CN110843776B - Vehicle anti-collision method and device - Google Patents
Vehicle anti-collision method and device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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Abstract
The embodiment of the application discloses a vehicle anti-collision method which is used for reducing the probability of collision with other vehicles. The method provided by the embodiment of the application comprises the following steps: calculating a first motion trail of the vehicle, wherein the first motion trail is a trail of the vehicle running according to the current speed and direction in a preset time period; calculating a second motion trail of the surrounding vehicle, wherein the second motion trail is a trail of the surrounding vehicle running according to the current speed and direction in a preset time period; calculating a safe distance between the vehicle and the surrounding vehicle; monitoring whether the peripheral vehicles have lane change signs or not, and determining lane change directions of the peripheral vehicles according to the lane change signs if the peripheral vehicles have the lane change signs; correcting the second motion trail according to the lane changing direction to obtain a third motion trail; judging whether a moment when the distance between the vehicle and the surrounding vehicle is smaller than the safe distance exists in a preset time period; if yes, outputting a reminding signal.
Description
Technical Field
The embodiment of the application relates to the field of automobiles, in particular to a vehicle anti-collision method and device.
Background
As the holding capacity of vehicles continues to increase, the number of traffic accidents is increasing. Often, vehicle drivers often cause vicious traffic accidents due to fatigue driving or careless observation, and particularly, when driving, collision easily occurs between vehicles due to the fact that other vehicles are jammed.
In order to reduce the burden of a driver and improve the driving safety, various collision avoidance systems are available on the market, but the existing vehicle collision avoidance systems send a warning to remind the driver when a vehicle is too close to an obstacle, and because the reaction time required by different drivers is different, traffic accidents are often caused. And current vehicle collision avoidance system often can only send according to the distance of object around the vehicle and send and remind, only prevent that the vehicle from knocking into the back and when frontal collision occasionally better effect, when other vehicles transversely are close to, collision avoidance system is difficult to in time send and reminds.
Disclosure of Invention
The embodiment of the application provides a vehicle anti-collision method and device, which can give out early warning before a vehicle collision accident occurs.
The vehicle anti-collision method provided by the embodiment of the application comprises the following steps:
calculating a first motion trail of the vehicle, wherein the first motion trail is a trail of the vehicle running according to the current speed and direction in a preset time period;
calculating a second motion trail of the surrounding vehicle, wherein the second motion trail is a trail of the surrounding vehicle running according to the current speed and direction in a preset time period;
calculating a safe distance between the vehicle and the surrounding vehicle, wherein the safe distance is a minimum distance for avoiding possible collision between the vehicle and the surrounding vehicle;
monitoring whether the nearby vehicle has lane change signs;
if yes, determining the lane changing direction of the peripheral vehicle according to the lane changing sign;
correcting the second motion trail according to the lane changing direction to obtain a third motion trail;
judging whether a moment when the distance between the vehicle and the surrounding vehicle is smaller than the safe distance exists in a preset time period, wherein the vehicle moves along the first motion track, and the surrounding vehicle moves along the third motion track;
if yes, outputting a reminding signal.
Preferably, the monitoring whether the nearby vehicle has the lane change sign includes:
monitoring whether the surrounding vehicle runs along a straight line or not according to the surrounding image acquired by the image acquisition device;
and if the peripheral vehicle does not run along the straight line, judging that the peripheral vehicle has the lane change sign.
Preferably, the safe distance is positively correlated with the speed of the vehicle.
Preferably, the method further comprises:
establishing a 3D model system;
acquiring the current speed and the current direction of the vehicle;
adding a motion model of the vehicle into the 3D model system according to the current speed and the current direction of the vehicle;
acquiring the current speed and the current direction of the surrounding vehicle;
adding a motion model of the surrounding vehicle in the 3D model system according to the current speed and the current direction of the surrounding vehicle;
the calculating the first motion trajectory of the own vehicle includes:
calculating a first motion track of the vehicle according to the motion model of the vehicle;
the calculating the second motion trajectory of the nearby vehicle includes:
and calculating a second motion trail of the surrounding vehicle according to the motion model of the vehicle.
