CN111210661A - Intersection vehicle anti-collision method and device - Google Patents
Intersection vehicle anti-collision method and device Download PDFInfo
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Abstract
The application provides a method and a device for preventing collision of vehicles at a crossroad, wherein the method for preventing collision of the vehicles at the crossroad comprises the following steps: acquiring first time from a target vehicle to an intersection point of an intersection, second time from a current vehicle to the intersection point of the intersection and a driving distance from the current vehicle to the intersection point of the intersection; judging whether the difference value between the first time and the second time is less than or equal to preset safe collision time or not; if so, calculating the braking distance of the current vehicle; and outputting a control command of the current vehicle according to the braking distance and the driving distance. According to the method and the device for preventing the collision of the vehicles at the intersection, through the vehicle-mounted wireless communication technology, when the current vehicle and the target vehicle possibly collide at the intersection, the control command of the current vehicle is output according to the braking distance of the current vehicle and the driving distance from the current vehicle to the intersection, so that the current vehicle and the target vehicle are prevented from colliding, and the collision risk of the vehicles at the intersection is effectively reduced.
Description
Technical Field
The application relates to the technical field of vehicle anti-collision, in particular to a method and a device for preventing vehicle collision at a crossroad.
Background
The intersection is a plane intersection, i.e. a part where two or more roads intersect on the same plane. The crossroad is the place where traffic accidents happen frequently due to factors such as criss-cross of roads, numerous vehicles and pedestrians and the like.
At present, at an intersection, there are two main ways to prevent a vehicle from colliding: detecting surrounding vehicles and other obstacles through sensor equipment of the vehicles, wherein the sensor equipment of the vehicles comprises radars, cameras, infrared night-vision devices and the like, and further determining whether the vehicles have collision risks; setting a notification device and a collision danger reminding mark at the intersection, such as: signboards, voice broadcasters, etc., to announce and alert vehicles about entering the intersection. However, the sensing range of the sensor device in the first mode is limited, and different sensor devices may be influenced by building shielding, tree shielding, weather and the like, so that the sensing accuracy and range are limited; the second mode is a passive mode, and if the attention of the driver is not concentrated or the sight is blocked, the risk of vehicle collision cannot be effectively reduced without seeing the collision danger reminding mark or hearing the voice prompt.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for preventing vehicle collision at an intersection, which output a control command of a current vehicle according to a braking distance of the current vehicle and a driving distance from the current vehicle to the intersection when the current vehicle and a target vehicle may collide at the intersection through a vehicle-mounted wireless communication technology, so as to prevent the current vehicle from colliding with the target vehicle, and effectively reduce a risk of collision of the vehicle at the intersection.
In a first aspect, an embodiment of the present application provides a method for preventing collision of vehicles at an intersection, including:
acquiring first time from a target vehicle to an intersection point of an intersection, second time from a current vehicle to the intersection point of the intersection and a driving distance from the current vehicle to the intersection point of the intersection;
judging whether the difference value between the first time and the second time is less than or equal to preset safe collision time or not;
if so, calculating the braking distance of the current vehicle;
and outputting a control command of the current vehicle according to the braking distance and the driving distance.
In the implementation process, the intersection vehicle anti-collision method of the embodiment of the application adopts the vehicle wireless communication technology, when the difference value between the first time when the target vehicle arrives at the intersection and the second time when the current vehicle arrives at the intersection is less than or equal to the preset safe collision time, namely, the current vehicle and the target vehicle are likely to collide at the intersection point of the intersection, the braking distance of the current vehicle is calculated, outputting a control instruction of the current vehicle according to the braking distance of the current vehicle and the running distance from the current vehicle to an intersection of the intersection to prevent the current vehicle from colliding with the target vehicle, compared with the prior art, the intersection vehicle anti-collision method is high in applicability, is not easily influenced by factors such as building shielding, tree shielding and weather, and can effectively reduce the risk of intersection vehicle collision.
