CN108297879A - A kind of Car warning system - Google Patents
A kind of Car warning system Download PDFInfo
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- CN108297879A CN108297879A CN201711336733.2A CN201711336733A CN108297879A CN 108297879 A CN108297879 A CN 108297879A CN 201711336733 A CN201711336733 A CN 201711336733A CN 108297879 A CN108297879 A CN 108297879A
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- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
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- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
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- 230000004913 activation Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 11
- 238000003745 diagnosis Methods 0.000 description 10
- 230000004075 alteration Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 3
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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
- 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
- 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of Car warning system, including Lane Departure Warning System, objects in front collision warning systems, front truck starting prompt system and driver fatigue monitor system.So can to vehicle lane departure, objects in front collision and traffic light intersection prompt driver follow in time, in driver tired driving when alarm.Improve travel safety and driving efficiency.
Description
Technical field
The present invention relates to vehicle electric field, especially a kind of Car warning system.
Background technology
At home, it is counted according to Ministry of Communications, the motor traffic accidents there are about 50% is because automobile deviates normal Travel vehicle
Caused by road, it is mainly driver's irritability, absent minded or driving fatigue to study carefully its main cause.23% automobile is driven
The person of sailing at least falls asleep primary on the steering wheel in one month；66% trucker oneself dozes off in driving procedure；
28% trucker has experience sleeping on the steering wheel in one month.So surprising ratio, which suffices to show that, prevents vehicle
The significance that road deviates.In the U.S., according to the estimation of (U.S.) Federal Highway office, the U.S.'s all fatal traffic things in 2002
The main reason for 44% is related with deviation in therefore, while deviation is also seen as vehicle rollover accident, every four
In driver just casualty accident caused by deviation is lived through there are one driver.
In addition, collision is the main reason of traffic accident.Either the collision of the collision of vehicle and vehicle, vehicle and non-motor vehicle or
The collision of vehicle and people can all generate loss, and less serious case pays certain economic loss and the loss of time, and severe one then car crash chases after
It is too late to repent.According to statistics, if alarm can be sent out in 0.6 second in advance, it can reduce by 60% or more Traffic Collision accident；If
Early warning can be sent out within 1.5 seconds in advance, then can reduce by 90% or more Traffic Collision accident.Anti-collision warning function causes industry as a result,
A large amount of concerns.
In addition, in traffic intersection, when traffic lights is red light, when the decision of front vehicles observable lights state starts
Traffic intersection is crossed, front vehicle generally follows startup according to front vehicles state.Since red time is longer sometimes, red light is waited for
Vehicle drivers may divert one's attention to do other things, when traffic lights is changed to green light via red light, front truck has been started up, and drives
The person of sailing may not be able to learn, lead to that automobile cannot be started in time, thus cause the urgency of rear car, reduce urban road trip effect
Rate and the number for reducing green time passage vehicle.
In addition, driver is easy to feel sleepy after driving for a long time, fatigue driving occurs, it is abnormally dangerous.
Invention content
It can be to vehicle lane departure, objects in front collision and in traffic light intersection in view of this, the present invention provides one kind
Prompt driver follows, alarms in driver tired driving in time, improves travel safety and the vapour of driving efficiency
Vehicle early warning system, to solve the above problems.
A kind of Car warning system, including the starting of Lane Departure Warning System, objects in front collision warning systems, front truck carry
Show system and driver fatigue monitor system；The Lane Departure Warning System includes photographic device, Lane detection unit, bend
Judging unit, deviates judging unit, steering indicating light signal acquiring unit and warning device, the photographic device at angle acquiring unit
Forward image, the lane line in the Lane detection unit identification image are shot, the bend judging unit judges current vehicle
Whether road is bend, is then alarm activation alarm, and the angle acquiring unit obtains the folder between lane line and horizontal line
Angle deviates judging unit and judges whether automobile deviates according to the angle between lane line and horizontal line, the steering indicating light letter
Number acquiring unit judges whether corresponding steering modulating signal, and the warning device judges automobile deviateing judging unit
Deviate and steering indicating light signal acquiring unit judges that there are start alarm signal when corresponding steering modulating signal；The objects in front touches
It includes processing unit, detecting unit and prewarning unit to hit early warning system, and processing unit is coupled with detecting unit, prewarning unit respectively
It connects；The detecting unit is mounted on front of the car, to detect this vehicle front object relative to the distance of this vehicle and opposite
Radial velocity；The processing unit to operation detecting unit real-time Transmission data and control the work shape of the prewarning unit
State, the ratio of the distance and the relative radial rate are to collide remaining time, when the collision remaining time is less than the
When one predefined time, processing unit controls prewarning unit, and prewarning unit sound-light alarm is expressed；The front truck starting prompt system
System includes processor, front truck data obtaining module, image capturing unit, Lane detection unit, lane line judging unit, this vehicle
Data obtaining module and prompt unit, the front truck data obtaining module, image capturing unit, Lane detection unit, track
Line judging unit, this vehicle data obtaining module and prompt unit are connected to the processor communication respectively；Described image shooting is single
Member is for shooting the image on vehicle front road surface, the Lane detection unit lane line in image for identification, the vehicle
For judging whether lane line is solid line, described vehicle data obtaining module is used in the lane line be real diatom judging unit
The speed of this vehicle is obtained when line, and judges whether the speed of this vehicle is 0；The front truck data obtaining module is used for the vehicle in this vehicle
The speed of front truck is obtained when speed is 0, and judges whether speed is 0；When current vehicle speed is 0, the front truck data obtaining module
The first distance for obtaining front truck and this vehicle, and the second distance of front truck and this vehicle is obtained in real time, and judge that second distance is
It is no to be more than the first distance；The prompt unit be used for second distance be more than first apart from when send out standby signal；The fatigue
It includes face identification unit, processing unit and alarm unit to drive early warning system, and face identification unit is set to front windshield
Inside, which can detect and identify that head and the eyeball of driver, processing unit pass through face identification unit
The angle or eyeball identification for detecting driver head judge whether the driver is in fatigue driving.
