CN110097783A - Vehicle early warning method and system - Google Patents
Vehicle early warning method and system Download PDFInfo
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- G—PHYSICS
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
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Abstract
The present invention relates to vehicle safeties to assist driving technology field, specifically provides a kind of vehicle early warning method and system.This method comprises: there are relative distances when vehicle, determined between target vehicle (1) and front vehicles (2) in front of target vehicle (1)；The driving condition of driver is identified according to the image information of the driver of target vehicle (1)；The braking distance of current target vehicle (1) emergency braking is obtained according to the status information of the driving condition of driver and target vehicle (1)；When relative distance is not more than the braking distance of target vehicle (1) between target vehicle (1) and front vehicles (2), information warning is issued.The vehicle early warning method real-time and accurately can provide information warning for driver.
Description
Technical field
The present invention relates to vehicle safeties to assist driving technology field, specifically provides a kind of vehicle early warning method and system.
Background technique
Currently, intelligent vehicle is fast-developing, and more and more sensors participate in the planning and designing of intelligent vehicle, to make up list
Sensor accurately and real-time can not provide the safety for the traffic environment that current vehicle travels by driver.
The relevant technologies provide a kind of automobile distance safe early warning control system, the system include micro controller module and
Satellite navigation module, RF receiving and transmission module, display module, alarm module and power module connected to it.Pass through satellite positioning
Module determines that the location information of this vehicle, RF receiving and transmission module are used to emit the location information of this vehicle and receive the position of surrounding vehicles
Information, then the distance between Ben Che and surrounding vehicles are calculated by the computing unit in micro controller module, and by display mould
Block is shown, is compared and analyzed current spacing parameter with setting value by parameter comparison unit, the spacing between two vehicles is unsatisfactory for
When setup parameter value, alarmed by control module control alarm module.
During realization of the invention, the inventor finds that the existing technology has at least the following problems: parameter comparison unit
In setup parameter value be it is certain either by manual amendment, be not applied for all traffic environments.
Summary of the invention
The embodiment of the invention provides a kind of vehicle early warning methods, real-time and accurately can provide warning letter for driver
Breath.Specific technical solution is as follows:
The embodiment of the present application provides a kind of vehicle early warning method, comprising:
There are when vehicle in front of target vehicle, the relative distance between the target vehicle and front vehicles is determined；
The driving condition of the driver is identified according to the image information of the driver of the target vehicle；
Target described in current time is obtained according to the status information of the driving condition of the driver and the target vehicle
The braking distance of emergency brake of vehicle；
When relative distance is not more than the braking distance of the target vehicle between the target vehicle and front vehicles, hair
Information warning out.
Selectively, the relative distance between the determination target vehicle and front vehicles includes:
Obtain the location information of the target vehicle and the front vehicles, wherein the location information includes longitude and latitude
Information；
Direction adjustment is carried out to the location information numerical value；
The relative distance between the target vehicle and the front vehicles is calculated according to following first formula:
Wherein,
C=sin (MlatA) * sin (MlatB) * cos (MlonA-MlonB)+cos (MlatA) * cos (MlatB)；
R indicates earth mean radius, value 6371.004km；
The latitude value of the MlatA expression direction target vehicle adjusted；
The latitude value of the MlatB expression direction front vehicles adjusted；
The longitude of the MlonA expression direction target vehicle adjusted；
The longitude of the MlonB expression direction front vehicles adjusted；
D1Indicate the relative distance between the target vehicle and the front vehicles.
Selectively, before the location information for obtaining the front vehicles, the method also includes:
Acquire the image information of the target vehicle road ahead；
It carries out detecting whether that there are vehicles using described image information of first cascade classifier to acquisition, wherein described
First cascade classifier is trained to road image sample under different condition, and the road image sample includes not
With the not no figure of vehicle in front of the target vehicle under the image pattern for having vehicle in front of target vehicle described under scene and corresponding scene
Decent.
Selectively, before the driving condition of the identification driver, the method also includes:
Collected driver's image information is detected and analyzed using the second cascade classifier and identifies institute
State the driving condition of driver；
Wherein, second cascade classifier is that image pattern is trained to obtain under different driving conditions to driver
, the driving condition of the driver includes waking state, slight fatigue state, moderate fatigue state and severe fatigue state.
Selectively, the system of target vehicle emergency braking described in current time is obtained according to the driving condition of the driver
Dynamic distance includes:
The speed of the target vehicle and the front vehicles is obtained, and the target carriage is calculated according to following second formula
Relative velocity between the front vehicles:
Δ V=V1-V2
Wherein,
Δ V indicates the relative velocity between the target vehicle and the front vehicles,
V1Indicate the travel speed of the target vehicle,
V2Indicate the travel speed of the front vehicles,
The corresponding reaction time is obtained according to the driving condition of the driver, and according to the calculating of following third formula
The braking distance of target vehicle:
Wherein,
D2Indicate the braking distance of the target vehicle,
tiIndicate the driver reaction time corresponding in different driving conditions,
t0Indicate the driver reaction time corresponding in waking state,
t1Indicate the driver reaction time corresponding in slight fatigue state,
t2Indicate the driver reaction time corresponding in moderate fatigue state,
t3Indicate the driver reaction time corresponding in severe fatigue state,
A indicates the maximum braking deceleration of the target vehicle.