Further, the calculation formula of the braking distance of the current vehicle is as follows:
Dbr＝Vh×(T+t1)+Vh 2/2as
wherein D isbrIs the braking distance, V, of the current vehiclehThe current driving speed of the vehicle, T is the reaction time required by a driver to press the brake, T1For brake coordination of time, asBraking a safe acceleration for the current vehicle.
In the implementation process, the calculation formula of the current vehicle braking distance combines the reaction time required by a driver to press the brake and the braking coordination time required by the braking device to act, so that the calculated current vehicle braking distance is more accurate, and the control instruction of the current vehicle is output more accurately according to the braking distance and the driving distance, thereby better preventing the current vehicle from colliding with the target vehicle.
Further, the outputting a control command of the current vehicle according to the braking distance and the driving distance includes:
judging whether the braking distance is smaller than the driving distance;
if so, outputting a prompt control command to a prompt device of the current vehicle so as to enable the prompt device of the current vehicle to output brake prompt information;
if not, outputting a braking control command to a braking device of the current vehicle so as to automatically brake the current vehicle.
In the implementation process, when the braking distance is less than the driving distance, namely a certain collision danger exists between the current vehicle and the target vehicle at an intersection point of the intersection, a prompt control command is output to a prompt device of the current vehicle, so that the prompt device of the current vehicle outputs brake prompt information to prompt a driver driving the vehicle to brake so as to prevent the vehicle from colliding with the target vehicle; when the braking distance is not less than the driving distance, namely the current vehicle and the target vehicle have emergency collision danger at the intersection of the intersection, a braking control command is output to a braking device of the current vehicle, so that the current vehicle is automatically braked, the current vehicle is stopped as soon as possible, and the current vehicle and the target vehicle are prevented from colliding more quickly and effectively.
Further, the prompting device of the current vehicle comprises an on-vehicle display device and/or a voice device of the current vehicle,
the output suggestion control command is to the suggestion device of current vehicle to the suggestion device output brake suggestion information of current vehicle includes:
outputting a prompt control command to a vehicle-mounted display device of the current vehicle so as to enable the vehicle-mounted display device of the current vehicle to display brake prompt information;
and/or outputting a prompt control command to the voice device of the current vehicle so that the voice device of the current vehicle plays the brake prompt message.
In the implementation process, the method outputs the prompt control command to the prompt device of the current vehicle, so that the specific mode that the prompt device of the current vehicle outputs the brake prompt information can simply, directly and effectively prompt a driver to brake, and the aim of preventing the driver from colliding with the target vehicle is fulfilled.
Further, after the outputting of the braking control command to the braking device of the current vehicle to automatically brake the current vehicle, the method further includes:
and outputting a notification control command to a prompting device of the current vehicle so that the prompting device of the current vehicle outputs automatic brake notification information.
In the implementation process, after the current vehicle is automatically braked, the method can output a notification control command to the prompting device of the current vehicle, so that the prompting device of the current vehicle outputs automatic brake notification information to inform a driver that the current vehicle is emergently automatically braked, and the driver can know and feel the information.
Further, the prompting device of the current vehicle comprises an on-vehicle display device and/or a voice device of the current vehicle,
the outputting of the notification control command to the prompting device of the current vehicle to enable the prompting device of the current vehicle to output the automatic braking notification information includes:
outputting a notification control command to a vehicle-mounted display device of the current vehicle so as to enable the vehicle-mounted display device of the current vehicle to display automatic braking notification information;
and/or outputting a notification control command to the voice device of the current vehicle so that the voice device of the current vehicle plays the automatic braking notification information.
In the implementation process, the method outputs the notification control instruction to the prompting device of the current vehicle, so that the specific mode that the prompting device of the current vehicle outputs the automatic brake notification information can simply, directly and effectively inform a driver that the current vehicle is subjected to emergency automatic braking, and the aim of enabling the driver to know and feel at ease is fulfilled.