Further, the image of the Lane detection unit selection photographic device shooting in the Lane Departure Warning System
Its each pixel grey scale is calculated the gray scale difference value of adjacent pixel by the image of middle particular range, and gray scale difference value is more than or is waited
It is set as 0 in the gray value of the pixel of a predetermined value, the gray value less than the pixel of the predetermined value is set as 255, detects picture
The gray value of element is 0 and continues to exceed the line segment of specific length, is lane line by the straight line segments recognition.
Further, the detecting unit in the objects in front collision warning systems includes radar mechanism, the radar mechanism
Including transmitter and receiver；Transmitter, which is oriented to each detecting direction, emits detecting electric wave, and detecting electric wave is anti-by objects in front
It penetrates and is received by the receiver；It calculates detecting unit by detecting detecting radio wave propagation and the variation in direction and detects on direction
Object distance and relative radial rate.
Further, the detecting unit in the objects in front collision warning systems further includes infra-red thermal imaging device,
To sense vehicle front object；Infra-red thermal imaging device connects with processing unit coupling, infrared thermal imaging device sensing
Thermal image is simultaneously transmitted to processing unit by objects in front, is less than the second time predefined value, processing unit when collision remaining time
Prewarning unit is controlled, prewarning unit sound-light alarm is expressed.
Further, the objects in front collision warning systems further include the display screen externally shown being arranged on vehicle
And/or the loudspeaker in vehicle outside are set；When vehicle parking avoids, the display screen and/or loudspeaker work prompt pedestrian first
Row.
Further, the objects in front collision warning systems further include zebra stripes recognition unit, the zebra stripes identification
Whether front has zebra stripes to unit for identification.
Further, this vehicle data obtaining module of the front truck starting prompt system includes this vehicle speed acquiring unit
And this vehicle speed judging unit, described vehicle speed acquiring unit are used to obtain the speed of this vehicle, described vehicle speed judges single
Member is for judging whether the speed of this vehicle is 0.
Further, the front truck data obtaining module includes that front truck speed acquiring unit and front truck speed judge list
Member, the front truck speed acquiring unit are used to obtain the speed of front truck, and the front truck speed judging unit is for judging front truck
Whether speed is 0.
Further, the front truck data obtaining module further includes having distance acquiring unit and Distance Judgment unit, described
Distance acquiring unit is used to obtain the first distance of this vehicle and front truck, and obtains the second distance of front truck and this vehicle in real time；It is described
Distance Judgment unit is for judging whether second distance is more than the first distance.
Further, described vehicle speed acquiring unit is automobile data recorder, and the front truck speed acquiring unit is to test the speed
Radar, the distance acquiring unit are range radar.
Compared with prior art, Car warning system of the invention can to vehicle lane departure, objects in front collision and
Traffic light intersection prompt driver follows in time, alarms in driver tired driving, improves travel safety and drive
Sail efficiency.
Description of the drawings
The embodiment of the present invention is described below in conjunction with attached drawing, wherein：
Fig. 1 is the block diagram of the Car warning system of the present invention.
Fig. 2 is the schematic diagram of the display screen of the Car warning system of the present invention.
Fig. 3 is the block diagram of the Lane Departure Warning System of the Car warning system of the present invention.
Fig. 4 is the flow diagram of the Lane Departure Warning System of the Car warning system of the present invention.
Fig. 5 is the block diagram of the objects in front collision warning systems of the Car warning system of the present invention.
Fig. 6 is that objects in front in the objects in front collision warning systems of the Car warning system of the present invention and vehicle show
It is intended to.
Fig. 7 is the block diagram of the front truck starting prompt system of the Car warning system of the present invention.
Fig. 8 is the flow diagram of the front truck starting prompt system of the Car warning system of the present invention.
Fig. 9 is the schematic diagram of part A in Fig. 8.
Specific implementation mode
Specific embodiments of the present invention are further elaborated below based on attached drawing.It should be understood that herein
The explanation of the embodiment of the present invention is not intended to limit the scope of protection of the present invention.
Referring to FIG. 1, it is the block diagram of Car warning system 1000 provided by the invention, Car warning system
1000 include Lane Departure Warning System 1100, objects in front collision warning systems 1200, front truck starting prompt system 1300 and
Driver fatigue monitor system 1400.
Referring to FIG. 2, Car warning system 1000 provided by the invention further includes display screen 900 comprising deviation
Prewarning area 1190, objects in front anti-collision warning region 1290, front truck starting prompting region 1390 and fatigue driving prewarning area
1490.The middle part of display screen 900 is automobile information region, for automobiles itself such as display automobile current vehicle speed, rotating speed and tire pressures
Information；Lane departure warning region 1190 is located at the top in automobile information region, with left avertence track instruction pattern, right avertence vehicle
Dow Jones index diagram case, the instruction of left avertence angle and the instruction of right avertence angle；Objects in front anti-collision warning region 1290 has zebra line pattern
And pedestrian's pattern；Front truck starting prompting region 1390 is located at the lower section in automobile information region, has starting prompt arrow pattern；
Fatigue driving prewarning area 1490 has human body head pattern.