The embodiment of the present application also provides a kind of vehicle early warning systems, comprising:
Relative distance computing module is configured as in front of target vehicle determining the target vehicle there are when vehicle
Relative distance between front vehicles；
State recognition module is configured as identifying the driving condition of driver according to the image information of driver；
Braking distance obtains module, is configured as the state of the driving condition and the target vehicle according to the driver
Information obtains the braking distance of target vehicle emergency braking described in current time；
Alarm module is configured as when relative distance is not more than the target carriage between the target vehicle and front vehicles
Braking distance when, issue information warning.
Selectively, the relative distance computing module includes:
Position acquisition unit is configured as obtaining the location information of the target vehicle and the front vehicles, wherein institute
Stating location information includes latitude and longitude information；
Direction adjustment unit is configured as carrying out direction adjustment to the location information data；
Relative distance computing unit is configured as calculating the target vehicle and the front vehicle according to following first formula
Relative distance between；
Wherein,
C=sin (MlatA) * sin (MlatB) * cos (MlonA-MlonB)+cos (MlatA) * cos (MlatB)；
R indicates earth mean radius, value 6371.004km；
The latitude value of the MlatA expression direction target vehicle adjusted；
The latitude value of the MlatB expression direction front vehicles adjusted；
The longitude of the MlonA expression direction target vehicle adjusted；
The longitude of the MlonB expression direction front vehicles adjusted；
D1Indicate the relative distance between the target vehicle and the front vehicles.
Selectively, the system also includes:
Image capture module is configured as acquiring the image information of the target vehicle road ahead；
First cascade classifier is configured as carrying out detecting whether that there are vehicles to the described image information of acquisition, wherein
First cascade classifier is trained to road image sample each under different condition, and the mileage chart is decent
This includes having the image pattern of vehicle under different scenes in front of the target vehicle and corresponding under scene not having in front of the target vehicle
There is the image pattern of vehicle.
Selectively, the system also includes:
Second cascade classifier is configured as before the driving condition of the identification driver, to collected described
The image information of driver detects and analyzes the driving condition for identifying the driver；
Wherein, second cascade classifier is trained to image pattern of the driver under different driving conditions
It arrives, the driving condition of the driver includes waking state, slight fatigue state, moderate fatigue state and severe fatigue shape
State.
Selectively, the braking distance acquisition module includes:
Relative velocity computing unit, is configured as obtaining the speed of the target vehicle and the front vehicles, and according to
Following second formula calculates the relative velocity between the target vehicle and the front vehicles:
Δ V=V1-V2
Wherein,
Δ V indicates the relative velocity between the target vehicle and the front vehicles,
V1Indicate the travel speed of the target vehicle,
V2Indicate the travel speed of the front vehicles；
Braking Distance Calculation unit is configured as obtaining the corresponding reaction time according to the driving condition of the driver,
And the braking distance of the target vehicle is calculated according to following second formula:
Wherein,
D2Indicate the braking distance of target vehicle；
tiIndicate driver's reaction time corresponding in different driving conditions；
t0Indicate driver's reaction time corresponding in waking state；
t1Indicate driver's reaction time corresponding in slight fatigue state；
t2Indicate driver's reaction time corresponding in moderate fatigue state；
t3Indicate driver's reaction time corresponding in severe fatigue state；
The maximum braking deceleration of a expression target vehicle.
Technical solution bring beneficial effect provided in an embodiment of the present invention includes at least:
The image information for acquiring driver, the driving condition of driver is identified according to image information, according to driver's
Current driving condition obtains corresponding braking distance, so in different situations can be real-time according to the current state of driver
The braking distance for obtaining target vehicle, so that the braking distance of target vehicle is more accurate.There are vehicles in front of target vehicle
When, the relative distance between target vehicle and front vehicles is calculated, so as to the braking distance and two vehicles to target vehicle
Between relative distance compare, when between two vehicles relative distance be not more than target vehicle braking distance when, that is,
Current time assumes that emergency case occurs, and there are security risks between two vehicles, and capable of emitting information warning, reminds driver at this time.
Judge that the safety of target vehicle can be protected by acquiring the image information of target vehicle road ahead and driver in real time in this way
The timeliness of information warning is demonstrate,proved, so as to provide accurate information warning in real time for driver.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of implementation environment schematic diagram of vehicle early warning method provided by the embodiments of the present application；
Fig. 2 is a kind of flow chart of vehicle early warning method provided by the embodiments of the present application；
Fig. 3 is the flow chart of another vehicle early warning method provided by the embodiments of the present application；
Fig. 4 be apply calculating in the vehicle early warning method that provides of embodiment between target vehicle and front vehicles it is opposite away from
From flow chart；
Fig. 5 is to identify the driving condition of driver in vehicle early warning method provided by the embodiments of the present application and obtain corresponding anti-
Flow chart between seasonable；
Fig. 6 is to obtain the flow chart of target vehicle braking distance in vehicle early warning method provided by the embodiments of the present application；
Fig. 7 is a kind of block diagram of vehicle early warning early warning system provided by the embodiments of the present application；
Fig. 8 is the block diagram of another vehicle early warning early warning system provided by the embodiments of the present application；
Fig. 9 is the block diagram of relative distance computing module provided by the embodiments of the present application；
Figure 10 is the block diagram that braking distance provided by the embodiments of the present application obtains module.
