CN111231827B - Device and method for displaying front collision risk area of vehicle in rainy and foggy weather - Google Patents
Device and method for displaying front collision risk area of vehicle in rainy and foggy weather Download PDFInfo
- Publication number
- CN111231827B CN111231827B CN202010122762.4A CN202010122762A CN111231827B CN 111231827 B CN111231827 B CN 111231827B CN 202010122762 A CN202010122762 A CN 202010122762A CN 111231827 B CN111231827 B CN 111231827B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- distance
- obstacle
- road surface
- safety distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000001133 acceleration Effects 0.000 claims description 14
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 9
- 230000004888 barrier function Effects 0.000 abstract description 4
- 239000003086 colorant Substances 0.000 abstract description 3
- 239000000284 extract Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
- B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a device and a method for displaying a collision risk area in front of a vehicle in rainy and foggy weather, wherein a millimeter wave radar is used for detecting the relative distance and speed between the vehicle and a front obstacle; the method comprises the following steps that a CCD industrial camera collects front pavement information, extracts texture and color characteristics, predicts the front pavement attribute type and identifies the adhesion coefficient of the front pavement; the projection lamp displays images with different colors on the front road surface according to the critical safety distance calculated by the control unit, and when no obstacle exists in the front of the vehicle or the distance between the projection lamp and the obstacle is more than 1.5 times of the critical safety distance, a green image is projected on the front road surface; when the distance between the road surface and the obstacle is less than 1.5 times and more than 1.2 times of the critical safety distance, the road surface is an early warning distance, and a yellow image is projected on the road surface; when the distance between the road surface and the obstacle is less than 1.2 times of the critical safety distance, the road surface is a braking safety distance, and a red image is projected on the road surface; when the barrier enters the range within 1.2 times of the critical safety distance, the audible and visual alarm gives an alarm to remind the driver to brake.
Description
Technical Field
The invention relates to a device and a method for prompting a collision risk area by using lamplight irradiation projection when an automobile runs in rainy and foggy weather, and belongs to the technical field of running safety.
Background
With the rapid construction of roads in China, the quantity of automobile reserves is continuously increased, and the problem of road traffic safety is increasingly serious. Under the condition of rain and fog weather, the automobile is more likely to have traffic accidents and even result in casualties and the like due to wet and slippery roads, lower visibility and illusion of visual range of drivers.
In the prior art, a patent with publication number CN203267899U provides a "driving system in foggy days", which includes a signal transmitting module, a signal receiver, a radar detector, a visibility detector, a central controller, a display and a voice alarm. When the vehicle runs in foggy days, the distance information between the vehicle and the front vehicle is detected, the acceleration information sent by the front vehicle is received, and the voice alarm is sent out. The system has the disadvantages of complex system structure, more required modules, high economic cost, no consideration of wet and slippery conditions of a rainy road and requirement of surrounding vehicles to be provided with various receivers and detectors.
The patent publication No. CN108791038A provides an intelligent vehicle lamp system and a control method based on a projection technology, and the intelligent vehicle lamp system comprises a vehicle-mounted industrial personal computer, a first single-line laser radar, a second single-line laser radar, a first camera, a second camera, a first projectable lamp, a second projectable lamp, a switch and the like. The position and the image information of the obstacle are obtained through the laser radar and the camera, and the projection lamp projects the driving track and the driving direction. The method has the disadvantages that the economic cost of equipment is high, the conditions of wet and slippery rainy roads and low visibility in foggy days are not considered, the laser radar is easily interfered by severe environments such as rain, snow, fog and the like, and a safe distance model is not used.
Disclosure of Invention
The invention aims to display a collision risk area in front of a vehicle through lamplight under the condition of rain and fog weather so as to improve the safety factor of driving. The safety distance model provided by the invention can reasonably calculate the optimal braking safety distance between the vehicle and the front obstacle under the current road surface condition, and remind the driver of taking braking measures in due time.
The specific scheme is as follows:
the invention provides a device for displaying a collision risk area in front of a vehicle in rainy and foggy weather, which comprises a control unit, a millimeter wave radar, a CCD industrial camera, a projection lamp and an audible and visual alarm.