Referring to FIG. 3, it is the block diagram of Lane Departure Warning System 1100.
Lane Departure Warning System includes：Photographic device 300, Lane detection unit 410, bend judging unit 420, folder
Angle acquiring unit 430, lane line appear recognition unit 440 for the first time, deviate judging unit 450, steering indicating light signal acquiring unit 500, report
Alarm device 600 and display screen 900.
Photographic device 300 and Lane detection unit 410, bend judging unit 420, angle acquiring unit 430 and track
Line appears recognition unit 440 for the first time and is connected, while Lane detection unit 410 and bend judging unit 420, angle acquiring unit
430 and lane line appear recognition unit 440 for the first time and communicate, angle acquiring unit 430 and lane line appear recognition unit 440 for the first time and deviate
Judging unit 450 is connected, and steering indicating light signal acquiring unit 500 is connected with judging unit 450 is deviateed, warning device 600 and bend
Judging unit 420 deviates judging unit 450 and steering indicating light signal acquiring unit 500 and is connected, at the same warning device 600 with it is aobvious
Display screen 900 communicates.
In present embodiment, photographic device 300 is set on the position that front windshield keeps left, in the horizontal plane of place
The distance of heart point to automobile both sides is d, and distance of the photographic device 300 apart from autocentre point is d1, therefore, photographic device 300
It is d+d1 with being at a distance from d-d1, with automobile side farther out at a distance from closer automobile side.The shooting model of photographic device 300
It is 120 degree to enclose, and the position that left-hand lane line first appears in coverage is a1, and the position that right-hand lane line first appears is
a2.Photographic device 300 shoots vehicle front image.
Lane detection unit 410 identifies the lane line in image.Lane detection unit 410 chooses the figure of particular range
Its each pixel grey scale is calculated the gray scale difference value of adjacent pixel by picture, by the gray scale difference value of adjacent pixel and predetermined value ratio
Compared with the gray value that gray scale difference value is greater than or equal to the pixel of the predetermined value is set as 0, is less than the gray scale of the pixel of the predetermined value
Value is set as 255.Image at this time is black and white second-order image, and the gray value for detecting pixel in black and white second-order image is 0 and continuous
It is lane line by the straight line segments recognition more than the line segment of specific length.Wherein, the image for choosing particular range, to eliminate day
The interference of empty cloud, the most building and sundries etc. of road on both sides of the road improves the accuracy of identification lane line；By pixel
Gray value be 0 and to continue to exceed the line segment of the first preset length or Curves Recognition be lane line, it is larger to eliminate other aberration
Object interference.In order to further increase the accuracy of identification lane line, the extended line between two sections of lane lines will also be at
Line segment compensate (by eligible and gray value be 255 pixel be set as 0, to will be in the same extension line it is more
The line segment that section gray value is 0 is connected as one), longer second preset length is set, is 0 and continuous super by the gray value of pixel
The straight line segments recognition for crossing the first preset length is lane line.
Bend judging unit 420 judges whether current lane is bend.Bend judging unit 420 identifies the shape of lane line
Shape judges current lane for bend, otherwise judges not being curved if the shape of lane line is curve and curvature is more than predetermined curvature
Road.
Angle acquiring unit 430 obtains the angle between lane line and horizontal line, and lane line appears the identification of recognition unit 440 for the first time
The position a2 that the position a1 and right-hand lane line that left-hand lane line first appears are first appeared.
Deviate judging unit 450 and judges whether automobile deviates.
When automobile is among road, since photographic device 300 is set to the position that automobile 100 keeps left, the figure of shooting
As in, the angle between left-hand lane line and horizontal line is α, and the angle between right-hand lane line horizontal line is β, left-hand lane line
The vertical range for the position a2 that the position a1 first appeared is first appeared with right-hand lane line is l；
When Automobile Right is biased to right-hand lane line, in the image of shooting, the angle between left-hand lane line and horizontal line is α
1,1 relative angle α of angle α becomes smaller, and the angle between right-hand lane line horizontal line is β 1, and 1 relative angle β of angle β become larger, left side
The vertical range for the position a2 that position a1 that lane line first appears is first appeared with right-hand lane line is l1, distance l1 it is opposite away from
Become smaller from l；
When automobile left avertence to left-hand lane line, in the image of shooting, the angle between left-hand lane line and horizontal line is α
2,2 relative angle α of angle α becomes larger, and the angle between right-hand lane line horizontal line is β 2, and 2 relative angle β of angle β become smaller, left side
The vertical range for the position a2 that position a1 that lane line first appears is first appeared with right-hand lane line is l2, distance l2 it is opposite away from
Become larger from l.
When the angle between left-hand lane line and horizontal line is less than α 1, or when the folder between right-hand lane line and horizontal line
When the vertical range that angle is more than β 1 or position a1 and position a2 is less than l1, judge that automobile has been deviated to the right right-hand lane line；
When the angle between left-hand lane line and horizontal line is more than α 2, or when the folder between right-hand lane line and horizontal line
When the vertical range that angle is less than β 2 or position a1 and position a2 is more than l2, judge that automobile has been deviated to the left left-hand lane line.
Steering indicating light signal acquiring unit 500 judges whether there is corresponding steering modulating signal.Such as when judging that automobile is deviated to the right
When right-hand lane line, by acquiring the signal of on board diagnosis system or on-board automatic diagnosis system, judge whether to turn right
To modulating signal；When judging that automobile has been deviated to the left left-hand lane line, by acquiring on board diagnosis system or mounted automatic diagnosis
The signal of system, judges whether left steering modulating signal.