Wherein, the appended drawing reference in figure indicates:
1 --- target vehicle；101 --- gray scale camera；102 --- infrared camera；103 --- short range communication module；
104 --- alarm；105 --- locating module；106 --- car-mounted terminal；
2 --- front vehicles；201 --- gray scale camera；202 --- infrared camera；203 --- short range communication module；
204 --- alarm；205 --- locating module；206 --- car-mounted terminal.
Specific embodiment
To keep technical solution of the present invention and advantage clearer, below in conjunction with attached drawing to embodiment of the present invention make into
One step it is described in detail.
Referring to Fig. 1, the implementation environment of vehicle early warning method provided by the embodiments of the present application can include: target vehicle 1 is with before
Square vehicle 2, wherein
It may be provided with locating module 205 and short range communication module 203 in front vehicles 2, locating module 205 is for obtaining this
The location information and travel speed of vehicle, short range communication module 203 are used to establish with other vehicles and communicate to connect.
It may be provided with gray scale camera 101, infrared camera 102, locating module 103, short range communication module on target vehicle 1
105, alarm 104 and car-mounted terminal 106, the gray scale camera 101 are used to acquire the image information of 1 road ahead of target vehicle,
And the image that will acquire is transmitted to car-mounted terminal 106.
Locating module 103 is used to obtain the location information and travel speed of target vehicle 1, and by the position of target vehicle 1
Information and travel speed are sent to car-mounted terminal 106.Short range communication module 103 is for the short range communication module with front vehicles 2
203 establish communication connection, receive front vehicles 2 short range communication module 203 send location information and travel speed, and will before
The location information and travel speed of square vehicle 2 are sent to car-mounted terminal 106.Car-mounted terminal 106 receives locating module 105 and short distance
The travel speed and location information of target vehicle 1 and front vehicles 2 that communication module 103 is sent, and obtain the phase between two vehicles
It adjusts the distance and relative velocity.
Infrared camera 102 acquires the image information of driver, the driving condition of driver is gone out according to image recognition, and send
To car-mounted terminal 106.Car-mounted terminal 106 is according to relatively fast between driving condition corresponding reaction time of driver, two vehicles
The status information of degree and target vehicle 1 obtains the braking distance of target vehicle 1, and by the relative distance of two vehicles and target vehicle 1
Braking distance compare；When the relative distance of two vehicles is not more than the braking distance of target vehicle 1, car-mounted terminal 106 starts
Alarm 104 issues information warning.
Referring to fig. 2, some embodiments of the present application provide a kind of vehicle early warning method, this method comprises:
Step S201 determines the phase between target vehicle 1 and front vehicles 2 when the front of target vehicle 1 is there are when vehicle
It adjusts the distance.
For example, in a kind of implementation of the embodiment of the present application, when target vehicle 1 in the process of moving, can first judge
The front of 1 vehicle of target vehicle whether there is other vehicles.When there are other moving traffics in the front of the target vehicle 1
When, it next just can detect the relative distance between target vehicle 1 and front vehicles 2.
Step S202 obtains current target vehicle according to the status information of the driving condition of driver and target vehicle 1
The braking distance of 1 emergency braking.
For example, in a kind of implementation of the embodiment of the present application, driver is corresponding anti-in different driving conditions
It is different between seasonable, thus when the feelings of the status information accordances of target vehicles 1 such as speed, the maximum braking deceleration of target vehicle 1
Under condition, the reaction time difference of driver can directly result in target vehicle 1 in the difference of the emergency stopping distance of Emergency time.
Step S203 identifies the driving condition of driver according to the image information of the driver of target vehicle 1.
For example, in a kind of implementation of the embodiment of the present application, it is mountable in target vehicle 1 to have infrared camera 102, lead to
The facial image information that infrared camera 102 acquires driver is crossed, and infrared camera 102 can be by the face of collected driver
Image information is uploaded to car-mounted terminal 106, is identified by face image of the algorithm in car-mounted terminal 106 to driver,
To obtain the current driving condition of driver.
Step S204, when relative distance is not more than the braking distance of target vehicle 1 between target vehicle 1 and front vehicles 2
When, issue information warning.
When target vehicle 1 and 2 front-rear direction of front vehicles when driving, need to judge between target vehicle 1 and front vehicles 2
Relative distance whether meet the braking distance at 1 current time of target vehicle.When opposite between target vehicle 1 and front vehicles 2
When distance is not more than the braking distance of target vehicle 1, if then explanation current time occur accident, target vehicle 1 may be with
Front vehicles 2 collide, therefore, at this time the capable of emitting information warning of target vehicle 1 with remind driver pay attention to speed and with
The distance between front vehicles 2.
The image information that driver is acquired in vehicle early warning method provided by the embodiments of the present application, identifies according to image information
The driving condition of driver out obtains corresponding braking distance further according to the current driving condition of driver, in this way can be not
The braking distance of target vehicle 1 can be obtained in real time according to the current state of driver in the case where, so that target vehicle 1
Braking distance is more accurate.
There are when vehicle in front of target vehicle 1, the relative distance between target vehicle 1 and front vehicles 2 is calculated,
It is compared so as to the relative distance between the braking distance and two vehicles to target vehicle 1, when relative distance is not between two vehicles
Greater than target vehicle 1 braking distance when, that is, assume that emergency case occurs it is hidden to there is safety between two vehicles at current time
Suffer from, at this time capable of emitting information warning, reminds driver.The safety of target vehicle 1 is judged by real-time image acquisition information in this way
Property can reduce the occupancy of resource, it can also be ensured that the timeliness of warning message, so as to be provided accurately for driver in real time
Warning information.