Preferably, after the determining of the lane change direction of the nearby vehicle according to the lane change sign, the method further includes:
and correcting the motion model of the peripheral vehicle according to the lane changing direction of the peripheral vehicle.
Preferably, the monitoring whether the nearby vehicle has the lane change sign includes:
monitoring whether the steering lamps of the surrounding vehicles are on or not according to the motion images of the surrounding vehicles acquired by the image acquisition device;
and if the vehicle is bright, determining that the nearby vehicle has lane change signs.
Preferably, the outputting the alert signal includes:
and outputting voice prompts by using the vehicle-mounted sound box.
Preferably, after the outputting the alert signal, the method further comprises:
calculating whether the vehicle collides with the surrounding vehicle within a preset time period, wherein the vehicle moves along the first motion track, and the surrounding vehicle moves along the third motion track;
if collision occurs, an emergency treatment action is executed.
Preferably, the executing the emergency treatment action includes:
and decelerating or braking the vehicle.
Preferably, the executing the emergency treatment action includes:
calculating whether the vehicle can avoid collision after being decelerated or braked;
if the collision can be avoided, the vehicle is decelerated or braked;
if the collision can not be avoided, detecting whether the vehicle has an evasive space along the lane changing direction of the surrounding vehicle;
and if so, controlling the vehicle to move towards the sheltering space so as to avoid collision.
The embodiment of the present application further provides a vehicle buffer stop, include:
the first calculation unit is used for calculating a first motion trail of the vehicle, wherein the first motion trail is a trail of the vehicle running according to the current speed and direction in a preset time period;
the second calculation unit is used for calculating a second motion track of the surrounding vehicle, wherein the second motion track is a track of the surrounding vehicle running according to the current speed and direction in a preset time period;
a third calculation unit configured to calculate a safe distance between the host vehicle and the nearby vehicle, where the safe distance is a minimum distance at which a collision between the host vehicle and the nearby vehicle is likely to occur;
the monitoring unit is used for monitoring whether the peripheral vehicle has lane change signs or not;
a direction determination unit configured to determine a lane change direction of the nearby vehicle according to the lane change sign;
the correction unit is used for correcting the second motion trail according to the lane changing direction to obtain a third motion trail;
the judging unit is used for judging whether a moment when the distance between the vehicle and the peripheral vehicle is smaller than the safety distance exists in a preset time period, wherein the vehicle moves along the first motion track, and the peripheral vehicle moves along the third motion track;
and the reminding unit is used for outputting a reminding signal when the judgment unit judges that the alarm signal is positive.
Preferably, the vehicle collision avoidance device further includes a 3D model unit; the 3D model unit is used for establishing a 3D model system; acquiring the current speed and the current direction of the vehicle; adding a motion model of the vehicle to the 3D model system according to the current speed and direction of the vehicle; acquiring the current speed and the current direction of the surrounding vehicle; adding a motion model of the surrounding vehicle in the 3D model system according to the current speed and the current direction of the surrounding vehicle;
the first computing unit is specifically configured to: calculating a first motion track of the vehicle according to the motion model of the vehicle;
the second computing unit is specifically configured to: and calculating a second motion trail of the surrounding vehicle according to the motion model of the vehicle.
Preferably, the 3D model module is further configured to: and correcting the current direction of the peripheral vehicle according to the lane changing direction of the peripheral vehicle.
Preferably, the detection unit is specifically configured to: monitoring whether the steering lamps of the surrounding vehicles are on or not according to surrounding images acquired by an image acquisition device; and if the vehicle is bright, determining that the nearby vehicle has lane change signs.
Preferably, the vehicle collision avoidance device further includes a fourth calculation unit and an emergency processing unit; the fourth calculating unit is used for calculating whether the vehicle collides with the surrounding vehicle within a preset time period, wherein the vehicle moves along the first motion track, and the surrounding vehicle moves along the third motion track; the emergency processing unit is used for executing emergency processing actions when collision occurs.
Preferably, the emergency processing unit is specifically configured to: and decelerating or braking the vehicle.
