CN109300333A - A kind of vehicle driving method for prewarning risk, device, storage medium and electronic equipment - Google Patents
A kind of vehicle driving method for prewarning risk, device, storage medium and electronic equipment Download PDFInfo
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- CN109300333A CN109300333A CN201810981049.8A CN201810981049A CN109300333A CN 109300333 A CN109300333 A CN 109300333A CN 201810981049 A CN201810981049 A CN 201810981049A CN 109300333 A CN109300333 A CN 109300333A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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Abstract
The invention discloses a kind of vehicle driving method for prewarning risk and devices, which comprises obtains vehicle data, calculates this vehicle impingement angle and other vehicle collision angles according to the vehicle data；Confirm whether this vehicle has the risk with other vehicle collisions according to this vehicle impingement angle, other vehicle collision angles and preset；For there is the case where risk of collision, the risk class for obtaining the collision is calculated；Risk-warning is carried out according to the risk class of the collision；The method and device judge that algorithm analyzes vehicle driving risk in real time by preset early warning, and calculation process amount needed for the preset early warning judges algorithm is small, so that early warning efficiency improves；The method and system structure are simple simultaneously, and scalability is strong, and the existing danger early warning system by machine vision of effective solution is vulnerable to external interference, and the problem that data processing amount is big, and the accuracy and real-time of early warning has been effectively ensured.
Description
Technical field
The present invention relates to fields of communication technology, more particularly, to a kind of vehicle driving method for prewarning risk, device, deposit
Storage media and electronic equipment.
Background technique
With the rapid development of social economy, traffic is as goods and materials, the main means of flow of personnel, in support social development
While, also constantly showing problems, such as traffic accident, traffic jam etc..These problems not only bring huge
Economic loss, also limit traffic system instantly and preferably provided for social development and serve support.
The intelligent transportation system (ITS, Intelligent Transportation System) that the nearly more than ten years continue to develop
It is dedicated to solving the above problems, danger early warning system is the important topic in ITS research.Danger early warning system is mainly led to by information
Letter, two broad aspect of data processing are constituted.In current main-stream danger early warning system, information communication rely primarily on machine vision (such as
Vehicle-mounted camera, infrared ray, radar range finding etc.) it completes.This mode is easy by external interference (road environment, weather item
Part, illumination condition etc.), data precision is difficult to ensure.Meanwhile data processor needs to handle a large amount of, the unknown data of precision,
Early warning accuracy and real-time are difficult to ensure.
Summary of the invention
In order to solve at present by the danger early warning system of machine vision vulnerable to external interference existing for background technique, and count
Big according to treating capacity, so that the accuracy of early warning and real-time difficulty move the problem of guaranteeing, the present invention provides a kind of vehicle driving wind
Dangerous method for early warning and device.
The invention discloses a kind of vehicle driving method for prewarning risk to include:
Vehicle data is obtained, the vehicle data includes the vehicle data of this vehicle and other in this vehicle preset range
The vehicle data of vehicle；The vehicle data includes that the longitude and latitude of vehicle present position, vehicle course angle and vehicle are instantaneously fast
Degree；
This vehicle impingement angle and other vehicle collision angles are calculated according to the vehicle data；Described vehicle impingement angle is with two
The angle turned over when being rotated clockwise to the vehicle instantaneous velocity direction of this vehicle on the basis of vehicle line direction, using this vehicle by the center of circle
Degree；Other described vehicle collision angles are to be rotated clockwise to other on the basis of two vehicle line directions, using other vehicles as the center of circle
The angle turned over when the vehicle instantaneous velocity direction of vehicle；
Confirm whether this vehicle has and other vehicle collisions according to this vehicle impingement angle, other vehicle collision angles and preset
Risk；
For there is the case where risk of collision, the risk class for obtaining the collision is calculated；
Risk-warning is carried out according to the risk class of the collision.
Further, the preset includes sin θ1*sinθ2；When the sin θ1*sinθ2When > 0, Ben Che and other
The risk that vehicle does not collide；When the sin θ1*sinθ2When≤0, there is the risk collided in Ben Che and other vehicles；Wherein θ1
For this vehicle impingement angle, θ2For other vehicle collision angles.
Further, according to the method described in claim 2, it is characterized by: the preset further includes | θ1-θ2|；
In the sin θ1*sinθ2In the case where < 0, if described | θ1-θ2| > π, then there is the risk of collision in this vehicle and other vehicles；
If described | θ1-θ2|≤π, the then risk that this vehicle and other vehicles do not collide.