Referring to Fig. 3, some embodiments of the present application additionally provide a kind of vehicle early warning method, this method can include:
Step S301 acquires the image information of 1 road ahead of target vehicle.
By taking implementation environment shown in FIG. 1 as an example, in order to improve accurate inspection of the target vehicle 1 to other vehicles in road ahead
It surveys, before target vehicle 1 judges front vehicles 2 with the presence or absence of other vehicles, the gray scale camera 101 on target vehicle 1 can first exist
A large amount of vehicle positive samples and vehicle negative sample are acquired under different driving scenes, before positive sample can be for target vehicle 1 under different scenes
There is the image pattern of vehicle on Fang Daolu, negative sample can be the image pattern without vehicle in 1 road ahead of target vehicle under corresponding scene.
Step S302 carries out detecting whether that there are vehicles using image information of first cascade classifier to acquisition, wherein
First cascade classifier is trained to road image sample under different condition, and road image template may include not
With the image pattern for not having vehicle in front of target vehicle 1 under the image pattern for having vehicle under scene in front of target vehicle 1 and corresponding scene.
Car-mounted terminal 106 is using adaboost machine learning algorithm to vehicle image positive samples a large amount of under different scenes and vehicle
Image negative sample carries out detection identification and classification, and vehicle detection can be carried out to road ahead under different scenes by training
First cascade classifier, to improve car-mounted terminal 106, to road ahead, whether there is or not the accurate of the judgement of vehicle under different scenes
Property.Wherein, vehicle image positive sample refers to that the image pattern for having vehicle in front of target vehicle 1, vehicle image negative sample refer to target vehicle 1
Front there is not the image pattern of vehicle.
Different scenes may include different periods and different condition, for example, different periods may include daytime, night, different items
Part may include fine day, rainy day, cloudy day, snowy day etc..To which under different scenes, the car-mounted terminal 106 of target vehicle 1 can essence
Standard detects in road ahead with the presence or absence of vehicle.
By taking implementation environment shown in FIG. 1 as an example, the front truck of target vehicle 1 cover it is mountable have a gray scale camera 101, ash
The image quality for spending camera 101 is preferable, can also relatively clearly show that the details of image.To which gray scale camera 101 can be real-time
The image in 1 road ahead of target vehicle is obtained, and the image is sent to car-mounted terminal 106, the first order of car-mounted terminal 106
Connection classifier can test and analyze the image received, judge in the image with the presence or absence of vehicle.
Step S303 determines the phase between target vehicle 1 and front vehicles 2 when the front of target vehicle 1 is there are when vehicle
It adjusts the distance.
If being carried out for example, the first cascade classifier of car-mounted terminal 106 passes through to the road image in 1 front of target vehicle
Test and analyze judgement there are other vehicles, car-mounted terminal 106 can determine again between target vehicle 1 and front vehicles 2 with respect to away from
From.
Specifically, referring to fig. 4, step S303 can include:
Step S3031, obtain target vehicle 1 and front vehicles 2 location information, wherein the location information may include through
Latitude information.
For example, in a kind of implementation environment shown in Fig. 1, mountable on target vehicle 1 to have locating module 105, the positioning
Module 105 can position the longitude and latitude value of target vehicle 1 in real time, so that it is determined that the location information of target vehicle 1.
Moreover, being fitted with dedicated short-range communication mould mostly on vehicle currently in order to reduce the security risk between vehicle
Block 103, the dedicated short-range communication module 103 can obtain the latitude and longitude information and travel speed with 1 surrounding vehicles of target vehicle.
Target vehicle 1 can be interacted according to the information interchange between carrying out vehicle with the short range communication module 203 of front truck, so as to
Obtain the location information and vehicle speed information of the affiliated vehicle of the acquisition of locating module 203 of front vehicles 2.Moreover, multiple short distances
Information interchange interaction can also be carried out between communication module, for example, multiple directions have it in front of 1 front of target vehicle, side etc.
When his vehicle or same direction have more vehicle drivings, the dedicated short-range communication module 103 on target vehicle 1 can also obtain other
The location information and vehicle speed information of all vehicles.
By taking implementation environment shown in FIG. 1 as an example, when there was only other vehicle drivings in front of target vehicle 1, target carriage
1 latitude and longitude information can be (latA, lonA), and the latitude and longitude information of front vehicles 2 can be (latB, lonB), wherein lat
Indicate that latitude, lon indicate longitude.
Step S3032 carries out direction adjustment to location information data.
For example, latitude includes north latitude and south latitude, and longitude includes east longitude in a kind of implementation of the embodiment of the present application
And west longitude, due to the relationship of region, may different positions will appear identical numerical value, in order to avoid region difference to setting
There is the calculating of the car-mounted terminal 106 of the method for early warning to have an impact, a set of direction adjustment rule can be set in car-mounted terminal 106
Then, the latitude and longitude information numerical value in different geographical is subjected to direction differentiation with positive and negative values in this way.
For example, the position numerical value in east longitude direction can be taken including range by positive value according to China geographical location upper warp and woof degree,
The position numerical value in north latitude direction is taken into 90- latitude value, thus the longitude and latitude of target vehicle 1 and front vehicles 2 after the arrangement of direction
Value may respectively be (MlatA, MlonA) and (MlatB, MlonB).