Preferably, the emergency processing unit is specifically configured to: calculating whether the vehicle can avoid collision after being decelerated or braked; if the collision can be avoided, the vehicle is decelerated or braked; if the collision can not be avoided, detecting whether the vehicle has an evasive space along the lane changing direction of the surrounding vehicle; and if so, controlling the vehicle to move towards the sheltering space so as to avoid collision.
The embodiment of the present application further provides a vehicle buffer stop, include:
a memory for storing a computer program; a processor for implementing any of the foregoing vehicle collision avoidance methods when executing the computer program in the memory
According to the technical scheme, the embodiment of the application has the following advantages: the vehicle collision avoidance method has the advantages that the motion tracks of other vehicles can be calculated in driving, so that a driver can be reminded to avoid when the other vehicles are close to the vehicle from the side, and the risk of vehicle collision caused by lane change of surrounding vehicles is reduced.
Drawings
FIG. 1 is a schematic flow chart of a vehicle collision avoidance method according to an embodiment of the present application;
FIG. 2 is another schematic flow chart of a vehicle collision avoidance method according to an embodiment of the present application;
FIG. 3 is another schematic flow chart of a vehicle collision avoidance method according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a vehicle impact prevention device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle anti-collision device in an embodiment of the application.
Detailed Description
The embodiment of the application provides a vehicle anti-collision method and device, which can calculate the collision risk of the side face of a vehicle in advance.
At present, an anti-collision system on the market can only remind a driver of paying attention to the front collision risks such as barriers and the like when the driver approaches the automobile or the front part of the automobile, and the side collision accident cannot be pre-warned. According to the vehicle anti-collision method provided by the embodiment of the application, the running tracks of the vehicle and the surrounding vehicles are calculated, so that the risk of side collision during the running of the vehicle is reduced, the risk prompt is sent to a driver in advance, the vehicle can be temporarily controlled to avoid collision when necessary, and the running safety is obviously improved.
Referring to fig. 1, the vehicle collision avoidance method provided by the present application includes:
101. calculating a first motion track of the vehicle;
and acquiring the running parameters of the vehicle per se, and calculating the running track of the vehicle in the next period of time according to the current speed. In this embodiment, the rotation angle of the steering wheel may be detected by a steering wheel rotation angle sensor, the driving direction of the vehicle is determined, the current driving speed of the vehicle is obtained by a vehicle speed sensor, and the vehicle may drive at a certain speed according to the trajectory calculated by the system in the next period of time. It is to be understood that the manner of calculating the first movement locus of the vehicle may not be limited to the above-described embodiment, for example, the traveling locus may be calculated by a high-precision satellite positioning system or other manners, which is not limited herein.
102. Calculating a second motion track of the surrounding vehicle;
and monitoring the running condition of the surrounding vehicles, and calculating the motion tracks of other surrounding vehicles. In this embodiment, a preferable implementation manner is that the vehicle-mounted image recognition system and the speed measuring radar are used to measure the running speed and direction of the surrounding vehicle, and the surrounding vehicle is calculated in real time to run along the calculated track at a certain speed in the next period of time.
103. Calculating a safe distance between the vehicle and the surrounding vehicle;
according to a preset condition, calculating a safe distance between the vehicle and other vehicles, wherein the safe distance is a minimum distance for avoiding possible collision between the vehicle and surrounding vehicles. It will be appreciated that depending on the vehicle speed, the safety distance should be selected to be a greater value when the vehicle speed is faster and a lesser value when the vehicle speed is lower. In addition, the value of the safe distance can be modified according to different road conditions, for example, in a highway, the selected safe distance is larger than the safe distance in a downtown area at the same speed. It is understood that the execution sequence of steps 101, 102 and 103 is not strictly sequential, and may be executed in other sequences or simultaneously.
104. Monitoring whether the peripheral vehicles have lane change signs or not, and if yes, executing a step 105;
and monitoring whether other vehicles around the vehicle have lane change signs or not through various acquisition devices. Specifically, images around the vehicle can be acquired through vehicle-mounted image acquisition equipment, whether the surrounding vehicles run according to straight lines or not is judged, if a certain surrounding vehicle does not run according to straight lines and deviates from an original lane, the vehicle can be determined to have lane change signs. In one possible embodiment, images of surrounding vehicles may be captured by the image capture device, and analyzed for the presence of a turn signal in a vehicle, and if the turn signal is on, it may be determined that there is a lane change sign in the vehicle. It is to be understood that the manner of detecting lane change signs is not limited to the above two embodiments, and in practical applications, the lane change signs of the surrounding vehicles may be monitored by using a combination of the two embodiments or by other means, and the method is not limited herein.
105. Determining a lane change direction of a surrounding vehicle;
after determining that a certain vehicle in the periphery has lane change signs, the lane change direction of the vehicle can be estimated according to the lane change signs. For example, an image of a neighboring vehicle is captured by the image capturing device, and the lane change direction is estimated by performing image analysis and calculation, or the lane change of the vehicle toward the lane where the vehicle is located is directly determined by turning on the turn signal lamp. Or the distance between the vehicle and the vehicle can be detected by a vehicle-mounted distance measuring radar, the lane change direction of the vehicle is presumed, and the vehicle is correspondingly selected according to the lane change sign in the step 104.
106. Correcting the second motion trail according to the lane changing direction to obtain a third motion trail;
if the surrounding vehicle has the lane change intention, the second motion trajectory calculated in step 102 is no longer accurate, and the second motion trajectory should be corrected according to the lane change direction of the vehicle, so that the second motion trajectory makes a certain deviation according to the lane change direction and serves as a third motion trajectory.
107. Judging whether a moment when the distance between the vehicle and the surrounding vehicle is smaller than the safe distance exists, if so, executing step 108;
and judging whether the distance between the two vehicles is smaller than the safe distance at a certain moment if the vehicle runs along the first motion track calculated in the step 101 according to the current speed and the surrounding vehicles run according to the third motion track calculated in the step 106 within a preset certain time, and if the distance between the two vehicles is too small, potential safety hazards exist and are to be avoided as much as possible.
108. And outputting a reminding signal.
If the distance between the vehicle and other vehicles is calculated to be too small in the following driving process, and potential safety hazards exist, reminding information should be output to the driver to remind the driver to pay attention. For example, the voice broadcast can be performed to the driver of the vehicle by vehicle-mounted voice, or corresponding warning characters or images can be displayed on a central control screen of the vehicle. It should be noted that the manner of outputting the warning information may be other manners, and the driver may receive the warning information in time.
In another embodiment of the present application, emergency treatment can be performed on lane change behavior of other vehicles, see fig. 2, which includes
201. Calculating a first motion track of the vehicle;
202. calculating a second motion track of the surrounding vehicle;
203. calculating a safe distance between the vehicle and the surrounding vehicle;
204. monitoring whether the peripheral vehicles have lane change signs, and if yes, executing step 205;
205. determining a lane change direction of a surrounding vehicle;
206. correcting the second motion trail according to the lane changing direction to obtain a third motion trail;
207. judging whether a moment when the distance between the vehicle and the surrounding vehicle is smaller than the safe distance exists, if so, executing a step 208;
208. outputting a reminding signal;
wherein steps 201 to 208 are similar to steps 201 to 208 of the embodiment of fig. 1, and are not described herein again.
209. Judging whether the vehicle collides with the surrounding vehicles, if so, executing step 210;
after determining that the distance is less than the safe distance, a warning signal has been output in step 208 to alert the driver to maintain the safe distance. But if the driver does not respond in time, there is still a possibility of a vehicle collision. Therefore, a further determination can be made that if the vehicle is traveling according to the calculated first movement and the surrounding vehicles are traveling according to the calculated third movement trajectory, both are not only less than the safe distance but also directly collide within a certain predetermined time.
210. An emergency processing action is performed.
If the fact that the vehicle collides with the vehicles changing lanes around is calculated, emergency treatment can be further carried out on the vehicle, and the calculated accident is avoided. For example, the own vehicle may be directly decelerated or braked to avoid a nearby vehicle that changes lanes.