The control unit is respectively connected with a millimeter wave radar, a CCD industrial camera, a projection lamp, an audible and visual alarm and a brake;
the millimeter wave radar is arranged at the position of the vehicle head and is used for detecting the relative distance and the relative speed between the vehicle and the front obstacle;
the CCD industrial camera is installed at the position of a vehicle head, acquires image information of a front road surface, extracts texture and color characteristics of the image information, establishes a hidden Markov model to model the image information, predicts the attribute type of the front road surface and identifies the adhesion coefficient of the front road surface;
the projection lamp is installed at the position of the vehicle head, images with different colors are displayed on the front road surface according to the early warning distance, the braking safety distance and the critical safety distance which are calculated by the control unit, and when no obstacle exists in the front of the vehicle or the distance between the vehicle and the obstacle is larger than 1.5 times of the critical safety distance, a green rectangular area is projected on the front road surface; when the distance between the road surface and the obstacle is less than 1.5 times of the critical safety distance and more than 1.2 times of the critical safety distance, and the relative distance is in a decreasing trend, the road surface is an early warning distance, and a yellow rectangular area is projected on the road surface; when the distance between the vehicle and the obstacle is less than 1.2 times of the critical safety distance, the vehicle is a braking safety distance, and a red rectangular area is projected on the road surface;
when the obstacle enters 1.2 times of the critical safety distance, the audible and visual alarm can give an alarm to remind a driver to take braking measures, and the alarm is stronger along with the closer distance of the obstacle;
further, when the distance between the vehicle and the obstacle is smaller than the critical safety distance and the driver does not perform correct operation, the control unit temporarily acquires the vehicle control right to perform emergency braking operation.
A method of displaying an area at risk of collision ahead of a vehicle in rainy and foggy weather, comprising the steps of:
step 1: acquiring self information of the vehicle;
and 2, step: the CCD industrial camera collects the front pavement information and identifies the pavement adhesion coefficient;
and step 3: the millimeter wave radar detects the relative distance and the relative speed of an obstacle in front of the vehicle;
and 4, step 4: calculating a critical safety distance in the current state;
and 5: when no obstacle exists in front of the vehicle or the distance between the vehicle and the obstacle is larger than 1.5 times of the critical safety distance, a green rectangular area is projected on the front road surface; when the distance between the projection lamp and the obstacle is less than 1.5 times of the critical safety distance and more than 1.2 times of the critical safety distance, and the relative distance is in a decreasing trend, the color of the projection lamp in the front road collision risk area is changed from green to yellow; when the distance between the automobile body and the obstacle is less than 1.2 times of the critical safety distance, the color of the projection is changed from yellow to red, and an acousto-optic alarm in the automobile gives an alarm;
and 6: when the distance from the obstacle is less than the threshold safety distance and the driver does not take a correct operation, the control unit temporarily controls the brake to brake.
Further, the vehicle information in step 1 is acquired by a vehicle body sensor and a GPS, and the acquired information includes: vehicle speed, vehicle acceleration, wheel center speed, wheel angular velocity, wheel longitudinal force, wheel normal force, wheel rolling radius, current vehicle position.
Further, the CCD industrial camera in the step 2 collects front road surface information and identifies the road surface adhesion coefficient, the specific process is to use Matlab software to extract texture characteristics and color characteristics of the collected images, the texture characteristic parameters comprise energy, entropy, moment of inertia and correlation, and the color characteristic parameters comprise hue, saturation and brightness. And establishing a hidden Markov model according to the current road adhesion coefficient and the slip ratio measured and calculated by the vehicle body sensor to model the road, predicting the type of the front road, and identifying the adhesion coefficient of the front road.
Further, the obstacle in front of the vehicle in step 3 refers to an obstacle in front of a lane where the vehicle is located or an obstacle on a pre-travel track of the vehicle, and does not include other vehicles on non-pre-travel tracks.