Further, the preset further includes θ1+θ2；In the sin θ1*sinθ2In the case where=0, if the θ1+
θ2=π, then there is the risk of collision in this vehicle and other vehicles；If the θ1+θ2=0, then there is collision in this vehicle and other vehicles
Risk；If the θ1+θ2≠ π and θ1+θ2≠ 0, then the risk that this vehicle and other vehicles do not collide.
Further, if according to the preset sin θ1*sinθ2< 0 and | θ1-θ2| > π judge described vehicle with
There is the risk of collision in other vehicles, then calculate and obtain the risk class of the collision and include:
The linear distance between this vehicle and other vehicles is calculated according to vehicle data；
The collision of this vehicle Yu other vehicles is calculated according to the linear distance, this vehicle impingement angle and other vehicle collision angles
Point；
It calculates this vehicle and other vehicles successively reaches the time difference of the point of impingement；
The time difference is compared with preset one or more safety time threshold values, confirms the risk etc. of collision
Grade.
Further, if according to the preset sin θ1*sinθ2=0 and θ1+θ2=π judges described vehicle and its
There is the risk of collision in his vehicle, then calculate and obtain the risk class of the collision and include:
The linear distance between this vehicle and other vehicles is calculated according to vehicle data；
Confirm whether the instantaneous velocity in rear vehicle is greater than the instantaneous velocity of vehicle in front；
If confirmation is greater than, the time that two vehicles collide under existing instantaneous velocity is calculated；
The time of the collision is compared with preset one or more safety time threshold values, confirms the risk of collision
Grade；
If confirmation is less than or equal to, the risk that two vehicles do not collide.
Further, if according to the preset sin θ1*sinθ2=0 and θ1+θ2=0 judges described vehicle and its
There is the risk of collision in his vehicle, then calculate and obtain the risk class of the collision and include:
The linear distance between this vehicle and other vehicles is calculated according to vehicle data；
Two vehicle collision times are calculated, and the collision time and preset one or more safety time threshold values are compared
Compared with confirming the risk class of collision.
Further, according to this vehicle impingement angle, other vehicle collision angles and preset confirm this vehicle whether have with
Before the risk of other vehicle collisions, which comprises
By described vehicle impingement angle by [0,2 π) successive value it is discrete turn to [0,2 π) on the discrete impingement angle of this vehicle；By institute
State other vehicle collision angles by [0,2 π) successive value it is discrete turn to [0,2 π) on the discrete impingement angle of other vehicles.
Further, after calculating this vehicle impingement angle, the method also includes:
The linear distance between this vehicle and other described vehicles is calculated according to vehicle data；
According to the linear distance and described vehicle impingement angle, the relative position of described other vehicles and this vehicle is determined；
Relative position early warning is carried out depending on that relative position.
The invention discloses a kind of vehicle driving Risk-warning devices to include:
Acquiring unit, for the acquiring unit for obtaining vehicle data, the vehicle data includes the vehicle data of this vehicle
And the vehicle data of other vehicles in this vehicle preset range；The vehicle data includes the longitude and latitude of vehicle present position
Degree, vehicle course angle and vehicle instantaneous velocity；
Computing unit, the computing unit are used to calculate this vehicle impingement angle according to the vehicle data that the acquiring unit exports
And other vehicle collision angles；It is that the center of circle is revolved clockwise that described vehicle impingement angle, which is on the basis of two vehicle line directions, with this vehicle,
The angle turned over when going to the vehicle instantaneous velocity direction of this vehicle；Other described vehicle collision angles are to be with two vehicle line directions
Benchmark, the angle turned over when being rotated clockwise to the vehicle instantaneous velocity direction of other vehicles using other vehicles by the center of circle；
Risk judgment unit, this vehicle impingement angle and other vehicles that the risk judgment unit is used to be exported according to computing unit
Impingement angle and preset judge whether this vehicle has the risk with other vehicle collisions；
Risk class computing unit, the risk class computing unit are used to be to touch to the risk judgment unit judges
The calculating of the case where hitting risk progress risk class；
Prewarning unit, the prewarning unit carry out Risk-warning according to the risk class that risk class computing unit calculates.
The disclosure also provides a kind of computer readable storage medium, is stored thereon with computer program, and the program is processed
It realizes when device executes such as the step of above-mentioned either method.
The disclosure also provides a kind of electronic equipment, comprising: the computer readable storage medium；And it is one or more
Processor, for executing the program in the computer readable storage medium.