Another embodiment of the present application provides further improvement to execute the emergency action, and improves the safety, please refer to fig. 3, and the embodiment includes:
301. calculating a first motion track of the vehicle;
302. calculating a second motion track of the surrounding vehicle;
303. calculating a safe distance between the vehicle and the surrounding vehicle;
304. monitoring whether the peripheral vehicles have lane change signs, and if yes, executing step 205;
305. determining a lane change direction of a surrounding vehicle;
306. correcting the second motion trail according to the lane changing direction to obtain a third motion trail;
307. judging whether a moment when the distance between the vehicle and the surrounding vehicle is smaller than the safe distance exists, if so, executing a step 208;
308. outputting a reminding signal;
steps 301 to 308 in the embodiment of the present application are similar to steps 101 to 108 in the embodiment corresponding to fig. 2, and are not described again here.
309. Judging whether the vehicle collides with the surrounding vehicles, if so, executing step 210;
similar to step 209 of the embodiment shown in fig. 2, but with the difference that if it is calculated that the own vehicle will collide with the nearby vehicle, step 310 is executed;
310. judging whether the vehicle can avoid collision after being decelerated or braked, if so, executing step 311, otherwise, executing step 312;
if the vehicle decelerates or brakes, it is possible to avoid collision with the nearby vehicle that makes the lane change. Calculating whether the collision can be avoided after the vehicle decelerates or brakes, if yes, executing step 311, and if the situation is critical, neither deceleration nor braking can avoid the collision with the surrounding vehicles, executing step 312311, and performing deceleration or braking processing on the vehicle;
according to the calculation result of step 310, if the deceleration or braking can avoid the collision with the surrounding vehicle, the deceleration or braking process of the vehicle is performed accordingly.
312. Detecting whether the vehicle has a shelterable space along the lane changing direction of the peripheral vehicle, and if so, executing step 313;
if the collision caused by sudden lane change of the peripheral vehicles cannot be avoided by deceleration or braking, the lane change or the transverse movement of the vehicle can be tried to be carried out, so that a space is vacated for the lane-changed peripheral vehicles, and the collision is avoided. However, if the lane change or the lateral movement is suddenly performed in the traveling vehicle, there is a possibility that the vehicle collides with a third-party vehicle, and a more serious traffic accident occurs. In order to avoid this, it may be detected whether an avoidance space exists on the opposite side of the host vehicle from the lane change vehicle, so that the host vehicle does not collide with the calculated trajectory of another vehicle after traversing the avoidance space.
313. And controlling the vehicle to move to the shelterable space.
The vehicle is controlled to move towards the sheltering space, so that collision with the lane-changing vehicle can be prevented, and the possibility of collision with other vehicles due to the avoidance of the lane-changing vehicle is avoided.
The embodiment of the present application further provides a corresponding vehicle anti-collision device, please refer to fig. 4, the device includes:
a first calculation unit 401, configured to calculate a first motion trajectory of the vehicle, where the first motion trajectory is a trajectory of the vehicle traveling according to a current speed and a current direction within a preset time period;
a second calculation unit 402 configured to calculate a second motion trajectory of the nearby vehicle, where the second motion trajectory is a trajectory in which the nearby vehicle travels in the current speed and direction within a preset time period;
a third calculation unit 403, configured to calculate a safe distance between the host vehicle and the nearby vehicle, where the safe distance is a minimum distance at which a collision between the host vehicle and the nearby vehicle may occur;
a monitoring unit 404, configured to monitor whether there is a lane change sign in a nearby vehicle;
a direction determination unit 405 for determining a lane change direction of the nearby vehicle according to the lane change sign;
a correcting unit 406, configured to correct the second motion trajectory according to the lane change direction to obtain a third motion trajectory;
a determining unit 407, configured to determine whether there is a moment when a distance between the vehicle and a neighboring vehicle is smaller than a safe distance in a preset time period, where the vehicle moves along a first motion trajectory and the neighboring vehicle moves along a third motion trajectory;
and the reminding unit 408 is used for outputting a reminding signal when the judgment unit judges that the judgment unit is yes.