It is corresponded to if deviateing judging unit 450 and judging that automobile generation deviation and steering indicating light signal acquiring unit 500 judge to exist
Steering modulating signal, then warning device 600 start alarm signal.Specific region flashing red light such as on display screen 900, or
Person/and startup audio warning, such as buzzer or audio alert.
Deviate the angle that judging unit 450 also calculates between current left-side lane line and horizontal line to be in road with automobile
Between when angle α difference, it will be shown on left deviation angle display area 930.Deviate judging unit 450 also to calculate currently
The difference of angle β when angle and automobile between right-hand lane line and horizontal line are among road, it will be shown in right avertence
On digression degree display area 940.
Referring to FIG. 4, the course of work of Lane Departure Warning System includes the following steps：
Step S1：Photographic device 300 shoots the image on vehicle front road surface.In present embodiment, photographic device 300 is arranged
In on the position that front windshield keeps left, the distance of central point to the automobile both sides of place horizontal plane is d, photographic device 300
The distance of distance center point is d1, and therefore, photographic device 300 is d-d1 at a distance from closer automobile side, with vapour farther out
The distance of vehicle side is d+d1.The coverage of photographic device 300 is 120 degree, and left-hand lane line goes out for the first time in coverage
Existing position is a1, and the position that right-hand lane line first appears is a2.
Step S2：Identify the lane line in image.The image for choosing particular range calculates its each pixel grey scale
It is pre- to be greater than or equal to this by the gray scale difference value of adjacent pixel compared with predetermined value by the gray scale difference value of adjacent pixel for gray scale difference value
The gray value of the pixel of definite value is set as 0, and the gray value less than the pixel of the predetermined value is set as 255.Image at this time is black
White second-order image, the gray value for detecting pixel in black and white second-order image is 0 and continues to exceed the line segment of specific length, by the line segment
It is identified as lane line.Wherein, the image for choosing particular range, to eliminate the cloud of sky, road on both sides of the road most
The interference of building and sundries etc. improves the accuracy of identification lane line；It is 0 by the gray value of pixel and continues to exceed first in advance
If the line segment or Curves Recognition of length are lane line, the interference of the larger object of other aberration is eliminated.In order to further increase
It identifies the accuracy of lane line, (the picture for being 255 by eligible and gray value will be also compensated in the line segment of the same extension line
Element is set as 0, and the line segment to be 0 by the multistage gray value in the same extension line is connected as one), setting longer second
It is lane line that the gray value of pixel is 0 by preset length and continues to exceed the straight line segments recognition of the first preset length.
Step S3：Judge whether current lane is bend.Identify lane line shape, if the shape of lane line be curve and
Curvature is more than predetermined curvature, then judges current lane for bend.If current lane is not bend, S4 is entered step；If current
Track is bend, then enters step S7.
Step S4：The angle between lane line and horizontal line is obtained, or acquisition left side, right-hand lane line first appear
Position.
Step S5：Judge whether automobile deviates, be, enters step S6, otherwise return to step S1.Automobile is in road
When among road, since photographic device 300 is set to the position that automobile 100 keeps left, in the image shot, left-hand lane line and water
Angle between horizontal line is α, and the angle between right-hand lane line horizontal line is β, the position a1 that left-hand lane line first appears with
The vertical range for the position a2 that right-hand lane line first appears is l；
When Automobile Right is biased to right-hand lane line, in the image of shooting, the angle between left-hand lane line and horizontal line is α
1,1 relative angle α of angle α becomes smaller, and the angle between right-hand lane line horizontal line is β 1, and 1 relative angle β of angle β become larger, left side
The vertical range for the position a2 that position a1 that lane line first appears is first appeared with right-hand lane line is l1, distance l1 it is opposite away from
Become smaller from l；
When automobile left avertence to left-hand lane line, in the image of shooting, the angle between left-hand lane line and horizontal line is α
2,2 relative angle α of angle α becomes larger, and the angle between right-hand lane line horizontal line is β 2, and 2 relative angle β of angle β become smaller, left side
The vertical range for the position a2 that position a1 that lane line first appears is first appeared with right-hand lane line is l2, distance l2 it is opposite away from
Become larger from l.
When the angle between left-hand lane line and horizontal line is less than α 1, or when the folder between right-hand lane line and horizontal line
When the vertical range that angle is more than β 1 or position a1 and position a2 is less than l1, judge that automobile has been deviated to the right right-hand lane line；
When the angle between left-hand lane line and horizontal line is more than α 2, or when the folder between right-hand lane line and horizontal line
When the vertical range that angle is less than β 2 or position a1 and position a2 is more than l2, judge that automobile has been deviated to the left left-hand lane line.
Step S6：It judges whether there is corresponding steering modulating signal and otherwise enters step S7 if any then return to step S1.Such as
When judging that automobile has been deviated to the right right-hand lane line, by the letter for acquiring on board diagnosis system or on-board automatic diagnosis system
Number, judge whether right turn modulating signal；When judging that automobile has been deviated to the left left-hand lane line, by acquiring on board diagnosis
The signal of system or on-board automatic diagnosis system, judges whether left steering modulating signal.
Step S7：Start alarm signal.The specific region flashing red light such as on a display screen, or/and start alarm
Sound, such as buzzer or audio alert.
Further, it also calculates when angle and automobile between current left-side lane line and horizontal line are among road
The difference of angle α, it will be shown on display screen 900.Also calculate the angle and vapour between current right-hand lane line and horizontal line
The difference of angle β when vehicle is among road, it will be shown on display screen 900.