The invention has the benefit that technical solution of the present invention, give a kind of vehicle driving method for prewarning risk and
Device, the method and device are not necessarily to rely on machine vision means, but obtain required information of vehicles by using V2V technology,
This makes that the information got is small by external interference, precision is high；The method and device judge algorithm reality by preset early warning
When analyze vehicle driving risk, calculation process amount needed for the preset early warning judge algorithm is small so that early warning efficiency raising；
The method and system structure are simple simultaneously, and scalability is strong, more other vehicles that can simultaneously in early warning this vehicle preset range；
In terms of data source and data processing two, effective solution is existing pre- by the danger of machine vision for the method and system
Alert system is vulnerable to external interference, and the problem that data processing amount is big, and the accuracy and real-time of early warning has been effectively ensured.
Detailed description of the invention
By reference to the following drawings, exemplary embodiments of the present invention can be more fully understood by:
Fig. 1 is a kind of flow chart of vehicle driving method for prewarning risk of the specific embodiment of the invention；
Fig. 2 is preset sin θ in the vehicle driving method for prewarning risk of the specific embodiment of the invention1*sinθ2> 0
When vehicle driving schematic diagram；
Fig. 3 is preset sin θ in the vehicle driving method for prewarning risk of the specific embodiment of the invention1*sinθ2< 0
When vehicle driving schematic diagram；
Fig. 4 is preset sin θ in the vehicle driving method for prewarning risk of the specific embodiment of the invention1*sinθ2=0
When vehicle driving schematic diagram；
Fig. 5 is a kind of structure chart of vehicle driving Risk-warning device of the specific embodiment of the invention.
Specific embodiment
Exemplary embodiments of the present invention are introduced referring now to the drawings, however, the present invention can use many different shapes
Formula is implemented, and is not limited to the embodiment described herein, and to provide these embodiments be at large and fully disclose
The present invention, and the scope of the present invention is sufficiently conveyed to person of ordinary skill in the field.Show for what is be illustrated in the accompanying drawings
Term in example property embodiment is not limitation of the invention.In the accompanying drawings, identical cells/elements use identical attached
Icon note.
Unless otherwise indicated, term (including scientific and technical terminology) used herein has person of ordinary skill in the field
It is common to understand meaning.Further it will be understood that with the term that usually used dictionary limits, should be understood as and its
The context of related fields has consistent meaning, and is not construed as Utopian or too formal meaning.
Fig. 1 is a kind of flow chart of vehicle driving method for prewarning risk of the specific embodiment of the invention；As shown in Figure 1,
The described method includes:
Step 110, vehicle data is obtained, the vehicle data includes the vehicle data of this vehicle and in this vehicle preset range
The vehicle data of other interior vehicles；The vehicle data includes the longitude and latitude of vehicle present position, vehicle course angle and vehicle
Instantaneous velocity；
Further, the method for obtaining vehicle data is that other in this vehicle preset range are obtained by V2V technology
The vehicle data of vehicle；
The V2V technology sends and receives the vehicle data of other vehicles by ad hoc network, realizes not against data
Direct communication between the terminal and terminal (vehicle and vehicle) at center, each vehicle obtain accurately certainly according to the sensing system of itself
Body vehicle data；This makes vehicle very high in the accuracy of the data be based on when data processing；It is main compared to current
The information that the danger early warning system by machine vision of stream obtains is affected by environment larger, in such as weather conditions, illumination item
In the case that part is poor, the case where accuracy of data cannot be guaranteed, the direct communication of the V2V technology terminal-to-terminal service
More advantage；
In the present embodiment, executing subject be this vehicle on vehicle driving Risk-warning device, described device by with
Sensing system communication on this vehicle obtains this vehicle vehicle data and by V2V technology and other vehicles in its preset range
Carrying vehicle driving Risk-warning device establish communication, obtain the vehicle data of other vehicles；The preset range can root
It is carried out according to situations such as efficient communication range of V2V technology, vehicle instantaneous velocity and road environment (high speed, mountain area or urban district etc.)