Preferably, the vehicle collision avoidance device further includes a 3D model unit; the 3D model unit is to: establishing a 3D model system; acquiring the current speed and the current direction of the vehicle; adding a motion model of the vehicle into the 3D model system according to the current speed and direction of the vehicle; acquiring the current speed and the current direction of the surrounding vehicle; adding a motion model of the surrounding vehicle in the 3D model system according to the current speed and the current direction of the surrounding vehicle; the first computing unit is specifically configured to: calculating a first motion track of the vehicle according to the motion model of the vehicle; the second computing unit is specifically configured to: and calculating a second motion trail of the surrounding vehicle according to the motion model of the surrounding vehicle.
Preferably, the 3D model unit is further configured to: and correcting the motion model of the peripheral vehicle according to the lane change direction of the peripheral vehicle.
Preferably, the monitoring unit is specifically configured to: monitoring whether a steering lamp of a surrounding vehicle is turned on or not according to a surrounding image acquired by an image acquisition device; the vehicle collision avoidance device further includes a lane change determination unit 410 for determining that the nearby vehicle has a sign of lane change when the nearby vehicle turn lamp is turned on.
Preferably, the vehicle collision avoidance device further includes a fourth calculation unit 411 and an emergency processing unit 412; the fourth calculating unit is used for calculating whether the vehicle collides with the surrounding vehicle within a preset time period, wherein the vehicle moves along the first motion trail, and the surrounding vehicle moves along the third motion trail; the emergency processing unit 412 is configured to perform an emergency processing action in the event of a crash.
Preferably, the emergency processing unit is specifically configured to: and decelerating or braking the vehicle.
Preferably, the emergency processing unit is specifically configured to: calculating whether the vehicle can avoid collision after being decelerated or braked; if the collision can be avoided, the vehicle is decelerated or braked; if the collision can not be avoided, detecting whether the vehicle has an evasive space along the lane changing direction of the peripheral vehicle; if the vehicle exists, the vehicle is controlled to move to the sheltering space so as to avoid collision.
The embodiment of the application also provides another kind of vehicle buffer stop, includes:
a memory 501 for storing a computer program;
a processor 502 for implementing the following steps when executing the computer program stored in the memory 501:
calculating a first motion trail of the vehicle, wherein the first motion trail is a trail of the vehicle running according to the current speed and direction in a preset time period;
calculating a second motion trail of the surrounding vehicle, wherein the second motion trail is a trail of the surrounding vehicle running according to the current speed and direction in a preset time period;
calculating a safe distance between the vehicle and the surrounding vehicle, wherein the safe distance is the minimum distance for avoiding the possible collision between the vehicle and the surrounding vehicle;
monitoring whether the peripheral vehicles have lane change signs or not;
if yes, determining the lane changing direction of the peripheral vehicle according to the lane changing sign;
correcting the second motion trail according to the lane changing direction to obtain a third motion trail;
judging whether a moment when the distance between the vehicle and the surrounding vehicle is smaller than the safety distance exists in a preset time period, wherein the vehicle moves along a first motion track, and the surrounding vehicle moves along a third motion track;
if yes, outputting a reminding signal.
Preferably, when the processor 502 executes the computer program stored in the memory 501, the method further includes:
establishing a 3D model system;
acquiring the current speed and the current direction of the vehicle;
adding a motion model of the vehicle in the 3D model system;
acquiring the current speed and the current direction of the surrounding vehicle;
adding a motion model of the surrounding vehicle in the 3D model system according to the current speed and the current direction of the surrounding vehicle;
calculating the first motion profile of the vehicle includes:
calculating a first motion track of the vehicle according to the motion model of the vehicle;
calculating the second motion trajectory of the nearby vehicle includes:
and calculating a second motion trail of the surrounding vehicle according to the motion model of the vehicle.
Preferably, the processor 502, when executing the computer program stored in the memory 501, further includes, after determining the lane change direction of the nearby vehicle according to the lane change indication:
and correcting the motion model of the peripheral vehicle according to the lane change direction of the peripheral vehicle.