Certainly, the application is not limited in the east of above-mentioned taking positive value, north latitude through direction for the direction adjustment of longitude and latitude
90- latitude value is taken, in other implementations of the embodiment of the present application, positive value or south latitude can also be taken to take 90- with west longitude direction
Latitude value.Moreover, the combination about direction adjustment, the application are also not limited to above-mentioned east longitude and north latitude, in the application reality
It applies in other implementations of example, can also combine east longitude with south latitude either other combinations.
Step S3033 can calculate the relative distance between target vehicle 1 and front vehicles 2 according to following first formula:
Wherein,
C=sin (MlatA) * sin (MlatB) * cos (MlonA-MlonB)+cos (MlatA) * cos (MlatB)；
R indicates earth mean radius, value 6371.004km；
The latitude value of the MlatA expression direction target vehicle 1 adjusted；
The latitude value of the MlatB expression direction front vehicles 2 adjusted；
The longitude of the MlonA expression direction target vehicle 1 adjusted；
The longitude of the MlonB expression direction front vehicles 2 adjusted；
D1Indicate the relative distance between the target vehicle 1 and the front vehicles 2.
For example, the first formula can be D in a kind of implementation of the embodiment of the present application1=R*arccos (sin
(MlatA)*sin(MlatB)*cos(MlonA-MlonB)+cos(MlatA)*cos(MlatB))*π/180.In order to avoid first
Formula is too long, can be by sin (MlatA) * sin (MlatB) * cos (MlonA-MlonB)+cos (MlatA) * cos (MlatB) conduct
One transition numerical value C.Transition value C is first calculated according to the latitude and longitude information of target vehicle 1 and front vehicles 2, then basis
Transition numerical value C, earth radius R, constant π and the first formula can be calculated opposite between target vehicle 1 and front vehicles 2
Distance.
Certainly, the application is not limited in target vehicle 1 and 2 location information of front vehicles in above-mentioned longitude and latitude letter
Breath, is also not limited to and obtains the relative distance between two vehicles by above-mentioned first formula.In other realities of the embodiment of the present application
In existing mode, two vehicles can also be obtained by the location information of the other modes of two vehicles of acquisition and other reasonable formula or mode
Between relative distance.
Step S304 detects collected driver's image information using the second cascade classifier and analyzes identification
The driving condition of driver out, and reaction time when obtaining different driving conditions.
Wherein, the second cascade classifier is that image pattern is trained under different driving conditions to driver,
The driving condition of driver may include waking state, slight fatigue state, moderate fatigue state and severe fatigue state.
By taking implementation environment shown in FIG. 1 as an example, car-mounted terminal 106 can first pass through the infrared camera 102 in target vehicle 1 and adopt
Collect driver's a large amount of face's sample image in different driving conditions, and using adaboost machine learning algorithm to driver
Face's sample image in different driving conditions, which is detected and analyzed, identifies driving condition corresponding to the sample image,
The second cascade classifier that current driving condition can be tested and analyzed out according to the face image of driver is trained, to improve
Accuracy of the car-mounted terminal 106 to the judgement of driver's driving condition.
And since reaction time of the driver in different driving conditions is different, so that obtained driver is working as
The reaction time at preceding moment is more acurrate.
Specifically, referring to Fig. 5, step S304 can include:
Step S3041 collects the facial image information of driver.
Step S3042 can identify the expression of driver in the image.
Step S3043 judges whether driver is fatigue state.If the determination result is YES, S3044 is entered step.If sentencing
Disconnected result be it is no, enter step S3047.
Step S3044 judges whether driver is slight fatigue state.If the determination result is YES, S3047 is entered step.
If judging result be it is no, enter step S3045.
Step S3045 judges whether driver is moderate fatigue state.If the determination result is YES, S3047 is entered step.
If judging result be it is no, enter step S3046.
Step S3046 judges whether driver is severe fatigue state.
Step S3047 obtains the corresponding reaction time according to the different driving condition of driver.
After collecting the facial image information of driver, which can analyze that driver is current to drive
Sail state.For example, different driving conditions and the corresponding relationship between the reaction time can be stored in car-mounted terminal 106, work as identification
Out when the driving condition at driver's current time, car-mounted terminal 106 directly can obtain driver according to the corresponding relationship and currently drive
Sail the state corresponding reaction time.
Step S305 obtains current target vehicle according to the status information in the reaction time of driver and target vehicle 1
The braking distance of 1 emergency braking.
Specifically, referring to Fig. 6, in a kind of implementation of the embodiment of the present application, step S305 can include:
Step S3051 obtains the speed of the target vehicle 1 and the front vehicles 2, and according to following second formula meter
Calculate the relative velocity between the target vehicle 1 and the front vehicles 2:
Δ V=V1-V2
Wherein,
Δ V indicates the relative velocity between the target vehicle 1 and the front vehicles 2,
V1Indicate the travel speed of the target vehicle 1,
V2Indicate the travel speed of the front vehicles 2.
Step S3052 obtains the corresponding reaction time according to the driving condition of the driver, and public according to following third
Formula calculates the braking distance of the target vehicle 1:
Wherein,
D2Indicate the braking distance of the target vehicle 1,
tiIndicate the driver reaction time corresponding in different driving conditions,
t0Indicate the driver reaction time corresponding in waking state,
t1Indicate the driver reaction time corresponding in slight fatigue state,
t2Indicate the driver reaction time corresponding in moderate fatigue state,
t3Indicate the driver reaction time corresponding in severe fatigue state,
A indicates the maximum braking deceleration of the target vehicle 1.