Further, before the obtaining the first time from the target vehicle to the intersection, the second time from the current vehicle to the intersection, and the driving distance from the current vehicle to the intersection, the method further includes:
acquiring driving information of at least one group of remote vehicles;
calculating the difference value of the direction angle between the current vehicle and each remote vehicle according to the running information of each remote vehicle and the running information of the current vehicle;
and determining a target vehicle which has collision danger with the current vehicle from the remote vehicles according to the difference value of the direction angle between the current vehicle and each remote vehicle and the running speed of each remote vehicle.
In the implementation process, the method firstly screens the remote vehicles, and screens and determines the target vehicle which has collision danger with the current vehicle from the remote vehicles according to the difference value of the direction angle between the current vehicle and each remote vehicle and the running speed of each remote vehicle so as to eliminate the interference of other remote vehicles, reduce the calculation data amount of the method, improve the calculation efficiency, reduce the time delay of judging the collision, and further better prevent the vehicle from colliding.
In a second aspect, an embodiment of the present application provides an intersection vehicle collision prevention device, including:
the acquisition module is used for acquiring first time from a target vehicle to an intersection point of the intersection, second time from a current vehicle to the intersection point of the intersection and driving distance from the current vehicle to the intersection point of the intersection;
the judging module is used for judging whether the difference value between the first time and the second time is less than or equal to preset safe collision time or not;
the calculating module is used for calculating the braking distance of the current vehicle when the difference value between the first time and the second time is less than or equal to the preset safe collision time;
and the output module is used for outputting a control command of the current vehicle according to the braking distance and the driving distance.
In the implementation process, the intersection vehicle anti-collision device of the embodiment of the application adopts the vehicle wireless communication technology, when the difference value between the first time when the target vehicle arrives at the intersection and the second time when the current vehicle arrives at the intersection is less than or equal to the preset safe collision time, namely, the current vehicle and the target vehicle are likely to collide at the intersection point of the intersection, the braking distance of the current vehicle is calculated, outputting a control instruction of the current vehicle according to the braking distance of the current vehicle and the running distance from the current vehicle to an intersection of the intersection to prevent the current vehicle from colliding with the target vehicle, compared with the prior art, the intersection vehicle anti-collision device is high in applicability, not prone to being influenced by factors such as building shielding, tree shielding and weather, and capable of effectively reducing the risk of intersection vehicle collision.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the above-mentioned intersection vehicle collision avoidance method.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program used in the electronic device described above.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a basic flowchart of a vehicle collision avoidance method at an intersection according to an embodiment of the present disclosure;
fig. 2 is a schematic view of a cross-driving scene of a vehicle according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a vehicle collision avoidance method at an intersection according to an embodiment of the present application;
fig. 4 is a flowchart of a method for preventing collision of vehicles at an intersection according to an embodiment of the present application;
fig. 5 is a first structural schematic diagram of a vehicle collision avoidance apparatus at an intersection according to a second embodiment of the present application;
fig. 6 is a second structural schematic diagram of the intersection vehicle collision avoidance device according to the second embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
At present, at an intersection, a sensor device of a vehicle is used for detecting surrounding vehicles and other obstacles to determine whether the vehicle has a collision risk mode, the sensing range of the sensor device is limited, and different sensor devices are possibly influenced by building sheltering, tree sheltering, weather and the like, so that the sensing accuracy and range are limited; the mode of setting up the notice device, the dangerous sign of collision to carry out notice and warning to the vehicle that will get into the intersection is a passive mode, if the driver's attention is not concentrated or the sight is obstructed, does not see the dangerous sign of collision or hear voice prompt, still can not effectively reduce the risk of vehicle collision.
In view of the above problems in the prior art, the present application provides a method and an apparatus for preventing vehicle collision at an intersection, which output a control command of a current vehicle according to a braking distance of the current vehicle and a driving distance from the current vehicle to an intersection when the current vehicle and a target vehicle may collide at the intersection through a vehicular wireless communication technology, so as to prevent the current vehicle from colliding with the target vehicle, and effectively reduce a risk of collision of the vehicle at the intersection.