Preferably, the processor 502, when executing the computer program stored in the memory 501, monitors whether the nearby vehicle has a lane change sign, including:
monitoring whether the peripheral vehicles run along a straight line or not according to the motion images of the peripheral vehicles acquired by the image acquisition device;
and if the peripheral vehicle does not run along the straight line, judging that the peripheral vehicle has the lane change sign.
Preferably, the processor 502 executes the calculator program stored in the memory 501, and the safe distance is positively correlated with the speed of the vehicle.
Preferably, the processor 502, when executing the computer program stored in the memory 501, monitoring whether the nearby vehicle has the lane change sign includes:
monitoring whether a steering lamp of the surrounding vehicle is on or not according to the motion image of the surrounding vehicle acquired by the image acquisition device;
and if the light-up state exists, determining that the lane change sign exists in the surrounding vehicle.
Preferably, when the processor 502 executes the calculator program stored in the memory 501, the outputting the alert signal includes:
and outputting voice prompts by using the vehicle-mounted sound box.
Preferably, when the processor 502 executes the calculator program stored in the memory 501, after outputting the alert signal, the method further includes:
calculating whether the vehicle collides with a peripheral vehicle within a preset time period, wherein the vehicle moves along a first motion trail, and the peripheral vehicle moves along a third motion trail;
if collision occurs, an emergency treatment action is executed.
Preferably, the processor 502 executes the emergency processing actions when executing the computer program stored in the memory 501, including: and decelerating or braking the vehicle.
Preferably, the processor 502 executes the emergency processing actions when executing the computer program stored in the memory 501, including:
calculating whether the vehicle can avoid collision after being decelerated or braked;
if the collision can be avoided, the vehicle is decelerated or braked;
if the collision can not be avoided, detecting whether the vehicle has an evasive space along the lane changing direction of the peripheral vehicle;
if the vehicle exists, the vehicle is controlled to move to the sheltering space so as to avoid collision.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various other media capable of storing program codes.
Claims (9)
1. A method of vehicle collision avoidance, comprising:
calculating a first motion trail of the vehicle, wherein the first motion trail is a trail of the vehicle running according to the current speed and direction in a preset time period;
calculating a second motion trail of the surrounding vehicle, wherein the second motion trail is a trail of the surrounding vehicle running according to the current speed and direction in a preset time period; the motion trail of the vehicle is calculated according to a motion model of the vehicle, and the motion model of the vehicle is established in a 3D model system according to the current speed and the current direction of the vehicle;
calculating a safe distance between the vehicle and the surrounding vehicle, wherein the safe distance is a minimum distance for avoiding possible collision between the vehicle and the surrounding vehicle;
monitoring whether the nearby vehicle has lane change signs; the monitoring whether the nearby vehicle has the lane change sign comprises the following steps: monitoring whether the steering lamps of the surrounding vehicles are on or not according to surrounding images acquired by an image acquisition device; if the vehicle is bright, determining that the peripheral vehicle has lane change signs, and/or judging whether the peripheral vehicle runs in a straight line, and if not, determining that the peripheral vehicle has lane change signs;
if yes, determining the lane changing direction of the peripheral vehicle according to the lane changing sign;
correcting the second motion trail according to the lane changing direction to obtain a third motion trail;
judging whether a moment when the distance between the vehicle and the surrounding vehicle is smaller than the safety distance exists in a preset time period, wherein the vehicle moves along the first motion track, and the surrounding vehicle moves along the third motion track;
if yes, outputting a reminding signal.
2. The vehicle collision avoidance method of claim 1, further comprising:
establishing a 3D model system;
acquiring the current speed and the current direction of the vehicle;
adding a motion model of the vehicle in the 3D model system;
acquiring the current speed and the current direction of the surrounding vehicle;
adding a motion model of the surrounding vehicle in the 3D model system according to the current speed and the current direction of the surrounding vehicle;
the calculating the first motion trajectory of the own vehicle includes:
calculating a first motion track of the vehicle according to the motion model of the vehicle;
the calculating the second motion trajectory of the nearby vehicle includes:
and calculating a second motion trail of the surrounding vehicle according to the motion model of the vehicle.
3. The vehicle collision avoidance method according to claim 2, characterized in that, after the determining of the lane change direction of the nearby vehicle from the lane change sign, the method further comprises:
and correcting the motion model of the peripheral vehicle according to the lane changing direction of the peripheral vehicle.
4. The vehicle collision avoidance method according to claim 1 or 2, characterized in that the safe distance is positively correlated with the speed of the own vehicle.
5. The vehicle collision avoidance method of claim 4, wherein after the outputting the alert signal, the method further comprises:
calculating whether the vehicle collides with the surrounding vehicle within a preset time period, wherein the vehicle moves along the first motion track, and the surrounding vehicle moves along the third motion track;
if collision occurs, an emergency treatment action is executed.
6. The vehicle collision avoidance method of claim 5, wherein the performing an emergency treatment action comprises:
and decelerating or braking the vehicle.
7. The vehicle collision avoidance method of claim 6, wherein the performing an emergency treatment action comprises:
calculating whether the vehicle can avoid collision after being decelerated or braked;
if the collision can be avoided, the vehicle is decelerated or braked;
if the collision can not be avoided, detecting whether the vehicle has an evasive space along the lane changing direction of the surrounding vehicle;
and if so, controlling the vehicle to move towards the sheltering space so as to avoid collision.
8. A vehicle bump guard, comprising:
the first calculation unit is used for calculating a first motion trail of the vehicle, wherein the first motion trail is a trail of the vehicle running according to the current speed and direction in a preset time period;
the second calculation unit is used for calculating a second motion track of the surrounding vehicle, wherein the second motion track is a track of the surrounding vehicle running according to the current speed and direction in a preset time period; the motion trail of the vehicle is calculated according to a motion model of the vehicle, and the motion model of the vehicle is established in a 3D model system according to the current speed and the current direction of the vehicle;
a third calculation unit configured to calculate a safe distance between the host vehicle and the nearby vehicle, where the safe distance is a minimum distance at which a collision between the host vehicle and the nearby vehicle is likely to occur;
the monitoring unit is used for monitoring whether the peripheral vehicle has lane change signs or not; the monitoring whether the nearby vehicle has the lane change sign comprises the following steps: monitoring whether the steering lamps of the surrounding vehicles are on or not according to surrounding images acquired by an image acquisition device; if the vehicle is bright, determining that the peripheral vehicle has lane change signs, and/or judging whether the peripheral vehicle runs in a straight line, and if not, determining that the peripheral vehicle has lane change signs;
a direction determination unit configured to determine a lane change direction of the nearby vehicle according to the lane change sign;
the correction unit is used for correcting the second motion trail according to the lane changing direction to obtain a third motion trail;
the judging unit is used for judging whether a moment when the distance between the vehicle and the peripheral vehicle is smaller than the safety distance exists in a preset time period, wherein the vehicle moves along the first motion track, and the peripheral vehicle moves along the third motion track;
and the reminding unit is used for outputting a reminding signal when the judgment unit judges that the alarm signal is positive.
9. A vehicle bump guard, comprising:
a memory for storing a computer program; a processor for implementing the method of any one of claims 1 to 7 when executing the computer program in the memory.
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| CN114684128A (en) * | 2020-12-29 | 2022-07-01 | 观致汽车有限公司 | Lane change warning method, lane change warning device, vehicle, and storage medium |
| CN114267171A (en) * | 2021-11-08 | 2022-04-01 | 南宁小欧技术开发有限公司 | Vehicle control method and system based on vehicle track prediction |
| CN114475601A (en) * | 2022-03-10 | 2022-05-13 | 深圳市镭神智能系统有限公司 | Vehicle control method and device, vehicle and storage medium |
| CN115359683A (en) * | 2022-08-22 | 2022-11-18 | 合肥湛达智能科技有限公司 | Vehicle track detection method based on deep learning |
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