Further, the critical safety distance model in step 4 is:
wherein: a is r-max ＝μg
In the formula: s must Critical safety distance, v r Speed of self-propelled vehicle a r-max Maximum braking deceleration, T, of the self-vehicle br Braking time v at active braking r-f Relative velocity, v f Speed of the front vehicle a f Acceleration of the front vehicle, d 0 Minimum safe distance, g-acceleration of gravity, mu-road adhesion coefficient, which two cars maintain when stationary.
The speed and the acceleration of the front vehicle can be calculated by the relative speed, the relative acceleration, the speed and the acceleration of the self vehicle which are acquired by the sensor.
Further, the collision risk area in step 5 is an area in a safe distance in front of the lane where the own vehicle is located or an area in a safe distance on the pre-driving track of the own vehicle.
Further, in the step 6, the driver correctly operates to adopt emergency braking or rotate the steering wheel to change the track for collision avoidance.
The invention has the beneficial effects that:
according to the device and the method for displaying the collision risk area in front of the vehicle in the rainy and foggy weather, the self information of the vehicle and the road adhesion coefficient are obtained in real time, and the relative distance and the relative speed of the obstacle in front of the vehicle are detected through the millimeter wave radar, so that the self information and the environmental information are obtained. The safety distance under the current state is calculated, according to a vehicle running path, a model between a projection lamp of a vehicle head and the safety distance, a control unit controls the range and the color of projection required by the projection lamp, a collision risk area and an early warning range required to be noticed are displayed in front of the vehicle, when obstacles such as other vehicles or pedestrians and the like appear in the collision risk area, the projected color can be changed into a yellow or red warning color with strong penetrability according to set conditions, so that the effect that other vehicles or pedestrians around the vehicle can notice the vehicle visually is achieved, meanwhile, an audible and visual alarm in the vehicle also gives a prompt, and when a driver does not operate timely, the vehicle is braked. The information interaction between the vehicle and other vehicles and pedestrians is realized, the early warning of danger is realized, and the active collision avoidance control of the vehicle when a driver does not operate correctly is also realized;
the invention considers that the road is wet and slippery and the road surface adhesion coefficient is reduced under the rainy weather condition, and uses the CCD industrial camera to detect the current road surface adhesion coefficient in real time to adjust the braking safety distance;
the invention considers the problem of economic cost of equipment, does not adopt laser radar and excessive sensors, and reduces the economic cost of the equipment under the condition of completely meeting the requirement.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a graph of the μ -S curves of six typical road surfaces;
FIG. 3 is a fitted μ -S plot of a current road surface;
FIG. 4 is a block diagram of the system of the present invention;
fig. 5 is a layout diagram of a hardware device of a head portion of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
The invention provides a device and a method for displaying a collision risk area in front of a vehicle in rainy and foggy weather, which are shown in figure 1 and are a flow chart of the method, and the method comprises the following steps:
step 1: the automobile sensor acquires information of the current vehicle.
The vehicle self information is obtained through a vehicle body sensor and a GPS, and the obtained information comprises: vehicle speed, vehicle acceleration, wheel center speed, wheel angular velocity, wheel longitudinal force, wheel normal force, wheel rolling radius, current vehicle position.
Step 2: the CCD industrial camera collects front pavement information.
The CCD industrial camera extracts texture and color characteristics of the vehicle by acquiring image information of a road surface in front of the vehicle through Matlab software programming, wherein the texture characteristic parameters comprise energy E, entropy S, moment of inertia J and correlation L, and the color characteristic parameters comprise hue T, saturation S and brightness B.
Then the current road surface adhesion coefficient mu is measured and calculated according to the vehicle body sensor 1 And slip ratio S, the calculation formula is:
in the formula: f X Longitudinal force of wheel, F Z Wheel normal force, v · Wheel center speed, w-wheel angular speed, r-wheel rolling radius.
According to the current road surface adhesion coefficient mu 1 And slip ratio S, locating the out point (. Mu.) in FIG. 3 1 S), and then according to the curve R 1 、R 2 Is fitted to a curve R 3 . Wherein the curve R 1 、R 2 Two arbitrary adjacent curves in the mu-S plot of the six exemplary road surfaces of fig. 2.