Automatic adjustment；
Step 120, this vehicle impingement angle and other vehicle collision angles are calculated according to the vehicle data；
It is vehicle that the center of circle is rotated clockwise to this vehicle that described vehicle impingement angle, which is on the basis of two vehicle line directions, with this vehicle,
The angle turned over when instantaneous velocity direction；Other described vehicle collision angles are on the basis of two vehicle line directions, with other
Vehicle is rotated clockwise to the angle turned over when the vehicle instantaneous velocity direction of other vehicles by the center of circle；
By taking the present embodiment as an example, a kind of specific algorithm of impingement angle is proposed, the algorithm is by taking this vehicle impingement angle as an example, other vehicles
Impingement angle is similarly；
According to vehicle data, this vehicle and the longitude and latitude of other vehicles are obtained, and longitude and latitude is mapped in Cartesian plane
On coordinate system (due north is Y direction, due east is X-direction), this vehicle and the co-ordinate system location of other vehicles are obtained；And then this
Vehicle and the difference of other vehicles on the horizontal scale and difference on the vertical scale；Difference on the abscissa is in coordinate system
It shows as this vehicle and other vehicles is mapped in the horizontal distance of abscissa；Difference on the ordinate table on coordinate system
The vertical range of ordinate is now mapped in for Ben Che and other vehicles
Pass through Pythagorean theorem according to the difference of Ben Che and other vehicles on the horizontal scale and difference on the vertical scale
Obtain the linear distance L between this vehicle and other vehicles；
According to the right angled triangle that the horizontal distance, vertical range and linear distance are constituted, two vehicles pair are calculated
The reference angle answered, the reference angle are the angle for being rotated clockwise to two vehicle linear distances by Y direction in coordinate system and being turned over
Degree；
It can be obtained the impingement angle of this vehicle according to described vehicle reference angle and this vehicle instantaneous velocity direction.
Further, impingement angle bring error is given to weaken the error of satellite data, which comprises
By described vehicle impingement angle by [0,2 π) successive value it is discrete turn to [0,2 π) on the discrete impingement angle of this vehicle；By institute
State other vehicle collision angles by [0,2 π) successive value it is discrete turn to [0,2 π) on the discrete impingement angle of other vehicles；
Step 130, according to this vehicle impingement angle, other vehicle collision angles and preset confirm this vehicle whether have and other
The risk of vehicle collision；
In the present embodiment, convenient for statement, if θ1For this vehicle impingement angle, θ2For other vehicle collision angles；
The preset includes sin θ1*sinθ2；When the sin θ1*sinθ2When > 0, Ben Che does not have with other vehicles
The risk of collision；When the sin θ1*sinθ2When≤0, there is the risk collided in Ben Che and other vehicles；
Fig. 2 is preset sin θ in vehicle driving method for prewarning risk1*sinθ2Vehicle driving schematic diagram when > 0；For
sinθ1*sinθ2The case where 0 >, i.e. two vehicle impingement angles, are all larger than 0 degree and are less than 180 degree or are all larger than 180 degree；This vehicle in Fig. 2 a
Impingement angle and the impingement angles of other vehicles be all larger than 180 degree and unequal, two vehicles, which will intersect, to travel, and does not have the wind of collision
Danger；The impingement angle of this vehicle and the impingement angle of other vehicles are all larger than 180 degree and equal in Fig. 2 b, and two vehicles travel in parallel, are similar to
The meeting in opposite two lane, there will not be the risk of collision；The case where impingement angle is all larger than 0 degree less than 180 degree and above situation
It is identical, it does not repeat；In conclusion being sin θ in judging result1*sinθ2When > 0, there is no the risk of collision, the methods
Terminate；
Fig. 3 is preset sin θ in vehicle driving method for prewarning risk1*sinθ2Vehicle driving schematic diagram when < 0；Such as figure
Shown in 3, for sin θ1*sinθ2The case where 0 <, the i.e. impingement angle of a vehicle, are greater than 0 degree and are less than 180 degree, and the collision of another vehicle
Angle is greater than 180 degree；And in this case, further using new preset is judged, i.e., the described preset also wraps
Include | θ1-θ2|；
If described | θ1-θ2| < π, as shown in Figure 3b, two vehicles are mutually separate and go, therefore described vehicle and other described vehicles
The risk that do not collide；
If described | θ1-θ2|=π, as shown in Figure 3c, two vehicles be cocurrent and parallel and go, similar to the traveling in two lane in the same direction,
The risk that described vehicle and other described vehicles do not collide；
If described | θ1-θ2| > π, as shown in Figure 3a, two vehicles are moved closer to, and judge that this vehicle is deposited with other vehicles at this time
In the risk of collision；
In conclusion in sin θ1*sinθ2In the case where < 0, if described | θ1-θ2|≤π, then this vehicle does not have with other vehicles
There is the risk of collision, method terminates；If described | θ1-θ2| > π, then there is the risk of collision in this vehicle and other vehicles；Need to continue into
The calculating of row next step risk class；
Fig. 4 is preset sin θ in travel risk method for early warning1*sinθ2Vehicle driving schematic diagram when=0；For sin