The speed phase of the braking distance of vehicle and the reaction time of driver, the maximum braking deceleration of vehicle and vehicle
It closes, and there are when other vehicles in front of target vehicle 1, the braking distance of target vehicle 1 then can be with the opposite vehicle between two vehicles
It is fast related.
Step S306, when relative distance is not more than the braking distance of target vehicle 1 between target vehicle 1 and front vehicles 2
When, issue information warning.
In a kind of implementation of the embodiment of the present application, the braking distance of target vehicle 1 is according to the driving shape of driver
The difference of state and it is different, therefore, in order to enhance this method to the prompting effect of driver, in this method, warning that system issues
The intensity of information can enhance according to the enhancing of the degree of fatigue of driver.
For example, may be provided with voice guard 104 in target vehicle 1 in a kind of implementation environment shown in Fig. 1, working as vehicle
When mounted terminal 106 analyzes the fatigue state of driver, when driver is waking state, voice guard 104 is capable of emitting
The alarm sound of 300Hz.When driver is in a state of fatigue, the alarm sound of voice guard 104 can be greater than 300Hz.And
And with the increase of driver's fatigue degree, driver's also can gradually die down to extraneous sensitive and reactive, therefore can be by sound
Alarm 104 is designed as being gradually increased with the increase alarm sound intensity of driver's fatigue degree.
By taking implementation environment shown in FIG. 1 as an example, the vehicle early warning method which provides can obtain target carriage in real time
The road image information in 1 front simultaneously judges whether there is other vehicles, exists when other vehicles in front of target vehicle 1, logical
It crosses locating module 105 and short range communication module 103 obtains the location information and travel speed of target vehicle 1 and front vehicles 2, from
And it can rapidly and accurately obtain the relative distance between two vehicles.In this way according to real-time collected 1 road ahead of target vehicle
The position of image information and front vehicles 2, velocity information, it is possible to reduce occupied by the algorithm of the car-mounted terminal 106 of target vehicle 1
Space, and obtain the image information of 1 road ahead of target vehicle in real time and the positions of front vehicles 2, velocity information can be with
Guarantee the timeliness and accuracy of relative distance between two vehicles.
Meanwhile the camera inside target vehicle 1 can obtain the facial image information and discriminance analysis of driver in real time
The current driving condition of driver out, thus according to speed difference and mesh between the driving condition corresponding reaction time, two vehicles
Target vehicle 1 can be obtained in the braking distance at current time in the status information of mark vehicle 1 itself.Driving according to driver in this way
The braking distance that the state of sailing obtains can improve the accuracy of braking distance while reducing algorithm occupied space.
Then judge whether the relative distance between two vehicles is greater than the braking distance of target vehicle 1 it can be learnt that current time
Whether target vehicle 1 is in safety, to judge whether to need to issue information warning.Information warning is namely according to current in this way
The driving condition of moment driver and the travel speed of target vehicle 1 determine, it is assumed that emergency case, driver occur for current time
When braking distance corresponding to current driving condition is greater than the relative distance between two vehicles, the capable of emitting information warning of alarm 104,
To which driver can reduce the travel speed of target vehicle 1 to increase the relative distance between two vehicles.
Some embodiments provide a kind of vehicle early warning early warning systems by the application, and referring to Fig. 7, which includes:
Relative distance computing module 710 is configured as determining target vehicle 1 when the front of target vehicle 1 is there are when vehicle
Relative distance between front vehicles 2；
State recognition module 720 is configured as identifying the driving condition of driver according to the image information of driver；
Braking distance obtains module 730, is configured as the status information of the driving condition and target vehicle 1 according to driver
Obtain the braking distance of 1 emergency braking of current target vehicle；
Alarm module 740 is configured as when relative distance is not more than the target between target vehicle 1 and front vehicles 2
When the braking distance of vehicle 1, information warning is issued.
Referring to Fig. 8, some embodiments of the application additionally provide a kind of vehicle early warning early warning system, the system can include:
Image capture module 810 is configured as the image information of acquisition 1 road ahead of target vehicle.
First cascade classifier 820 is configured as carrying out detecting whether that there are vehicles to the image information of acquisition, wherein
First cascade classifier 820 is trained to road image sample each under different condition, road image sample packet
Include the image of the not no vehicle in 1 front of target vehicle under the image pattern for having vehicle under different scenes in front of target vehicle 1 and corresponding scene
Sample.
Relative distance computing module 830 is configured as determining target vehicle 1 when the front of target vehicle 1 is there are when vehicle
Relative distance between front vehicles 2.
Second cascade classifier 840 is configured as before the driving condition of identification driver, to collected driver
Image information detected and analyze the driving condition for identifying driver；
Wherein, the second cascade classifier 840 is trained to image pattern of the driver under different driving conditions
It arrives, the driving condition of driver includes waking state, slight fatigue state, moderate fatigue state and severe fatigue state.
Braking distance obtains module 850, is configured as the status information of the driving condition and target vehicle 1 according to driver
Obtain the braking distance of 1 emergency braking of current target vehicle；
Alarm module 860 is configured as when relative distance is not more than the target between target vehicle 1 and front vehicles 2
When the braking distance of vehicle 1, information warning is issued.