And establishing a hidden Markov model to model the hidden Markov model, taking a texture characteristic parameter, a color characteristic parameter and a fitted mu-S curve of the current road surface as input, outputting the attribute type of the front road surface and an adhesion coefficient curve thereof, and using a real-time road surface adhesion coefficient for calculating a safe distance model.
And 3, step 3: the millimeter wave radar detects the relative distance and the relative speed with the obstacle.
The obstacle is an obstacle in front of a lane where the vehicle is located or an obstacle on a pre-running track of the vehicle, and other vehicles on non-pre-running tracks are not included.
And 4, step 4: and calculating the safety distance in the current state.
The safety distance comprises an early warning distance, a braking safety distance and a critical safety distance, and the critical safety distance model is as follows:
wherein: a is r-max ＝μg
In the formula: s must Critical safety distance, v r Speed of self-propelled vehicle a r-max Maximum braking deceleration, T, of the self-vehicle br During active brakingBraking time, v r-f Relative velocity, v f Speed of the front vehicle a f Acceleration of the front vehicle, d 0 Minimum safe distance, g-acceleration of gravity, mu-road adhesion coefficient, which two cars maintain when stationary.
The speed and the acceleration of the front vehicle can be calculated by the relative speed, the relative acceleration, the speed and the acceleration of the self vehicle which are acquired by the sensor.
And 5: and judging whether the barrier is within the safe distance.
If the distance between the vehicle and the obstacle is judged to be less than 1.5 times of the critical safety distance and greater than 1.2 times of the critical safety distance, and the relative distance is in a decreasing trend, the projection lamp projects yellow light in the collision risk area to remind a driver of improving the attention; if the distance between the automobile and the obstacle is less than 1.2 times of the critical safety distance, the color of the projection is changed from yellow to red, and meanwhile, the audible and visual alarm gives an alarm to remind a driver of taking correct operation to deal with possible collision risks. If the distance between the vehicle and the obstacle is larger than 1.5 times of the critical safety distance, the vehicle normally runs, and the projection lamp projects green light in the collision risk area.
Step 6: and when the barrier is within the critical safety distance, judging whether the driver takes correct operation in time.
If the driver does not adopt emergency braking or rotate the steering wheel to change the track to avoid collision, the control unit temporarily controls the brake to brake.
Fig. 4 and 5 are a system block diagram of the present invention and a layout diagram of the hardware device of the head part of the present invention, respectively. The system and hardware equipment comprise a millimeter wave radar, a CCD industrial camera, a projection lamp, a vehicle body sensor, an audible and visual alarm, a brake and a control unit.
The millimeter wave radar detects the relative distance and the relative speed between the vehicle and the barrier and is installed below the license plate at the head of the vehicle, and the millimeter wave radar has strong anti-interference capability and is less influenced under the rain and fog weather condition. The CCD industrial camera collects road surface information, identifies a road surface adhesion coefficient and is used for calculating a safety distance, and the CCD industrial camera is installed below a millimeter wave radar at the head of a vehicle and is aligned to the road surface in front. The vehicle body sensors are sensors installed on the vehicle itself, and can acquire vehicle speed, vehicle acceleration and vehicle current position information.
The projection lamp is used for projecting different colors of light to the road surface in front of the vehicle so as to display the collision risk area in front of the vehicle, and is arranged above the license plate on the head of the vehicle. Acousto-optic alarms are devices installed in the cab to alert the driver to take countermeasures when an obstacle is present in the collision risk area.
The brake is a brake system component of the vehicle, and receives the control of the control unit to perform temporary emergency braking when a driver does not adopt emergency braking or rotates a steering wheel to change lanes to avoid collision.
The control unit receives input information acquired by the millimeter wave radar, the CCD industrial camera and the vehicle body sensor, calculates and processes the information, and outputs control signals to the projection lamp, the audible and visual alarm and the brake.