Lane Departure Warning System shoots the image on vehicle front road surface by photographic device, identifies the track in image
Line judges whether current lane is bend, then alarms if bend, otherwise judge whether automobile deviates, judge according to
According to the variable angle or the position a1 that first appears of left-hand lane line and right-hand lane between detecting lane line and horizontal line
The variation of the vertical range for the position a2 that line first appears has further determined whether corresponding steering if automobile occurs to deviate
Modulating signal, if there is no start alarm signal if corresponding steering modulating signal.Such photographic device be mountable to vehicle front or
Any position at rear, can detect automobile degrees of offset, and relevance grade is wider.
Referring to FIG. 5, objects in front collision warning systems 1200 include processing unit 1, detecting unit 2, storage unit 3 and
Prewarning unit 4.The processing unit 1 connects with detecting unit 2, storage unit 3, the coupling of prewarning unit 4 respectively.The anti-collision warning system
System access power circuit can start to work.
The detecting unit 2 is mounted on front of the car, to detect distance of this vehicle front object relative to this vehicle
And relative radial rate.Detecting unit 2 is provided with several detecting directions in same level, it is preferable that the detecting unit 2
Front is provided with the first detecting direction 211, and being provided with second within the scope of 60 ° of direction of the first detecting of deviation along clockwise direction detects
Direction 212 is surveyed, deviates in the counterclockwise direction within the scope of the first 60 ° of direction of detecting and is provided with third detecting direction 213 (such as Fig. 6).
The detecting unit 2 includes radar mechanism 21, which includes transmitter and receiver.Transmitter is oriented to be detectd to each
Transmitting detecting electric wave in direction scope is surveyed, detecting electric wave is reflected and is received by the receiver by objects in front, by detecting direction
Detecting radio wave propagation and variation and calculate detecting unit with detecting direction on object at a distance from and relative radial rate.
The processing unit 1 to 2 real-time Transmission of operation detecting unit return data and control the prewarning unit 4
Working condition.Prewarning unit 4 expresses including LED light and voice alarm is expressed.Vehicle with detecting direction on object distance R and
The ratio of relative radial rate V is to collide remaining time T, i.e. R/V=T.Make a reservation for when the collision remaining time T is less than first
When adopted time value, processing unit 1 controls prewarning unit 4, and 4 sound-light alarm of prewarning unit is expressed：LED light lights, and voice alarm is bright
Show.
If object motion track and vehicle motion track do not intersect, if pedestrian walks in both sides of the road along road direction, then
Prewarning unit 4 does not work, and vehicle can normally travel.
If object is in the first detecting direction 211, if object is static at this time, relative radial rate V is the speed of vehicle
Degree, the object is at a distance from automobile divided by car speed is to collide remaining time T；If object is towards motor racing, phase
It is that car speed adds object speed, and calculates collision remaining time T to radial velocity V；If object moving direction and automobile
Moving direction is identical, then relative radial rate V is that car speed subtracts object speed, and calculates collision remaining time.Collision
Remaining time T is less than the first time predefined value, then prewarning unit 4 works, and reminds driver's ramp to stop to give way, avoids touching
Hit accident.
As shown in fig. 6, the pedestrian or other objects between the first detecting direction 211 and third detecting direction 213 are to figure
The right direction movement shown, carries the vehicle straight forward of detecting unit 2, and processing unit 1 estimates that object may intersect with vehicle
Point in crosspoint 214.By detecting wave transmission and reception, distance R, object and vehicle of the object relative to vehicle at this time is calculated
Angle a and object speed V2.Car speed V1 can be learnt by board diagnosis system or on-board automatic diagnosis system, according to
Angle a, distance R, car speed V1 and object speed V2, when can calculate separately out the first of object arrival collision crosspoint 214
Between T1 and vehicle reach the second time T2 in collision crosspoint 214.
If：T1-T2 >=Ta, wherein Ta are the first time predefined value, such as 3 seconds, illustrate that vehicle first reaches intersection than object
Point 214, and safe distance can be kept with object.Prewarning unit 4 does not work at this time, and vehicle can normally travel.
If：T2-T1 >=Ta, wherein Ta are the first time predefined value, such as 3 seconds, illustrate that object first reaches intersection than vehicle
Point 214, and safe distance can be kept with vehicle.Prewarning unit 4 does not work at this time, and vehicle can normally travel.
In conclusion when vehicle and the time difference in object arrival crosspoint 214 are more than or equal to the first time predefined value, i.e.,
When ∣ T1-T2 ∣ >=Ta, prewarning unit 4 does not work, and vehicle can normally travel.Vehicle and object are reached to the time in crosspoint 214
Difference is defined as collision remaining time.
It is less than first time predefined value ,, that is, ∣ T1-T2 ∣ ＜ Ta when the time difference that vehicle and object reach crosspoint 214
When, prewarning unit 4 works, and reminds driver's ramp to stop to give way, avoids crashing.
First time predefined value is stored in processing unit 1 or is stored in storage unit 3.
In present embodiment, detecting unit 2 is radar mechanism 21, can be according to transmitting electromagnetic wave and reception electromagnetic wave phase pair
Change and the radial velocity of detecting real-time object relative vehicle, and is calculated in real time according to the real-time relative distance of object and vehicle
Collision remaining time T.
When collision remaining time T is less than the first time predefined value in real time, prewarning unit 4 works, and driver is reminded to subtract
Stop and give way for speed, avoids crashing.
In present embodiment, the detecting unit 2 may also include the infra-red thermal imaging device for sensing human or animal
22.The coupling of infra-red thermal imaging device 22 and the processing unit 1 connects, infrared thermal imaging device 22 sense human or animal and by its
Thermal image is transmitted to the processing unit 1.It is less than the second time predefined value when collision remaining time, processing unit 1 controls pre-
Alert unit 4,4 sound-light alarm of prewarning unit are expressed, and remind driver's ramp to stop to give way, avoid crashing.Second is predetermined
Adopted time value is more than the first time predefined value, is such as 5 seconds.
Further, which further includes display screen 900 provided in a vehicle, to real-time
Display collision remaining time and thermal image, so that driver more has a clear understanding of external environment.
Further, further include zebra stripes recognition unit 5, whether identification front has zebra stripes, specific according to zebra stripes
Whether there are zebra stripes in front of shape recognition.
Infra-red thermal imaging device 22 identifies whether zebra stripes or zebra stripes nearby have pedestrian.
If infra-red thermal imaging device 22, which identifies, pedestrian on zebra stripes, processing unit 1 controls prewarning unit 4 and works,
It reminds driver's ramp to stop to give way, avoids violating the regulations or collision accident.
If infra-red thermal imaging device 22 identifies that zebra stripes nearby have pedestrian, detecting unit 2 to detect pedestrian relative to vehicle
Distance R1, pedestrian and vehicle angle a and pedestrian speed V12, can calculate separately out pedestrian reach zebra stripes first time
T11 and vehicle reach the second time T12 of zebra stripes.
When vehicle reaches the second time T12 of zebra stripes less than the first time T11 of pedestrian's arrival zebra stripes, prewarning unit
4 do not work, and vehicle can normally travel.
When vehicle reach zebra stripes the second time T12 be greater than or equal to pedestrian reach zebra stripes first time T11, in advance
Alert unit 4 works, and driver's ramp to stop is reminded to give way, and avoids violating the regulations or collision accident.
Further, which further includes the display screen externally shown being arranged on vehicle
And/or the loudspeaker in vehicle outside are set, when vehicle parking avoids, prompts pedestrian leading, avoid mutually modestly declining, lead to the time
Waste.
Objects in front collision warning systems 1200 judge the collision remaining time of objects in front and this vehicle, and timely voice
Alarm driver, driver avoid that Traffic Collision accident occurs by evacuation of slowing down or stop, and relevance grade is wider.
Referring to FIG. 7, front truck starting prompt system 1300 includes processor 10, front truck data obtaining module 20, image bat
It takes the photograph unit 30, Lane detection unit 40, lane line judging unit 50, this vehicle data obtaining module 60, prompt unit 80 and deposits
Reservoir 90.The distance acquiring unit 20, described image shooting unit 30, the Lane detection unit 40, the lane line
Judging unit 50, this vehicle speed acquiring unit 61, this vehicle speed judging unit 62 and the prompt unit 80 respectively with the place
Manage 10 connection communication of device.
Described image is clapped camera unit 30 and is set on the position that front windshield keeps left, for shooting vehicle front road surface
Image.The image capturing unit 30 can be camera, and on the position that windshield keeps left.
The lane line in image for identification of the Lane detection unit 40.Lane detection unit 40 chooses specific model
Its each pixel grey scale is calculated the gray scale difference value of adjacent pixel by the image enclosed, by the gray scale difference value of adjacent pixel and is made a reservation for
Value compares, and the gray value that gray scale difference value is greater than or equal to the pixel of the predetermined value is set as 0, is less than the pixel of the predetermined value
Gray value is set as 255.Image at this time be black and white second-order image, detect black and white second-order image in pixel gray value be 0 and
The straight line segments recognition is lane line by the line segment for continuing to exceed specific length.Wherein, the image for choosing particular range, to exclude
The interference of the most building and sundries etc. of the cloud of sky, road on both sides of the road improves the accuracy of identification lane line；It will
The gray value of pixel is 0 and continues to exceed the line segment of the first preset length or Curves Recognition to be lane line, eliminates other aberration
The interference of larger object.
The lane line judging unit 50 judges whether lane line is solid line.Lane line judging unit 50 identifies that lane line is
No is solid line, if not solid line is then judged as dotted line.
Described vehicle data obtaining module 60 includes this vehicle speed acquiring unit 61 and this vehicle speed judging unit 62, institute
It includes front truck speed acquiring unit 21, front truck speed judging unit 22, distance acquiring unit to state front truck data obtaining module 20
23 and Distance Judgment unit 24.
Described vehicle speed acquiring unit 61 is used to obtain the speed of this vehicle in real time, which can be with
It is automobile data recorder.
Described vehicle speed judging unit 62 is for judging whether the speed of this vehicle is 0, when the speed of this vehicle is 0, institute
Speed of the vehicle speed acquiring unit 21 for obtaining front truck, the front truck speed judgment unit 22 judge that the speed of front truck is before stating
No is 0, when the speed of current vehicle is also 0, is at this moment in red light wait state, the distance acquiring unit 23 starts for obtaining
First distance of this vehicle and front truck, and the second distance of record and front truck in real time, the Distance Judgment unit 24 is for judging institute
State second distance whether be more than first distance, and the second distance be more than described first apart from when start the prompt
Unit 80, the prompt unit 80 send out standby signal to remind driver, which can send out voice
It is prompted, which is range radar, and the preceding vehicle speed acquiring unit 21 can be velocity radar.
The memory 90 is for storing first distance, second distance.
Fig. 8 and Fig. 9 is please referred to, the course of work of front truck starting prompt system 1300 includes the following steps：
S1, image taking shoot the image on vehicle front road surface as unit 30；The image capturing unit 30 can be camera shooting
Head, and on the position that windshield keeps left.
S2 identifies the lane line in image, chooses the image of particular range, its each pixel grey scale calculates adjacent
Gray scale difference value is greater than or equal to the predetermined value by the gray scale difference value of pixel by the gray scale difference value of adjacent pixel compared with predetermined value
The gray value of pixel be set as 0, the gray value less than the pixel of the predetermined value is set as 255.Image at this time is black and white two
Rank image, the gray value for detecting pixel in black and white second-order image is 0 and continues to exceed the line segment of specific length, by the straight line segments recognition
For lane line.Wherein, the image for choosing particular range, to eliminate cloud, the most building of road on both sides of the road of sky
With the interference of sundries etc., the accuracy of identification lane line is improved；It is 0 by the gray value of pixel and continues to exceed the first default length
The line segment or Curves Recognition of degree are lane line, eliminate the interference of the larger object of other aberration.
S3 judges whether current vehicle diatom is solid line, if not solid line, into S2, if solid line, then enters S4.Identification
The shape of lane line, whether identification lane line is continuous lines；
S4 obtains the speed of this vehicle, obtains this vehicle speed by this vehicle speed acquiring unit 61, which obtains single
Member 61 can be automobile data recorder；
S5 judges whether the speed of this vehicle is 0, if speed is not 0, enters S4；If speed is 0, enter S6；
S6 obtains the speed of front truck, and the speed of front truck is obtained by preceding vehicle speed acquiring unit 26, which obtains
Unit 26 can be with velocity radar；
S7 judges whether the speed of front truck is 0, if speed is not 0, enters S6；If speed is 0, enter S8；
S8 obtains the first distance of this vehicle and front truck, which is a vehicle in the state that Ben Che and front truck stop
The distance between；
S9：The second distance of this vehicle and front truck is obtained in real time；
S10：Judge whether second distance is more than the first distance, if second distance is not more than the first distance, enters S9, if
Second distance is more than the first distance, then enters S11；
S11：Prompt unit works, and reminds driver.
Front truck starts to walk prompt system 1300 by the image on photographic device shooting vehicle front road surface, identifies the vehicle in image
Diatom judges whether current lane is solid line, if solid line, judges whether this vehicle speed is 0, judges that front truck speed is if 0
No is 0, and if 0, then explanation is in red light wait state, at this moment, measures the first distance of this vehicle and front truck, and in real time record with
The second distance of front truck, and second distance be more than first apart from when illustrate that front truck in movement, at this moment can start prompt unit, carry
Show that unit starting sends out standby signal and informs that this vehicle driver can start to follow.
Driver fatigue monitor system 1400 includes face identification unit, processing unit and alarm unit, face identification unit
Be set to the inside of front windshield, and face driver's seat, the face identification unit can detect and identify driver head and
Eyeball etc., processing unit detects the angle of driver head by face identification unit or whether eyeball identification judges the driver
In fatigue driving.Such as：When the head of driver, the left askew or right askew time is more than the first timing value, and processing unit then judges to drive
The person of sailing is in fatigue driving；When eyeball of the identification less than driver and more than the second timing value, processing unit then judges driver
In fatigue driving；When judging that driver is in fatigue driving, alarm unit starts alarm, is driven to avoid driver fatigue
It sails, avoids that traffic accident occurs.
In this way, the Car warning system of the present invention can be to vehicle lane departure, objects in front collision and in traffic light intersection
Prompt driver follows in time, alarms in driver tired driving, improves travel safety and driving efficiency.
The foregoing is merely a prefered embodiment of the invention, is not used to limitation protection scope of the present invention, any in the present invention
Modification, equivalent replacement or improvement in spirit etc., all cover in scope of the presently claimed invention.
Claims (10)
1. a kind of Car warning system, it is characterised in that：The Car warning system includes Lane Departure Warning System, front object
Body collision warning systems, front truck starting prompt system and driver fatigue monitor system；The Lane Departure Warning System includes taking the photograph
As device, Lane detection unit, bend judging unit, angle acquiring unit, deviate judging unit, steering indicating light signal acquisition list
Member and warning device, the photographic device shoot forward image, the lane line in the Lane detection unit identification image, institute
It states bend judging unit and judges whether current lane is bend, be that then alarm activation alarm, the angle acquiring unit obtain
Angle between pick-up diatom and horizontal line deviates judging unit and judges that automobile is according to the angle between lane line and horizontal line
No to deviate, the steering indicating light signal acquiring unit judges whether that corresponding steering modulating signal, the warning device exist
Deviate judging unit and judges that automobile occurs to deviate and steering indicating light signal acquiring unit judges that there are opened when corresponding steering modulating signal
Dynamic alarm signal；The objects in front collision warning systems include processing unit, detecting unit and prewarning unit, processing unit point
It is not connect with detecting unit, prewarning unit coupling；The detecting unit is mounted on front of the car, to detect this vehicle front object
Distance and relative radial rate relative to this vehicle；The processing unit to operation detecting unit real-time Transmission data simultaneously
Controlling the working condition of the prewarning unit, the ratio of the distance and the relative radial rate is to collide remaining time,
When the collision remaining time being less than for the first predefined time, processing unit controls prewarning unit, prewarning unit acousto-optic report
Police expresses；The front truck starting prompt system includes processor, front truck data obtaining module, image capturing unit, lane line knowledge
Other unit, lane line judging unit, this vehicle data obtaining module and prompt unit, the front truck data obtaining module, image are clapped
Take the photograph unit, Lane detection unit, lane line judging unit, this vehicle data obtaining module and prompt unit respectively with the processing
Device connection communication；Described image shooting unit is used to shoot the image on vehicle front road surface, and the Lane detection unit is used for
Identify the lane line in image, for judging whether lane line is solid line, described vehicle information obtains the lane line judging unit
Modulus block is used to obtain the speed of this vehicle when the lane line is solid line, and judges whether the speed of this vehicle is 0；The front truck
Data obtaining module is used to obtain the speed of front truck when the speed of this vehicle is 0, and judges whether speed is 0；Current vehicle speed
When being 0, the front truck data obtaining module is used to obtain the first distance of front truck and this vehicle, and obtains front truck and this vehicle in real time
Second distance, and judge whether second distance is more than the first distance；The prompt unit be used for second distance be more than first away from
From when send out standby signal；The driver fatigue monitor system includes face identification unit, processing unit and alarm unit, face
Recognition unit is set to the inside of front windshield, which can detect and identify head and the eyeball of driver,
Processing unit detects the angle of driver head by face identification unit or whether eyeball identification judges the driver in tired
Please it sails.