Example one
Referring to fig. 1, fig. 1 is a basic flowchart of a vehicle collision avoidance method at an intersection according to an embodiment of the present disclosure. An execution subject that executes the intersection vehicle collision avoidance method described below in the embodiment of the present application may be an in-vehicle control apparatus.
The intersection vehicle anti-collision method comprises the following steps:
step S140, a first time when the target vehicle reaches the intersection of the intersection, a second time when the current vehicle reaches the intersection of the intersection and a driving distance between the current vehicle and the intersection are obtained.
In the present embodiment, the intersections include intersections, roundabout intersections, highway entrances, and the like. The intersection junction is the intersection position of the current vehicle and the target vehicle at the intersection.
The target vehicle may be predetermined, it being understood that the target vehicle, i.e., the vehicle that may collide with the current vehicle at the intersection.
In this embodiment, the first time from the target vehicle to the intersection, the second time from the current vehicle to the intersection, and the driving distance from the current vehicle to the intersection may be calculated according to the driving information of the target vehicle and the driving information of the current vehicle, where the driving information of the target vehicle may be obtained through the vehicular wireless communication technology, and the driving information of the current vehicle may be obtained through detection by the sensor device and the like.
Step S150, determining whether the difference between the first time and the second time is less than or equal to a preset safe collision time.
If the difference between the first time and the second time is less than or equal to the preset safe collision time, executing step S160; and if the difference value between the first time and the second time is greater than the preset safe collision time, ending the process.
In the present embodiment, the safe collision time is the time when the current vehicle collides with another vehicle safely, that is, the time when the current vehicle collides with the target vehicle safely.
The difference value between the first time and the second time is less than or equal to the preset safe collision time, which indicates that the current vehicle and the target vehicle have collision risks; and the difference value between the first time and the second time is greater than the preset safe collision time, which indicates that the current vehicle and the target vehicle have no collision risk.
And step S160, calculating the braking distance of the current vehicle.
In the present embodiment, the braking distance of the current vehicle, i.e., the traveling distance of the current vehicle in the braking situation.
The braking distance of the current vehicle can be calculated according to the running speed of the current vehicle and the safe acceleration of the current vehicle, wherein the safe acceleration of the current vehicle is a negative value.
And step S170, outputting a control command of the current vehicle according to the braking distance and the driving distance.
In this embodiment, the control command of the current vehicle is output according to the braking distance and the driving distance, and the control command of the current vehicle may be output according to the braking distance and the driving distance, so as to prevent the current vehicle from colliding with the target vehicle.
The intersection vehicle anti-collision method provided by the embodiment of the application is characterized in that through a vehicle wireless communication technology, when the difference value between the first time when a target vehicle arrives at an intersection and the second time when a current vehicle arrives at the intersection is smaller than or equal to the preset safe collision time, namely the current vehicle and the target vehicle possibly collide at the intersection, the braking distance of the current vehicle is calculated, and according to the braking distance of the current vehicle and the driving distance between the current vehicle and the intersection, the control instruction of the current vehicle is output to prevent the current vehicle from colliding with the target vehicle.
Referring to fig. 2, fig. 2 is a schematic view of a cross-driving scene of a vehicle according to an embodiment of the present application. The vehicle indicated by HV in fig. 2 is the current vehicle, and the vehicle indicated by RV is the remote vehicle.
In general, there are many remote vehicles traveling at an intersection, but not all of them are at risk of colliding with the current vehicle, for example, a remote vehicle in a stationary state, a remote vehicle traveling in an opposite direction and on a different travel road, and so on. With reference to fig. 3, fig. 3 is a flowchart illustrating a method for preventing collision of vehicles at an intersection according to an embodiment of the present application, where in order to eliminate interference of such remote vehicles, a possible implementation manner is provided in an embodiment of the present application, and in step S140, before obtaining a first time from a target vehicle to an intersection, a second time from a current vehicle to the intersection, and a driving distance from the current vehicle to the intersection, the method further includes:
step S110, acquiring running information of at least one group of remote vehicles;
step S120, calculating the difference value of the direction angle between the current vehicle and each remote vehicle according to the running information of each remote vehicle and the running information of the current vehicle;
and step S130, determining a target vehicle which has collision danger with the current vehicle from the remote vehicles according to the difference value of the direction angle between the current vehicle and each remote vehicle and the running speed of each remote vehicle.
In this embodiment, when the remote vehicle at the intersection is one, the travel information of the remote vehicle is one set; when the number of remote vehicles at the intersection is multiple, the running information of the remote vehicles is multiple groups.
The travel information of the remote vehicle may include information such as a travel speed, a longitude, a latitude, a travel direction angle, a time to an intersection, etc. of the remote vehicle. The travel information of the remote vehicle may further include information of a vehicle ID, a vehicle type, and the like of the remote vehicle. Among them, information such as a vehicle ID, a vehicle type, etc. can be used to specify the target vehicle.
The running information of the remote vehicle is acquired by the vehicle wireless communication technology, namely the running information is acquired by the remote vehicle periodically broadcasting to the surrounding vehicles.
The running information of the current vehicle CAN be obtained through detection of a GPS positioning module, a vehicle CAN signal and other sensor equipment.
The difference value of the direction angles of the current vehicle and each remote vehicle, namely the difference value of the direction angle of the current vehicle and each remote vehicle is recorded as theta2。
When a target vehicle which is at risk of collision with the current vehicle is determined from the remote vehicles, the determination may be made at 10 °<θ2<170 or 190 degree<θ2<350 DEG, and the remote vehicle with the running speed of more than 0 is the target vehicle, wherein, 10 DEG<θ2<170 deg., the remote vehicle is a vehicle which is positioned on the left side of the current vehicle and runs in a cross mode; 190 °<θ2<350 deg., the remote vehicle is a cross-traveling vehicle located on the right side of the current vehicle.
For an example, the foregoing may refer to fig. 4, and fig. 4 is a flowchart of a method for preventing collision of vehicles at an intersection according to an embodiment of the present application.
In this embodiment, V ishIndicating the current running speed of the vehicle, VrIndicating the travel speed of the remote vehicle, HhIndicating the current vehicle heading angle, HrIndicating the heading angle, H, of the remote vehiclehrIndicating the azimuth of the current vehicle to the remote vehicle, JhIndicates the current longitude, J, of the vehiclerIndicates the longitude, W, of the remote vehiclehIndicates the current vehicle latitude, WrIndicating the latitude of the remote vehicle, R the radius of the earth, DhrRepresenting the distance between the current vehicle and the remote vehicle, DhiIndicating the distance traveled by the current vehicle to the intersection, DriIndicating the distance traveled, T, by a remote vehicle to an intersection point at an intersectionhiIndicating the time, T, of the current vehicle to the intersection pointriIndicating the time, T, of the remote vehicle to the intersectionsIndicating the intersection of the current vehicle to the intersectionSafe time to collision of the time difference from the time the remote vehicle reaches the intersection of the intersection.
Wherein the azimuth angle H from the current vehicle to the remote vehiclehrThe calculation formula of (a) is as follows:
calculating theta1、θ2、θ3，θ1、θ2、θ3The calculation formula of (a) is as follows:
θ1＝|Hh-Hhr|，θ2＝|Hh-Hr|，θ3＝180°-(θ1+θ2)
distance D between current vehicle and remote vehiclehrThe calculation formula of (a) is as follows:
distance D from current vehicle to intersectionhiDistance D between remote vehicle and intersectionriThe calculation formula of (a) is as follows:
time T from current vehicle to intersectionhiTime T from remote vehicle to intersectionriThe calculation formula of (a) is as follows:
Thi＝Dhi/Vh，Tri＝Dri/Vr
it should be noted that after the target vehicle is determined, the relevant parameters of the remote vehicle, i.e. relevant parameters of the target vehicle, such as TriI.e., the first time the subject vehicle reaches the intersection.