The above-listed series of detailed descriptions are merely specific illustrations of possible embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent means or modifications that do not depart from the technical spirit of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. A method for displaying a collision risk area in front of a vehicle in rainy and foggy weather, which is characterized by comprising the following steps:
step 1: acquiring self information of a vehicle;
and 2, step: collecting front pavement information to obtain a pavement adhesion coefficient;
acquiring front road surface information in the step 2 is realized by a CCD industrial camera, and the specific process of identifying the road surface adhesion coefficient is to use Matlab software to extract texture characteristics and color characteristics of the acquired image, wherein the texture characteristic parameters comprise energy, entropy, moment of inertia and correlation, and the color characteristic parameters comprise hue, saturation and brightness; then, according to the current road adhesion coefficient and the slip rate measured and calculated by the vehicle body sensor, a hidden Markov model is established, the type of the front road is predicted, and the adhesion coefficient is identified;
and step 3: detecting the relative distance and the relative speed of an obstacle in front of the vehicle;
and 4, step 4: calculating a critical safety distance in the current state;
the critical safety distance model in step 4 is:
wherein: a is a r-max ＝μg
In the formula: s. the must Critical safety distance, v r Speed of the vehicle a r-max Maximum braking deceleration, T, of the self-vehicle br Braking time in active braking, v r-f Relative velocity, v f Front vehicle speed, a f Acceleration of the front vehicle, d 0 Minimum safe distance, g-acceleration of gravity, mu-road adhesion coefficient, to be maintained when the two cars are stationary;
and 5: when no obstacle exists in front of the vehicle or the distance between the vehicle and the obstacle is larger than 1.5 times of the critical safety distance, a green rectangular area is projected on the front road surface; when the distance between the projection lamp and the obstacle is smaller than 1.5 times of the critical safety distance and larger than 1.2 times of the critical safety distance, and the relative distance is in a decreasing trend, the color of the projection lamp in the front road collision risk area is changed from green to yellow; when the distance between the automobile and the obstacle is less than 1.2 times of the critical safety distance, the color of the projection is changed from yellow to red, and the acousto-optic alarm in the automobile gives an alarm.
2. The method for displaying the collision risk area in front of the vehicle in rainy and foggy weather as claimed in claim 1, further comprising: when the distance to the obstacle is less than the threshold safety distance and the driver does not take a correct operation, the control unit temporarily controls the brake to brake.
3. The method for displaying the collision risk area in front of the vehicle in the rainy and foggy weather as claimed in claim 1, wherein the vehicle self information in step 1 is acquired by a vehicle body sensor and a GPS, and the acquired information comprises: vehicle speed, vehicle acceleration, wheel center speed, wheel angular velocity, wheel longitudinal force, wheel normal force, wheel rolling radius, current vehicle position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010122762.4A CN111231827B (en) | 2020-02-27 | 2020-02-27 | Device and method for displaying front collision risk area of vehicle in rainy and foggy weather |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010122762.4A CN111231827B (en) | 2020-02-27 | 2020-02-27 | Device and method for displaying front collision risk area of vehicle in rainy and foggy weather |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111231827A CN111231827A (en) | 2020-06-05 |
| CN111231827B true CN111231827B (en) | 2022-11-18 |
Family
ID=70868227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010122762.4A Active CN111231827B (en) | 2020-02-27 | 2020-02-27 | Device and method for displaying front collision risk area of vehicle in rainy and foggy weather |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111231827B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112172762A (en) * | 2020-10-20 | 2021-01-05 | 吉林大学 | Automatic emergency braking decision method and system |
| CN112706764A (en) * | 2020-12-30 | 2021-04-27 | 潍柴动力股份有限公司 | Active anti-collision early warning method, device, equipment and storage medium |