θ1*sinθ2It the case where=0 the case where, i.e. a vehicle impingement angle are equal to 0, further use new preset and is judged, it is described
Preset further includes θ1+θ2；
If the θ1+θ2=π, as shown in fig. 4 a, what two vehicles were in the same line pursues and attacks state, if before rear vehicle speed is faster than
There is the risk of collision in vehicle, Ben Che and other vehicles；
If the θ1+θ2=0, as shown in Figure 4 b, two vehicles are in the collision state of the same line, then this vehicle and other
There is the risk of collision in vehicle；
If the θ1+θ2≠ π and θ1+θ2≠ 0, as illustrated in fig. 4 c, two vehicles intersect traveling, then this vehicle does not have with other vehicles
The risk of collision；
In conclusion in sin θ1*sinθ2In the case where=0, if the θ1+θ2≠ π and θ1+θ2≠ 0, then this vehicle and other
The risk that vehicle does not collide, method terminate；If the θ1+θ2=π or θ1+θ2There is collision in=0 this vehicle and other vehicles
Risk；It need to continue the calculating of next step risk class；
Step 140, for there is the case where risk of collision, the risk class for obtaining the collision is calculated；
It include: in sin θ there are the case where risk of collision as described in step 1301*sinθ2It is described in the case where < 0 | θ1-
θ2| > π, in sin θ1*sinθ2The θ in the case where=01+θ2=π and in sin θ1*sinθ2The θ in the case where=01+θ2
=0；
Situation 1: if according to the preset sin θ1*sinθ2< 0 and | θ1-θ2| > π judges described vehicle and other
There is the risk of collision in vehicle, then calculate and obtain the risk class of the collision and include:
The linear distance between this vehicle and other vehicles is calculated according to vehicle data；The circular of the linear distance
It is not repeating；
The collision of this vehicle Yu other vehicles is calculated according to the linear distance, this vehicle impingement angle and other vehicle collision angles
Point；The point of impingement is the intersection point of this vehicle collision angular direction extended line and the extended line of other vehicle collision angular direction；
It calculates this vehicle and other vehicles successively reaches the time difference of the point of impingement；Known this vehicle, other vehicles under coordinate system
And the point of impingement coordinate, be easy to get Ben Che at a distance from the point of impingement and other described vehicles be at a distance from the point of impingement,
Again by known instantaneous velocity, the time difference that two vehicles successively reach the point of impingement can be obtained；
Situation 2, if according to the preset sin θ1*sinθ2=0 and θ1+θ2=π judges described vehicle and other vehicles
There is the risk of collision, then calculates and obtain the risk class of the collision and include:
The linear distance between this vehicle and other vehicles is calculated according to vehicle data；
Confirm whether the instantaneous velocity in rear vehicle is greater than the instantaneous velocity of vehicle in front；
If confirmation is greater than, the time that two vehicles collide under existing instantaneous velocity is calculated；If confirmation is less than or equal to, two vehicles do not have
There is the risk of collision；
The time of the collision is compared with preset one or more safety time threshold values, confirms the risk of collision
Grade；
Situation 3, further, if according to the preset sin θ1*sinθ2=0 and θ1+θ2=0 judges described
There is the risk of collision in vehicle and other vehicles, then calculate and obtain the risk class of the collision and include:
The linear distance between this vehicle and other vehicles is calculated according to vehicle data；
Therefore must be bumped against in the case of with existing two vehicle of vehicle-state, so there is no need to judge, directly two vehicles of calculating are with existing wink
The collision time of Shi Sudu, and the collision time is compared with preset one or more safety time threshold values, confirm
The risk class of collision；
By taking the present embodiment as an example, illustrate to the multiple safety time threshold values of setting: default three numerical value are descending
Safety time threshold value, respectively general dangerous, danger close and abnormally dangerous；Reach general danger threshold when the time difference
When, two vehicles will successively pass through the point of impingement with the small time difference, if wherein a side may send out because of normal nervous acceleration or deceleration
It is raw to collide and (such as arrive first the situation accelerated after vehicle slows down to vehicle), when the time difference reaching danger close, with existing instantaneous velocity
Advance inevitably results in collision, and two vehicles must carry out slowing-down brake in advance at this time；When the time difference reaching abnormally dangerous, i.e.,
Just start to slow down immediately with existing instantaneous velocity and also result in collision, need that the security protection system of vehicle is notified to open simultaneously at this time
It is dynamic；If the time difference is greater than the time difference of general dangerous setting, though it needs to remind driver note that will not touch with present circumstances
It hits but still there are risk of collision.
Step 150, Risk-warning is carried out according to the risk class of the collision；
The Risk-warning mode includes voice alarm, sound effect alarm；Further, the above-mentioned danger that must bump against such as occurs
When dangerous situation condition, in addition to carrying out the alarm to driver, also needs to send corresponding enabled instruction to the security protection system of this vehicle, carry out
It protects in advance.