In the process, the method screens the remote vehicles, and screens and determines the target vehicle which has collision danger with the current vehicle from the remote vehicles according to the difference value of the direction angle between the current vehicle and each remote vehicle and the running speed of each remote vehicle so as to eliminate the interference of other remote vehicles, reduce the calculated data amount of the method, improve the calculation efficiency, reduce the time delay of judging the collision, and further better prevent the vehicle from colliding.
In the present embodiment, the calculation formula of the braking distance of the current vehicle is as follows:
Dbr＝Vh×(T+t1)+Vh 2/2as
wherein D isbrFor the current braking distance of the vehicle, VhFor the current driving speed of the vehicle, T is the reaction time required by the driver to press the brake, T1For brake coordination of time, asA safe acceleration is braked for the current vehicle.
The calculation formula of the current vehicle braking distance combines the reaction time required by a driver to step on the brake and the braking coordination time required by the braking device to act, so that the calculated current vehicle braking distance is more accurate, and the control instruction of the current vehicle is output more accurately according to the braking distance and the driving distance, thereby better preventing the current vehicle from colliding with the target vehicle.
In order to better prevent a collision between a current vehicle and a target vehicle, an embodiment of the present application provides a possible implementation manner, and the method for preventing collision between vehicles at an intersection according to the embodiment of the present application, in which step S170, a control command of the current vehicle is output according to the braking distance and the driving distance, including:
judging whether the braking distance of the current vehicle is less than the driving distance from the current vehicle to an intersection point of the intersection;
if so, outputting a prompt control command to a prompt device of the current vehicle so as to enable the prompt device of the current vehicle to output brake prompt information;
if not, outputting a braking control command to a braking device of the current vehicle so as to automatically brake the current vehicle.
When the braking distance is less than the driving distance, namely a certain collision danger exists between the current vehicle and the target vehicle at the intersection point of the intersection, outputting a prompt control command to a prompt device of the current vehicle, so that the prompt device of the current vehicle outputs braking prompt information to prompt a driver to brake so as to prevent collision with the target vehicle; when the braking distance is not less than the driving distance, namely the current vehicle and the target vehicle have emergency collision danger at the intersection of the intersection, a braking control command is output to a braking device of the current vehicle, so that the current vehicle is automatically braked, the current vehicle is stopped as soon as possible, and the current vehicle and the target vehicle are prevented from colliding more quickly and effectively.
Specifically, the prompting device of the current vehicle comprises an on-board display device and/or a voice device of the current vehicle,
the above-mentioned suggestion control command of output suggestion device to current vehicle to make the suggestion device of current vehicle output brake suggestion information, include:
outputting a prompt control command to a vehicle-mounted display device of the current vehicle so as to enable the vehicle-mounted display device of the current vehicle to display brake prompt information;
and/or outputting a prompt control command to the voice device of the current vehicle so that the voice device of the current vehicle plays the brake prompt message.
The method outputs the prompt control command to the prompt device of the current vehicle, so that the specific mode of the prompt device of the current vehicle outputting the brake prompt information can simply, directly and effectively prompt a driver to brake, and the aim of preventing the driver from colliding with the target vehicle is fulfilled.
In this embodiment, after outputting a braking control command to a braking device of the current vehicle to automatically brake the current vehicle, the intersection vehicle collision avoidance method according to the embodiment of the present application further includes:
and outputting a notification control command to a prompting device of the current vehicle so that the prompting device of the current vehicle outputs automatic brake notification information.
The method can output a notification control command to a prompting device of the current vehicle after the current vehicle automatically brakes so that the prompting device of the current vehicle outputs automatic braking notification information to inform a driver that the current vehicle emergently automatically brakes so as to make the driver know and feel peace.
Specifically, outputting a notification control command to a prompting device of the current vehicle to cause the prompting device of the current vehicle to output automatic braking notification information includes:
outputting a notification control command to a vehicle-mounted display device of the current vehicle so as to enable the vehicle-mounted display device of the current vehicle to display automatic braking notification information;
and/or outputting a notification control command to the voice device of the current vehicle so that the voice device of the current vehicle plays the automatic braking notification information.