2. Car warning system as described in claim 1, it is characterised in that：Lane line in the Lane Departure Warning System
Its each pixel grey scale is calculated adjacent picture by the image that recognition unit chooses particular range in the image that photographic device is shot
The gray scale difference value of element, the gray value that gray scale difference value is greater than or equal to the pixel of a predetermined value are set as 0, will be less than the predetermined value
The gray value of pixel be set as 255, the gray value for detecting pixel is 0 and continues to exceed the line segment of specific length, by the line segment
It is identified as lane line.
3. Car warning system as described in claim 1, it is characterised in that：Detecing in the objects in front collision warning systems
It includes radar mechanism to survey unit, which includes transmitter and receiver；Transmitter is oriented to be emitted to each detecting direction
Electric wave is detected, detecting electric wave is reflected and is received by the receiver by objects in front；By detecting radio wave propagation and the change of detecting direction
Change and calculate detecting unit with detect direction on object at a distance from and relative radial rate.
4. Car warning system as described in claim 1, it is characterised in that：Detecing in the objects in front collision warning systems
It further includes infra-red thermal imaging device to survey unit, to sense vehicle front object；Infra-red thermal imaging device and the processing
Unit coupling connects, and thermal image is simultaneously transmitted to processing unit by infrared thermal imaging device sensing objects in front, when collision remaining time
Less than the second time predefined value, processing unit controls prewarning unit, and prewarning unit sound-light alarm is expressed.
5. Car warning system as claimed in claim 4, it is characterised in that：The objects in front collision warning systems further include
The display screen externally shown that is arranged on vehicle and/or loudspeaker in vehicle outside are set；It is described when vehicle parking avoids
Display screen and/or loudspeaker work, prompt pedestrian leading.
6. Car warning system as claimed in claim 4, it is characterised in that：The objects in front collision warning systems further include
Zebra stripes recognition unit, whether front has zebra stripes to the zebra stripes recognition unit for identification.
7. Car warning system as described in claim 1, it is characterised in that：This vehicle information of the front truck starting prompt system
Acquisition module includes this vehicle speed acquiring unit and this vehicle speed judging unit, and described vehicle speed acquiring unit is for obtaining
The speed of this vehicle, described vehicle speed judging unit is for judging whether the speed of this vehicle is 0.
8. Car warning system as claimed in claim 7, it is characterised in that：The front truck data obtaining module includes front truck
Speed acquiring unit and front truck speed judging unit, the front truck speed acquiring unit is used to obtain the speed of front truck, before described
Vehicle speed judging unit is for judging whether the speed of front truck is 0.
9. Car warning system as claimed in claim 8, it is characterised in that：The front truck data obtaining module further include have away from
From acquiring unit and Distance Judgment unit, the distance acquiring unit is used to obtain the first distance of this vehicle and front truck, and in real time
Obtain the second distance of front truck and this vehicle；The Distance Judgment unit is for judging whether second distance is more than the first distance.
10. Car warning system as claimed in claim 9, it is characterised in that：Described vehicle speed acquiring unit is that driving is remembered
Instrument is recorded, the front truck speed acquiring unit is velocity radar, and the distance acquiring unit is range radar.
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| CN112109707A (en) * | 2020-09-07 | 2020-12-22 | 东风汽车集团有限公司 | Emergency lane keeping auxiliary method for VRU |
| CN112109707B (en) * | 2020-09-07 | 2022-01-07 | 东风汽车集团有限公司 | Emergency lane keeping auxiliary method for VRU |
| CN112133154A (en) * | 2020-09-22 | 2020-12-25 | 沈阳工业大学 | Monocular vision-based advanced driving simulation system and method |
| CN112776798A (en) * | 2021-01-18 | 2021-05-11 | 上海宏英智能科技股份有限公司 | Safe driving auxiliary system and method |
| WO2023029469A1 (en) * | 2021-08-30 | 2023-03-09 | 上海商汤智能科技有限公司 | Vehicle traveling warning method and apparatus |
| CN114435362A (en) * | 2022-02-22 | 2022-05-06 | 重庆长安汽车股份有限公司 | Intelligent car following reminding method during starting, electronic equipment and storage medium |
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Application publication date: 20180720 |