Further, after calculating this vehicle impingement angle, the method also includes:
The linear distance between this vehicle and other described vehicles is calculated according to vehicle data；
According to the linear distance and described vehicle impingement angle, the relative position of described other vehicles and this vehicle is determined；
In impingement angle dimension, the relative position may include just before, just after, it is just left, positive it is right, left front, left back, right it is preceding with
And behind the right side；In linear distance dimension, the relative position may include two class of near and far；Specific position classification can be according to default
Classifying rules complete.
Relative position early warning is carried out depending on that relative position；
By taking the present embodiment as an example: being that other described vehicles are in when confirming relative position of other the described vehicles with this vehicle
When the left back of this vehicle, right position, Xiang Benche driver issues the early warning of " having vehicle at blind spot, forbid/ask careful lane change "；
When the relative position for confirming other described vehicles and this vehicle be other described vehicles be in this vehicle it is left front, right before
When position, " forbid/please carefully overtake other vehicles " early warning is provided.
The method is not necessarily to machine vision means, but obtains required information of vehicles by using V2V technology, this to obtain
The information got is small by external interference, precision is high；The method and device judge that algorithm analyzes vehicle in real time by preset early warning
Travel risk, calculation process amount needed for the preset early warning judges algorithm is small, so that early warning efficiency improves；Effective solution
The existing danger early warning system by machine vision of having determined is vulnerable to external interference, and the problem that data processing amount is big, is effectively ensured
The accuracy and real-time of early warning.
Fig. 5 is a kind of structure chart of vehicle driving Risk-warning device of the specific embodiment of the invention；As shown in figure 5,
Described device includes:
Acquiring unit, for the acquiring unit for obtaining vehicle data, the vehicle data includes the vehicle data of this vehicle
And the vehicle data of other vehicles in this vehicle preset range；The vehicle data includes the longitude and latitude of vehicle present position
Degree, vehicle course angle and vehicle instantaneous velocity；
Further, the acquiring unit is used to obtain the vehicle of other vehicles in this vehicle preset range by V2V technology
Data；
Computing unit, the computing unit are used to calculate this vehicle impingement angle according to the vehicle data that the acquiring unit exports
And other vehicle collision angles；It is that the center of circle is revolved clockwise that described vehicle impingement angle, which is on the basis of two vehicle line directions, with this vehicle,
The angle turned over when going to the vehicle instantaneous velocity direction of this vehicle；Other described vehicle collision angles are to be with two vehicle line directions
Benchmark, the angle turned over when being rotated clockwise to the vehicle instantaneous velocity direction of other vehicles using other vehicles by the center of circle；
Further, the computing unit be used for by described vehicle impingement angle by [0,2 π) successive value discrete turn to [0,2
The discrete impingement angle of this vehicle on π)；And by other described vehicle collision angles by [0,2 π) successive value it is discrete turn to [0,2 π) on
The discrete impingement angle of other vehicles；
Risk judgment unit, this vehicle impingement angle and other vehicles that the risk judgment unit is used to be exported according to computing unit
Impingement angle and preset judge whether this vehicle has the risk with other vehicle collisions；
Further, the preset of the risk judgment unit includes sin θ1*sinθ2；When the sin θ1*sinθ2>
When 0, the risk that described vehicle and other vehicles do not collide is judged；When the sin θ1*sinθ2When≤0, Ben Che and other vehicles
There are the risks of collision；Wherein θ1For this vehicle impingement angle of computing unit output, θ2For other of computing unit output
Vehicle collision angle；
Further, the preset of the risk judgment unit further includes | θ1-θ2|；In the sin θ1*sinθ2< 0
In the case where, if described | θ1-θ2| > π, then there is the risk of collision in this vehicle and other vehicles；If described | θ1-θ2|≤π, then originally
The risk that vehicle and other vehicles do not collide；
Further, the preset of the risk judgment unit further includes θ1+θ2；In the sin θ1*sinθ2=0
In the case of, if the θ1+θ2=π, then there is the risk of collision in this vehicle and other vehicles；If the θ1+θ2=0, then this vehicle and its
There is the risk of collision in his vehicle；If the θ1+θ2≠ π and θ1+θ2≠ 0, then the risk that this vehicle and other vehicles do not collide；
Risk class computing unit, the risk class computing unit are used to be to touch to the risk judgment unit judges
The calculating of the case where hitting risk progress risk class；
Further, the risk judgment unit is according to criterion sin θ1*sinθ2< 0 and | θ1-θ2| described in > π judgement
There is the risk of collision in this vehicle and other vehicles, and judging result is sent to risk class computing unit；
The risk class computing unit is used to calculate this vehicle and other vehicles according to the vehicle data that acquiring unit obtains
Between linear distance, and calculate this vehicle and other vehicles according to the linear distance, this vehicle impingement angle and other vehicle collision angles
The point of impingement；
The risk class computing unit is used to calculate this vehicle and other vehicles successively reach the time difference of the point of impingement, and
The time difference is compared with preset one or more safety time threshold values, confirms the risk class of collision；
Further, the risk judgment unit is according to criterion sin θ1*sinθ2=0 and θ1+θ2=π judges described
There is the risk of collision in vehicle and other vehicles, and judging result is sent to risk class computing unit；
The risk class computing unit is used to calculate this vehicle and other vehicles according to the vehicle data that acquiring unit obtains
Between linear distance, and judge whether the instantaneous velocity in rear vehicle is greater than the instantaneous velocity of vehicle in front；
If judging result is greater than the risk class computing unit is for calculating what two vehicles under existing instantaneous velocity knocked into the back
Collision time, and the collision time is compared with preset one or more safety time threshold values, confirm and export and touches
The risk class hit；
If judging result is less than or equal to exporting the information of collisionless risk；
Further, the risk judgment unit is according to criterion sin θ1*sinθ2=0 and θ1+θ2=0 judges described
There is the risk of collision in vehicle and other vehicles, and judging result is sent to risk class computing unit；
The risk class computing unit is used to calculate the linear distance between this vehicle and other vehicles according to vehicle data, into
And calculate the collision time of two vehicles；The risk class computing unit is used for the collision time and preset one or more
Safety time threshold value is compared, and confirms the risk class of collision；
Prewarning unit, the prewarning unit carry out Risk-warning according to the risk class that risk class computing unit calculates；
Further, described device includes relative position judging unit；
The relative position judging unit be used for according to vehicle data calculate the straight line between this vehicle and other described vehicles away from
From；And according to the linear distance and described vehicle impingement angle, the relative position of described other vehicles and this vehicle is determined；
Relative position progress relative position of the prewarning unit for the output of judging unit depending on that relative position is pre-
It is alert.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the disclosure
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.The step of being related in this specification, which numbers, is only used for distinguishing each step, and the time being not limited between each step
Or the relationship of logic, restriction unless the context clearly, otherwise the relationship between each step includes the case where various possible.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments means to be in the disclosure
Within the scope of and form different embodiments.For example, embodiment claimed in detail in the claims is one of any
Can in any combination mode come using.
The various component embodiments of the disclosure can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.The disclosure is also implemented as executing side as described herein
The some or all equipment or system program (for example, computer program and computer program product) of method.It is such
It realizes that the program of the disclosure can store on a computer-readable medium, or can have the shape of one or more signal
Formula.Such signal can be downloaded from an internet website to obtain, and perhaps be provided on the carrier signal or with any other shape
Formula provides.
The disclosure is limited it should be noted that above-described embodiment illustrates rather than the disclosure, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.Word "comprising" is not arranged
Except there are element or steps not listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of more
A such element.The disclosure can be by means of including the hardware of several different elements and by means of properly programmed calculating
Machine is realized.If several in these systems can be by same in the unit claim for listing dry systems
Hardware branch embodies.
The above is only the specific embodiment of the disclosure, it is noted that for the ordinary skill people of this field
Member for, do not depart from the disclosure spirit under the premise of, can make several improvements, modify and deform, these improve, modification,
It is regarded as falling within the scope of protection of this application with deformation.
Claims (10)
1. a kind of vehicle driving method for prewarning risk, which comprises
Vehicle data is obtained, the vehicle data includes the vehicle data of this vehicle and other vehicles in this vehicle preset range
Vehicle data；The vehicle data includes the longitude and latitude of vehicle present position, vehicle course angle and vehicle instantaneous velocity；
This vehicle impingement angle and other vehicle collision angles are calculated according to the vehicle data；Described vehicle impingement angle is with two vehicles company
The angle turned over when being rotated clockwise to the vehicle instantaneous velocity direction of this vehicle on the basis of line direction, using this vehicle by the center of circle；Institute
Stating other vehicle collision angles is to be rotated clockwise to other vehicles on the basis of two vehicle line directions, using other vehicles as the center of circle
The angle turned over when vehicle instantaneous velocity direction；
Confirm whether this vehicle has the wind with other vehicle collisions according to this vehicle impingement angle, other vehicle collision angles and preset
Danger；
For there is the case where risk of collision, the risk class for obtaining the collision is calculated；
Risk-warning is carried out according to the risk class of the collision.