The method outputs the notification control instruction to the prompting device of the current vehicle, so that the specific mode that the prompting device of the current vehicle outputs the automatic brake notification information can simply, directly and effectively inform a driver that the current vehicle carries out emergency automatic brake, and the purpose of making the driver know and feel safe is achieved.
Example two
In order to implement the corresponding method of the above embodiments to achieve the corresponding functions and technical effects, the following provides an intersection vehicle collision prevention device.
Referring to fig. 5, fig. 5 is a first structural schematic diagram of a vehicle collision avoidance device at an intersection according to an embodiment of the present application.
The intersection vehicle collision device of the embodiment of the application includes:
the obtaining module 240 is configured to obtain a first time when the target vehicle reaches the intersection of the intersection, a second time when the current vehicle reaches the intersection of the intersection, and a driving distance between the current vehicle and the intersection;
a determining module 250, configured to determine whether a difference between the first time and the second time is less than or equal to a preset safe collision time;
the calculating module 260 is configured to calculate a braking distance of the current vehicle when a difference between the first time and the second time is less than or equal to a preset safe collision time;
and the output module 270 is configured to output a control instruction of the current vehicle according to the braking distance and the driving distance.
The intersection vehicle anti-collision device of the embodiment of the application, through the vehicle-mounted wireless communication technology, when the difference value between the first time from the target vehicle to the intersection junction and the second time from the current vehicle to the intersection junction is less than or equal to the preset safe collision time, namely the current vehicle and the target vehicle possibly collide at the intersection junction, the braking distance of the current vehicle is calculated, according to the braking distance of the current vehicle and the driving distance from the current vehicle to the intersection junction, the control instruction of the current vehicle is output, so as to prevent the current vehicle from colliding with the target vehicle, compared with the prior art, the intersection vehicle anti-collision device of the embodiment of the application has strong applicability, is not easily influenced by factors such as building shielding, tree shielding and weather, and can effectively reduce the risk of collision of the intersection vehicle.
Referring to fig. 6, fig. 6 is a second structural schematic diagram of the intersection vehicle collision avoidance device according to the embodiment of the present application.
As an optional implementation manner, the intersection vehicle collision avoidance device according to the embodiment of the present application further includes:
a receiving module 220, configured to obtain driving information of at least one group of remote vehicles;
the determining module 230 is configured to determine, from the remote vehicles, a target vehicle that may have a collision risk with the current vehicle according to a difference between direction angles of the current vehicle and the remote vehicles and a driving speed of the remote vehicles;
the calculating module 260 is further configured to calculate a difference between the direction angle of the current vehicle and the direction angle of each remote vehicle according to the driving information of each remote vehicle and the driving information of the current vehicle.
As an optional implementation manner, the output module 270 may be specifically configured to:
judging whether the braking distance is smaller than the driving distance;
if so, outputting a prompt control command to a prompt device of the current vehicle so as to enable the prompt device of the current vehicle to output brake prompt information;
if not, outputting a braking control command to a braking device of the current vehicle so as to automatically brake the current vehicle.
As an optional implementation manner, the output module 270 may be further specifically configured to:
and outputting a notification control command to a prompting device of the current vehicle so that the prompting device of the current vehicle outputs automatic brake notification information.
The intersection vehicle collision prevention device can implement the intersection vehicle collision prevention method of the first embodiment. The alternatives in the first embodiment are also applicable to the present embodiment, and are not described in detail here.
The rest of the embodiments of the present application may refer to the contents of the first embodiment, and in this embodiment, details are not repeated.
EXAMPLE III
The embodiment of the application provides an electronic device, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic device to execute the intersection vehicle anti-collision method.
Alternatively, the electronic device may be an in-vehicle control device.
In addition, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program used in the electronic device.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules 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 or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including 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 according to 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 other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for collision avoidance for vehicles at an intersection, comprising:
acquiring first time from a target vehicle to an intersection point of an intersection, second time from a current vehicle to the intersection point of the intersection and a driving distance from the current vehicle to the intersection point of the intersection;
judging whether the difference value between the first time and the second time is less than or equal to preset safe collision time or not;
if so, calculating the braking distance of the current vehicle;
and outputting a control command of the current vehicle according to the braking distance and the driving distance.
