbitrary other car-mounted terminals described is more than the second predetermined threshold value near the speed of this car, at described data
Reason module determines the described dangerous behavior of the affiliated vehicle of other car-mounted terminals.
5. vehicle-mounted DAS (Driver Assistant System) according to claim 2 it is characterised in that
Described data processing module is additionally operable to according to the described road information obtaining from described roadside unit, judges that described first leads to
Whether there is road obstacle information in the communication coverage of letter module；
If having road obstacle information in the communication coverage of described first communication module, described data processing module is additionally operable to
Generate the second alarm command, and described second alarm command is sent to described central control system, so that described central authorities control
System, according to described second alarm command, adjusts speed and/or sends the second information warning；
Described data processing module be additionally operable to by described first communication module broadcast described road obstacle information so that described its
He receives described road obstacle information by car-mounted terminal.
6. vehicle-mounted DAS (Driver Assistant System) according to claim 2 it is characterised in that
Described data processing module is additionally operable to according to the described road information obtaining from described roadside unit, judges that described first leads to
Pedestrian's hazardous act whether is had to occur in the communication coverage of letter module；
If there being pedestrian's hazardous act to occur in the communication coverage of described first communication module, described data processing module is also used
In generation the 3rd alarm command, and described 3rd alarm command is sent to described central control system, so that the control of described central authorities
System processed, according to described 3rd alarm command, adjusts speed and/or sends the 3rd information warning.
7. vehicle-mounted DAS (Driver Assistant System) according to claim 2 is it is characterised in that also include：Vehicular display device；
Described data processing module be additionally operable to according to other car-mounted terminals described send the second vehicle operation data, described from institute
State the road information of roadside unit acquisition, generate vehicle location information, and described vehicle location information is sent to described vehicle-mounted
Display, so that described Vehicular display device shows described vehicle location information.
8. the vehicle-mounted DAS (Driver Assistant System) according to any one of claim 1-7 it is characterised in that
Described data processing module is additionally operable to broadcast the first vehicle operation data of described car by described first communication module.
9. vehicle-mounted DAS (Driver Assistant System) according to claim 8 it is characterised in that
Described data processing module is additionally operable to send to transportation service information center the of described car by second communication module
One vehicle operation data, so that described transportation service information center counts road traffic according to the vehicle operation data of all vehicles
Situation.
10. vehicle-mounted DAS (Driver Assistant System) according to claim 9 is it is characterised in that described first communication module adopts
DSRC communication technology；Described second communication module is using at least one communication technology as follows：GPRS, 2G, 3G, 4G and 5G.
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| CN201610888563.8A CN106467112A (en) | 2016-10-11 | 2016-10-11 | Vehicle-mounted DAS (Driver Assistant System) |
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