Wherein, referring to Fig. 9, relative distance calculates 830 modules can include:
Position acquisition unit 831 is configured as obtaining the location information of target vehicle 1 and front vehicles 2, wherein position
Information includes latitude and longitude information；
Direction adjustment unit 832 is configured as carrying out direction adjustment to location information data；
Relative distance computing unit 833 is configured as calculating target vehicle 1 and front vehicles 2 according to following first formula
Between relative distance；
Wherein,
C=sin (MlatA) * sin (MlatB) * cos (MlonA-MlonB)+cos (MlatA) * cos (MlatB)；
R indicates earth mean radius, value 6371.004km；
The latitude value of MlatA expression direction target vehicle 1 adjusted；
The latitude value of MlatB expression direction front vehicles 2 adjusted；
The longitude of MlonA expression direction target vehicle 1 adjusted；
The longitude of MlonB expression direction front vehicles 2 adjusted；
D1Indicate the relative distance between target vehicle 1 and front vehicles 2.
Referring to Figure 10, braking distance obtains module 850 can include:
Relative velocity computing unit 851 is configured as obtaining the speed of target vehicle 1 and front vehicles 2, and according to as follows
Second formula calculates the relative velocity between target vehicle 1 and front vehicles 2:
Δ V=V1-V2
Wherein,
Δ V indicates the relative velocity between target vehicle 1 and the front vehicles 2,
V1Indicate the travel speed of target vehicle 1,
V2Indicate the travel speed of front vehicles 2；
Braking Distance Calculation unit 852 is configured as obtaining the corresponding reaction time according to the driving condition of driver, and
The braking distance of target vehicle 1 is calculated according to following second formula:
Wherein,
D2Indicate the braking distance of target vehicle 1；
tiIndicate driver's reaction time corresponding in different driving conditions；
t0Indicate driver's reaction time corresponding in waking state；
t1Indicate driver's reaction time corresponding in slight fatigue state；
t2Indicate driver's reaction time corresponding in moderate fatigue state；
t3Indicate driver's reaction time corresponding in severe fatigue state；
The maximum braking deceleration of a expression target vehicle 1.
The some embodiments of the application additionally provide a kind of vehicle early warning system, which may include processor and for storing
The memory of processor executable command.Wherein, processor can be configured to:
When the front of target vehicle 1 is there are when vehicle, the relative distance between target vehicle 1 and front vehicles 2 is determined；
The driving condition of driver is identified according to the image information of the driver of target vehicle 1；
Current target vehicle 1 is obtained according to the status information of the driving condition of driver and target vehicle 1 promptly to make
Dynamic braking distance；
When relative distance is not more than the braking distance of target vehicle 1 between target vehicle 1 and front vehicles 2, police is issued
Show information.
Vehicle early warning system provided by the embodiments of the present application is corresponding with vehicle early warning method provided by the embodiments of the present application,
Its module for executing function can find corresponding step in embodiment in, and for brevity, no longer elaboration the application is real
The details and effect of the vehicle early warning system of example offer are provided.
It will be appreciated by those skilled in the art that realizing that all or part of the steps, module of above-described embodiment can pass through hardware
It realizes, relevant hardware can also be instructed to complete by program.Program can store in a kind of computer-readable storage medium
In matter, storage medium can be read-only memory, disk or CD etc..
The foregoing is merely illustrated examples of the invention, the protection scope being not intended to limit the invention is all in this hair
Within bright spirit and principle, any modification, equivalent replacement, improvement and so on should be included in protection scope of the present invention
Within.
Claims (10)
1. a kind of vehicle early warning method, which is characterized in that the described method includes:
It is opposite between the target vehicle (1) and front vehicles (2) there are determining when vehicle in front of target vehicle (1)
Distance；
The driving condition of the driver is identified according to the image information of the driver of the target vehicle (1)；
Target carriage described in current time is obtained according to the status information of the driving condition of the driver and the target vehicle (1)
The braking distance of (1) emergency braking；
When relative distance is not more than the braking distance of the target vehicle (1) between the target vehicle (1) and front vehicles (2)
When, issue information warning.
2. vehicle early warning method according to claim 1, which is characterized in that the determination target vehicle (1) and before
Relative distance between square vehicle (2) includes:
Obtain the location information of the target vehicle (1) and the front vehicles (2), wherein the location information includes longitude and latitude
Spend information；
Direction adjustment is carried out to the location information numerical value；
The relative distance between the target vehicle (1) and the front vehicles (2) is calculated according to following first formula:
Wherein,
C=sin (MlatA) * sin (MlatB) * cos (MlonA-MlonB)+cos (MlatA) * cos (MlatB)；
R indicates earth mean radius, value 6371.004km；
The latitude value of the MlatA expression direction target vehicle (1) adjusted；
The latitude value of the MlatB expression direction front vehicles (2) adjusted；
The longitude of the MlonA expression direction target vehicle (1) adjusted；
The longitude of the MlonB expression direction front vehicles (2) adjusted；
D1Indicate the relative distance between the target vehicle (1) and the front vehicles (2).
3. vehicle early warning method according to claim 2, which is characterized in that in the acquisition front vehicles (2)
Before location information, the method also includes:
Acquire the image information of the target vehicle (1) road ahead；
It carries out detecting whether that there are vehicles using described image information of first cascade classifier to acquisition, wherein described first
Cascade classifier is trained to road image sample under different condition, and the road image sample includes different fields
Have in front of the target vehicle (1) under scape vehicle image pattern and corresponding scene under not no vehicle in front of the target vehicle (1)
Image pattern.