2. The intersection vehicle collision avoidance method of claim 1, wherein the braking distance of the current vehicle is calculated as follows:
Dbr＝Vh×(T+t1)+Vh 2/2as
wherein D isbrIs the braking distance, V, of the current vehiclehThe current driving speed of the vehicle, T is the reaction time required by a driver to press the brake, T1For brake coordination of time, asBraking a safe acceleration for the current vehicle.
3. The intersection vehicle collision avoidance method of claim 1, wherein outputting a control command for a current vehicle based on the braking distance and the driving distance comprises:
judging whether the braking distance is smaller than the driving distance;
if so, outputting a prompt control command to a prompt device of the current vehicle so as to enable the prompt device of the current vehicle to output brake prompt information;
if not, outputting a braking control command to a braking device of the current vehicle so as to automatically brake the current vehicle.
4. The intersection vehicle collision avoidance method of claim 3, wherein the prompting device of the current vehicle comprises an on-board display device and/or a voice device of the current vehicle,
the output suggestion control command is to the suggestion device of current vehicle to the suggestion device output brake suggestion information of current vehicle includes:
outputting a prompt control command to a vehicle-mounted display device of the current vehicle so as to enable the vehicle-mounted display device of the current vehicle to display brake prompt information;
and/or outputting a prompt control command to the voice device of the current vehicle so that the voice device of the current vehicle plays the brake prompt message.
5. The intersection vehicle collision avoidance method of claim 3, wherein after said outputting a brake control command to a braking device of the current vehicle to automatically brake the current vehicle, the method further comprises:
and outputting a notification control command to a prompting device of the current vehicle so that the prompting device of the current vehicle outputs automatic brake notification information.
6. The intersection vehicle collision avoidance method of claim 5, wherein the prompting device of the current vehicle comprises an on-board display device and/or a voice device of the current vehicle,
the outputting of the notification control command to the prompting device of the current vehicle to enable the prompting device of the current vehicle to output the automatic braking notification information includes:
outputting a notification control command to a vehicle-mounted display device of the current vehicle so as to enable the vehicle-mounted display device of the current vehicle to display automatic braking notification information;
and/or outputting a notification control command to the voice device of the current vehicle so that the voice device of the current vehicle plays the automatic braking notification information.
7. The intersection vehicle collision avoidance method of claim 1, wherein prior to said obtaining the first time the target vehicle reached the intersection, the second time the current vehicle reached the intersection, and the distance traveled by the current vehicle to the intersection, the method further comprises:
acquiring driving information of at least one group of remote vehicles;
calculating the difference value of the direction angle between the current vehicle and each remote vehicle according to the running information of each remote vehicle and the running information of the current vehicle;
and determining a target vehicle which has collision danger with the current vehicle from the remote vehicles according to the difference value of the direction angle between the current vehicle and each remote vehicle and the running speed of each remote vehicle.
8. An intersection vehicle collision prevention device, comprising:
the acquisition module is used for acquiring first time from a target vehicle to an intersection point of the intersection, second time from a current vehicle to the intersection point of the intersection and driving distance from the current vehicle to the intersection point of the intersection;
the judging module is used for judging whether the difference value between the first time and the second time is less than or equal to preset safe collision time or not;
the calculating module is used for calculating the braking distance of the current vehicle when the difference value between the first time and the second time is less than or equal to the preset safe collision time;
and the output module is used for outputting a control command of the current vehicle according to the braking distance and the driving distance.
9. An electronic device, comprising a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to perform the intersection vehicle collision avoidance method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it stores a computer program for use in the electronic device of claim 9.
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| CN202010050171.0A CN111210661A (en) | 2020-01-16 | 2020-01-16 | Intersection vehicle anti-collision method and device |
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Application publication date: 20200529 |