2. according to the method described in claim 1, it is characterized by: the preset includes sin θ1*sinθ2；As the sin
θ1*sinθ2When > 0, risk that Ben Che and other vehicles do not collide；When the sin θ1*sinθ2When≤0, Ben Che and other vehicles
Exist collision risk；Wherein θ1For this vehicle impingement angle, θ2For other vehicle collision angles.
3. according to the method described in claim 2, it is characterized by: the preset further includes | θ1-θ2|；In the sin
θ1*sinθ2In the case where < 0, if described | θ1-θ2| > π, then there is the risk of collision in this vehicle and other vehicles；If described | θ1-
θ2|≤π, the then risk that this vehicle and other vehicles do not collide.
4. according to the method described in claim 2, it is characterized by: the preset further includes θ1+θ2；In the sin θ1*
sinθ2In the case where=0, if the θ1+θ2=π, then there is the risk of collision in this vehicle and other vehicles；If the θ1+θ2=0,
Then there is the risk of collision in this vehicle and other vehicles；If the θ1+θ2≠ π and θ1+θ2≠ 0, then this vehicle is not touched with other vehicles
The risk hit.
5. according to the method described in claim 3, it is characterized by: if according to the preset sin θ1*sinθ2< 0 and |
θ1-θ2| > π judges that described vehicle and other vehicles have the risk of collision, then calculates the risk class packet for obtaining the collision
It includes:
The linear distance between this vehicle and other vehicles is calculated according to vehicle data；
The point of impingement of this vehicle Yu other vehicles is calculated according to the linear distance, this vehicle impingement angle and other vehicle collision angles；
It calculates this vehicle and other vehicles successively reaches the time difference of the point of impingement；
The time difference is compared with preset one or more safety time threshold values, confirms the risk class of collision.
6. according to the method described in claim 4, it is characterized by: if according to the preset sin θ1*sinθ2=0 and
θ1+θ2=π judges that described vehicle and other vehicles have the risk of collision, then calculates and obtain the risk class of the collision and include:
The linear distance between this vehicle and other vehicles is calculated according to vehicle data；
Confirm whether the instantaneous velocity in rear vehicle is greater than the instantaneous velocity of vehicle in front；
If confirmation is greater than, the time that two vehicles collide under existing instantaneous velocity is calculated；
The time of the collision is compared with preset one or more safety time threshold values, confirms the risk etc. of collision
Grade；
If confirmation is less than or equal to, the risk that two vehicles do not collide.
7. according to the method described in claim 4, it is characterized by: if according to the preset sin θ1*sinθ2=0 and
θ1+θ2=0 judges that described vehicle and other vehicles have the risk of collision, then calculates and obtain the risk class of the collision and include:
The linear distance between this vehicle and other vehicles is calculated according to vehicle data；
Two vehicle collision times are calculated, and the collision time is compared with preset one or more safety time threshold values,
Confirm the risk class of collision.
8. a kind of vehicle driving Risk-warning device, described device include:
Acquiring unit, the acquiring unit for obtaining vehicle data, the vehicle data include this vehicle vehicle data and
The vehicle data of other vehicles in this vehicle preset range；The vehicle data includes the longitude and latitude of vehicle present position, vehicle
Course angle and vehicle instantaneous velocity；
Computing unit, the computing unit be used for according to the vehicle data that the acquiring unit exports calculate this vehicle impingement angle and
Other vehicle collision angles；It is that the center of circle is rotated clockwise to that described vehicle impingement angle, which is on the basis of two vehicle line directions, with this vehicle,
The angle turned over when the vehicle instantaneous velocity direction of this vehicle；Other described vehicle collision angles are using two vehicle line directions as base
The angle turned over when vehicle instantaneous velocity direction that is quasi-, being rotated clockwise to other vehicles using other vehicles by the center of circle；
Risk judgment unit, this vehicle impingement angle and other vehicles that the risk judgment unit is used to be exported according to computing unit are touched
Breakhead and preset judge whether this vehicle has the risk with other vehicle collisions；
Risk class computing unit, the risk class computing unit are used to be to have collision wind to the risk judgment unit judges
The situation of danger carries out the calculating of risk class；
Prewarning unit, the prewarning unit carry out Risk-warning according to the risk class that risk class computing unit calculates.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
It is realized when row such as the step of any one of claim 1-7 the method.
10. a kind of electronic equipment characterized by comprising computer readable storage medium described in claim 9；And
One or more processors, for executing the program in the computer readable storage medium.
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