4. vehicle early warning method according to claim 1, which is characterized in that it is described identification driver driving condition it
Before, the method also includes:
Collected driver's image information is detected using the second cascade classifier and is analyzed and identifies described drive
The driving condition for the person of sailing；
Wherein, second cascade classifier is that image pattern is trained under different driving conditions to driver,
The driving condition of the driver includes waking state, slight fatigue state, moderate fatigue state and severe fatigue state.
5. vehicle early warning method according to claim 4, which is characterized in that obtained according to the driving condition of the driver
The braking distance of target vehicle described in current time (1) emergency braking includes:
The speed of the target vehicle (1) and the front vehicles (2) is obtained, and the target is calculated according to following second formula
Relative velocity between vehicle (1) and the front vehicles (2):
Δ V=V1-V2
Wherein,
Δ V indicates the relative velocity between the target vehicle (1) and the front vehicles (2),
V1Indicate the travel speed of the target vehicle (1),
V2Indicate the travel speed of the front vehicles (2),
The corresponding reaction time is obtained according to the driving condition of the driver, and the target is calculated according to following third formula
The braking distance of vehicle (1):
Wherein,
D2Indicate the braking distance of the target vehicle (1),
tiIndicate the driver reaction time corresponding in different driving conditions,
t0Indicate the driver reaction time corresponding in waking state,
t1Indicate the driver reaction time corresponding in slight fatigue state,
t2Indicate the driver reaction time corresponding in moderate fatigue state,
t3Indicate the driver reaction time corresponding in severe fatigue state,
A indicates the maximum braking deceleration of the target vehicle (1).
6. a kind of vehicle early warning system, which is characterized in that the system comprises:
Relative distance computing module is configured as in front of target vehicle (1) determining the target vehicle there are when vehicle
(1) relative distance between front vehicles (2)；
State recognition module is configured as identifying the driving condition of driver according to the image information of driver；
Braking distance obtains module, is configured as the state of the driving condition and the target vehicle (1) according to the driver
Information obtains the braking distance of target vehicle described in current time (1) emergency braking；
Alarm module is configured as when relative distance is not more than the target between the target vehicle (1) and front vehicles (2)
When the braking distance of vehicle (1), information warning is issued.
7. vehicle early warning system according to claim 6, which is characterized in that the relative distance computing module includes:
Position acquisition unit is configured as obtaining the location information of the target vehicle (1) and the front vehicles (2), wherein
The location information includes latitude and longitude information；
Direction adjustment unit is configured as carrying out direction adjustment to the location information data；
Relative distance computing unit is configured as calculating the target vehicle (1) and the front vehicle according to following first formula
Relative distance between (2)；
Wherein,
C=sin (MlatA) * sin (MlatB) * cos (MlonA-MlonB)+cos (MlatA) * cos (MlatB)；
R indicates earth mean radius, value 6371.004km；
The latitude value of the MlatA expression direction target vehicle (1) adjusted；
The latitude value of the MlatB expression direction front vehicles (2) adjusted；
The longitude of the MlonA expression direction target vehicle (1) adjusted；
The longitude of the MlonB expression direction front vehicles (2) adjusted；
D1Indicate the relative distance between the target vehicle (1) and the front vehicles (2).
8. vehicle early warning system according to claim 7, which is characterized in that the system also includes:
Image capture module is configured as acquiring the image information of the target vehicle (1) road ahead；
First cascade classifier is configured as carrying out detecting whether that there are vehicles to the described image information of acquisition, wherein described
First cascade classifier is trained to road image sample each under different condition, the road image sample packet
It includes under the image pattern for having vehicle under different scenes in front of the target vehicle (1) and corresponding scene in front of the target vehicle (1)
There is no the image pattern of vehicle.
9. vehicle early warning system according to claim 6, which is characterized in that the system also includes:
Second cascade classifier is configured as before the driving condition of the identification driver, to the collected driving
The image information of member is detected and analyzes the driving condition for identifying the driver；
Wherein, second cascade classifier is to be trained to obtain to image pattern of the driver under different driving conditions
, the driving condition of the driver includes waking state, slight fatigue state, moderate fatigue state and severe fatigue state.
10. vehicle early warning system according to claim 9, which is characterized in that the braking distance obtains module and includes:
Relative velocity computing unit is configured as obtaining the speed of the target vehicle (1) and the front vehicles (2), and root
The relative velocity between the target vehicle (1) and the front vehicles (2) is calculated according to following second formula:
Δ V=V1-V2
Wherein,
Δ V indicates the relative velocity between the target vehicle (1) and the front vehicles (2),
V1Indicate the travel speed of the target vehicle (1),
V2Indicate the travel speed of the front vehicles (2)；
Braking Distance Calculation unit is configured as obtaining corresponding reaction time, and root according to the driving condition of the driver
The braking distance of the target vehicle (1) is calculated according to following second formula:
Wherein,
D2Indicate the braking distance of target vehicle (1)；
tiIndicate driver's reaction time corresponding in different driving conditions；
t0Indicate driver's reaction time corresponding in waking state；
t1Indicate driver's reaction time corresponding in slight fatigue state；
t2Indicate driver's reaction time corresponding in moderate fatigue state；
t3Indicate driver's reaction time corresponding in severe fatigue state；
A indicates the maximum braking deceleration of target vehicle (1).
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Application publication date: 20190806 |