| CN112977370B (en) * | 2021-04-25 | 2021-08-06 | 天津所托瑞安汽车科技有限公司 | Automatic emergency braking system and method |
| CN113085854A (en) * | 2021-05-10 | 2021-07-09 | 东风汽车集团股份有限公司 | System and method for identifying obstacle above vehicle through radar camera |
| CN113401054A (en) * | 2021-07-22 | 2021-09-17 | 上汽通用五菱汽车股份有限公司 | Anti-collision method for vehicle, vehicle and readable storage medium |
| CN117818597A (en) * | 2021-08-12 | 2024-04-05 | 华为技术有限公司 | Narrow-road passing method and control device |
| CN113844441B (en) * | 2021-10-14 | 2023-01-31 | 安徽江淮汽车集团股份有限公司 | Machine learning method of front collision early warning braking system |
| CN114228614A (en) * | 2021-12-29 | 2022-03-25 | 阿波罗智联(北京)科技有限公司 | Vehicle alarm method and device, electronic equipment and storage medium |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6358017B2 (en) * | 2014-09-30 | 2018-07-18 | 株式会社デンソー | Driving assistance device |
| CN105730442B (en) * | 2016-02-02 | 2019-03-05 | 湖南大学 | A kind of preventing car from close trailing collision system, method and single-chip microcontroller |
| CN106240458B (en) * | 2016-07-22 | 2017-12-12 | 浙江零跑科技有限公司 | A kind of vehicular frontal impact method for early warning based on vehicle-mounted binocular camera |
| CN107479061A (en) * | 2017-08-25 | 2017-12-15 | 重庆交通大学 | A kind of safe early warning method and system based on image recognition and radar range finding |
| US10814811B2 (en) * | 2017-09-30 | 2020-10-27 | Physician Electronic Networks, L.L.C. | Collision detection system |
| CN108583420A (en) * | 2018-02-09 | 2018-09-28 | 常州星宇车灯股份有限公司 | The anti-warning lamp control system that knocks into the back of one kind |
| CN108674412B (en) * | 2018-04-04 | 2020-01-24 | 江苏大学 | Vehicle active collision avoidance method adopting sensor fusion |
| CN110525429A (en) * | 2019-08-31 | 2019-12-03 | 武汉理工大学 | A kind of commercial vehicle emergency braking method based on V2X |
-
2020
- 2020-02-27 CN CN202010122762.4A patent/CN111231827B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111231827A (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111231827B (en) | Device and method for displaying front collision risk area of vehicle in rainy and foggy weather | |
| CN111554124B (en) | Intersection truck right-turning anti-collision early warning system and early warning method | |
| CN104554259B (en) | Active automatic Pilot accessory system and method | |
| US9091558B2 (en) | Autonomous driver assistance system and autonomous driving method thereof | |
| CN111223302B (en) | External coordinate real-time three-dimensional road condition auxiliary device for mobile carrier and system | |
| CN105984447B (en) | To anticollision automatic emergency brake system and method before vehicle based on machine vision | |
| CN109949612B (en) | Ghost probe accident early warning system based on information interaction | |
| CN109733283B (en) | AR-based shielded barrier recognition early warning system and recognition early warning method | |
| CN111267734A (en) | Safety protection system for large transport vehicle and early warning method thereof | |
| CN108099786A (en) | A kind of driving side blind area excludes early warning system | |
| CN108032809B (en) | Reverse side auxiliary system and data fusion and control method thereof | |
| CN107344552A (en) | Dynamic monitoring omnidirectional vehicle anti-collision early warning system | |
| CN108791288A (en) | A kind of collision prevention device and method based on information fusion | |
| CN106428003B (en) | Early warning device and method for lane departure of highway vehicles in bad weather | |
| CN110007669A (en) | A kind of intelligent driving barrier-avoiding method for automobile | |
| TW201511997A (en) | Autonomous automatic driving auxiliary system and method | |
| CN112793507A (en) | Blind area early warning braking system based on inertial device perception vehicle right turn motion characteristic | |
| CN109747537A (en) | A kind of unmanned early warning system of automobile | |
| CN113470433A (en) | Vehicle inner wheel difference region danger early warning method and system based on V2I, vehicle and roadside equipment | |
| KR20180064639A (en) | Vehicle and control method thereof | |
| CN113221638B (en) | Vehicle target perception method and system | |
| KR101128978B1 (en) | Intelligence System for Accident Prevention at Railway Level Crossing and Train Brake Method | |
| CN207140943U (en) | A kind of safety warning system | |
| CN113470432A (en) | Vehicle inner wheel difference region danger early warning method and system based on V2V and vehicle | |
| CN115862383B (en) | Uncertainty-based vehicle blind area potential risk quantification method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |