CN113352988A - Intelligent driving safety auxiliary method, device, equipment, program product and medium - Google Patents
Intelligent driving safety auxiliary method, device, equipment, program product and medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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
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Abstract
The invention discloses an intelligent driving safety auxiliary method, an intelligent driving safety auxiliary device, an intelligent driving safety auxiliary equipment, an intelligent driving safety auxiliary program product and an intelligent driving safety auxiliary medium. According to the invention, by determining the workshop distance between the current vehicle and the vehicle in front, the user of the current vehicle can be warned in advance in time when the front vehicle and the rear vehicle lose the safety distance, so that the user can change the driving operation in time according to the warning information, accidents are avoided, and the safety of the user in driving the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of safe driving, in particular to an intelligent driving safety assisting method, device, equipment, program product and medium.
Background
With the development of society, vehicles are more and more popular in use, but vehicle rear-end collisions and collision accidents caused by negligence and fatigue driving of drivers are more and more, and serious casualties and social burdens are caused.
It should be noted that, in the prior art, when a vehicle is traveling, that is, a current vehicle, a driver is not warned when the current vehicle loses a safe distance from a preceding vehicle, whether collision is likely to occur depends on the judgment of the driver, and a traffic accident is often caused by carelessness or misjudgment of the driver, so that the driving safety is not high.
Disclosure of Invention
The invention mainly aims to provide an intelligent driving safety auxiliary method, an intelligent driving safety auxiliary device, intelligent driving safety auxiliary equipment, an intelligent driving safety program product and an intelligent driving safety medium, and aims to solve the technical problem of improving the driving safety of a vehicle.
In order to achieve the above object, the present invention provides an intelligent driving safety assisting method, which comprises the following steps:
acquiring a road image through a vehicle event data recorder of a current vehicle, and judging whether a vehicle exists in front of the current vehicle according to the road image;
if the vehicle exists, the distance between the current vehicle and the vehicle in front is obtained, and whether early warning prompt is needed or not is judged according to the distance between the vehicles;
and if the early warning prompt is needed, outputting distance danger early warning prompt information.
Optionally, the step of obtaining a vehicle-to-vehicle distance between the current vehicle and a vehicle in front, and determining whether an early warning prompt is required according to the vehicle-to-vehicle distance includes:
acquiring the inter-vehicle distance between the current vehicle and the front vehicle at a preset acquisition frequency, and determining a first inter-vehicle distance acquired at the current moment and a second inter-vehicle distance acquired at the latest time from the current moment;
determining the relative movement speed of the current vehicle and the front vehicle according to the first vehicle-to-vehicle distance, the second vehicle-to-vehicle distance and the preset acquisition frequency;
determining collision time length according to the relative movement speed and the first inter-vehicle distance, and judging whether early warning prompt is needed or not according to the collision time length and a first preset time length.
Optionally, after the step of determining the collision duration according to the relative movement speed and the first inter-vehicle distance, the method further includes:
and if the collision time length is less than a second preset time length and the current vehicle does not trigger braking, controlling the current vehicle to trigger braking.
Optionally, the step of determining whether a vehicle exists in front of the current vehicle according to the road image includes:
and recognizing a lane line in the road image, determining a lane where the current vehicle is located according to the lane line, and judging whether a vehicle exists in front of the current vehicle on the lane.
Optionally, after the step of determining the lane where the current vehicle is located according to the lane line, the method further includes:
determining the lane distance between the current vehicle and the lane line of the lane where the current vehicle is located according to the road image;
when the inter-lane distance is detected to be reduced, timing is started, and the lane changing duration taking the inter-lane distance as a starting point and the inter-lane distance as an end point when the inter-lane distance is continuously reduced to a preset boundary threshold value is determined;
and if the average reduction value of the distance between the lines in the lane changing time is smaller than a deviation judgment threshold value, outputting lane deviation early warning prompt information.
Optionally, the step of acquiring the road image by the vehicle data recorder of the current vehicle includes:
and acquiring the running speed of the current vehicle, and acquiring the road image through the automobile data recorder of the current vehicle when the running speed is greater than a preset speed threshold value.
Further, in order to achieve the above object, the present invention further provides an intelligent driving safety assisting device, including:
the acquisition module is used for acquiring a road image through a vehicle event data recorder of a current vehicle and judging whether a vehicle exists in front of the current vehicle or not according to the road image;
the judging module is used for acquiring the workshop distance between the current vehicle and the vehicle in front if the vehicle exists, and judging whether early warning prompt is needed or not according to the workshop distance;
and the prompt module is used for outputting distance danger early warning prompt information if early warning prompt is required.
Further, in order to achieve the above object, the present invention further provides an intelligent driving safety auxiliary device, where the intelligent driving safety auxiliary device includes a memory, a processor, and an intelligent driving safety auxiliary program stored in the memory and capable of running on the processor, and when the intelligent driving safety auxiliary program is executed by the processor, the intelligent driving safety auxiliary method is implemented.
Further, to achieve the above object, the present invention also provides a computer program product, wherein the computer program product comprises an intelligent driving safety assisting program, and when the intelligent driving safety assisting program is executed by a processor, the intelligent driving safety assisting method is implemented as described above
Further, to achieve the above object, the present invention further provides a computer readable storage medium, where the computer readable storage medium stores an intelligent driving safety assisting program, and when the intelligent driving safety assisting program is executed by a processor, the intelligent driving safety assisting program implements the intelligent driving safety assisting method as described above.
According to the invention, a vehicle data recorder of the current vehicle is used for acquiring a road image, whether a vehicle exists in front of the current vehicle is judged according to the road image, if the vehicle exists, the inter-vehicle distance between the current vehicle and the vehicle in front is acquired, whether early warning prompt is needed or not is judged according to the inter-vehicle distance, and if the early warning prompt is needed, distance danger early warning prompt information is output. According to the invention, by determining the workshop distance between the current vehicle and the vehicle in front, the user of the current vehicle can be warned in advance in time when the front vehicle and the rear vehicle lose the safety distance, so that the user can change the driving operation in time according to the warning information, accidents are avoided, and the safety of the user in driving the vehicle is improved.
Drawings
Fig. 1 is a schematic structural diagram of a hardware operating environment of an intelligent driving safety assistance device according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of an intelligent driving safety assistance method according to the present invention;
fig. 3 is a functional module diagram of an intelligent driving safety assisting device according to a preferred embodiment of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
With the development of society, vehicles are more and more popular in use, but vehicle rear-end collisions and collision accidents caused by negligence and fatigue driving of drivers are more and more, and serious casualties and social burdens are caused.
It should be noted that, in the prior art, when a vehicle is traveling, that is, a current vehicle, a driver is not warned when the current vehicle loses a safe distance from a preceding vehicle, whether collision is likely to occur depends on the judgment of the driver, and a traffic accident is often caused by carelessness or misjudgment of the driver, so that the driving safety is not high.
Based on the above defects, the present invention provides an intelligent driving safety auxiliary device, and referring to fig. 1, fig. 1 is a schematic structural diagram of a hardware operating environment of a device according to an embodiment of the intelligent driving safety auxiliary device of the present invention.
As shown in fig. 1, the intelligent driving safety assistance device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a memory device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the hardware configuration of the intelligent driving safety assistance device shown in fig. 1 does not constitute a limitation of the intelligent driving safety assistance device, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer-readable storage medium, may include therein an operating system, a network communication module, a user interface module, and an intelligent driving safety assistant program. The operating system is a program for managing and controlling the intelligent driving safety auxiliary equipment and software resources, and supports the running of a network communication module, a user interface module, an intelligent driving safety auxiliary program and other programs or software; the network communication module is used to manage and control the network interface 1004; the user interface module is used to manage and control the user interface 1003.
In the hardware structure of the intelligent driving safety auxiliary device shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client and performing data communication with the client; the processor 1001 may call the intelligent driving safety assistant program stored in the memory 1005, and perform the following operations:
acquiring a road image through a vehicle event data recorder of a current vehicle, and judging whether a vehicle exists in front of the current vehicle according to the road image;
if the vehicle exists, the distance between the current vehicle and the vehicle in front is obtained, and whether early warning prompt is needed or not is judged according to the distance between the vehicles;
and if the early warning prompt is needed, outputting distance danger early warning prompt information.
Further, the step of obtaining the inter-vehicle distance between the current vehicle and the vehicle in front and judging whether an early warning prompt is needed according to the inter-vehicle distance comprises the following steps:
acquiring the inter-vehicle distance between the current vehicle and the front vehicle at a preset acquisition frequency, and determining a first inter-vehicle distance acquired at the current moment and a second inter-vehicle distance acquired at the latest time from the current moment;
determining the relative movement speed of the current vehicle and the front vehicle according to the first vehicle-to-vehicle distance, the second vehicle-to-vehicle distance and the preset acquisition frequency;
determining collision time length according to the relative movement speed and the first inter-vehicle distance, and judging whether early warning prompt is needed or not according to the collision time length and a first preset time length.
Further, after the step of determining the collision duration according to the relative movement speed and the first inter-vehicle distance, the method further includes:
and if the collision time length is less than a second preset time length and the current vehicle does not trigger braking, controlling the current vehicle to trigger braking.
Further, the step of determining whether a vehicle exists ahead of the current vehicle from the road image includes:
and recognizing a lane line in the road image, determining a lane where the current vehicle is located according to the lane line, and judging whether a vehicle exists in front of the current vehicle on the lane.
Further, after the step of determining the lane where the current vehicle is located according to the lane line, the method further includes:
determining the lane distance between the current vehicle and the lane line of the lane where the current vehicle is located according to the road image;
when the inter-lane distance is detected to be reduced, timing is started, and the lane changing duration taking the inter-lane distance as a starting point and the inter-lane distance as an end point when the inter-lane distance is continuously reduced to a preset boundary threshold value is determined;
and if the average reduction value of the distance between the lines in the lane changing time is smaller than a deviation judgment threshold value, outputting lane deviation early warning prompt information.
Further, the step of acquiring the road image by the automobile data recorder of the current vehicle comprises:
and acquiring the running speed of the current vehicle, and acquiring the road image through the automobile data recorder of the current vehicle when the running speed is greater than a preset speed threshold value.
The specific implementation of the intelligent driving safety assistance device of the present invention is substantially the same as the following embodiments of the intelligent driving safety assistance method, and is not described herein again.
The invention also provides an intelligent driving safety auxiliary method based on the intelligent driving safety auxiliary equipment.
Referring to fig. 2, fig. 2 is a flowchart illustrating an intelligent driving safety assisting method according to a first embodiment of the present invention.
The embodiment of the present invention provides an embodiment of an intelligent driving safety assistance method, and it should be noted that, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different sequence from the sequence here.
In various embodiments of the intelligent driving safety assistance method, the execution subject is an intelligent driving safety assistance device.
The intelligent driving safety auxiliary method comprises the following steps:
step S10, acquiring a road image through a vehicle event data recorder of a current vehicle, and judging whether a vehicle exists in front of the current vehicle according to the road image;
in the prior art, when a vehicle is running, namely the current vehicle, a driver cannot be warned in advance when the current vehicle loses a safe distance from the front vehicle, whether collision is possible or not is judged completely by the driver, and traffic accidents are often caused by carelessness or misjudgment of the driver, so that the driving safety is not high.
In order to solve the technical problem of how to improve the driving safety of the vehicle, the embodiment of the invention provides an intelligent driving safety auxiliary method, which aims to acquire a road image by using a driving recorder of a current vehicle, judge whether a vehicle exists in front of the current vehicle according to the road image, acquire the inter-vehicle distance between the current vehicle and the vehicle in front if the vehicle exists, judge whether early warning prompt is needed according to the inter-vehicle distance, and output distance danger early warning prompt information if the early warning prompt is needed. According to the invention, by determining the workshop distance between the current vehicle and the vehicle in front, the user of the current vehicle can be warned in advance in time when the front vehicle and the rear vehicle lose the safety distance, so that the user can change the driving operation in time according to the warning information, accidents are avoided, and the safety of the user in driving the vehicle is improved.
The intelligent driving safety auxiliary method in the embodiment is suitable for equipment with an intelligent driving safety auxiliary function.
In this embodiment, in the process of driving the vehicle by the user, the driving recorder installed on the current vehicle is used for acquiring the road image in real time, and the current vehicle is the vehicle currently driven by the user and is also a vehicle applied by the intelligent driving safety assistance device. The automobile data recorder comprises one or more of a portable automobile data recorder or a rear loader integrated DVD automobile data recorder. The portable automobile data recorder has the advantages of good concealment, convenient installation, detachable replacement, low cost, simple use and the like; the integrated DVD automobile data recorder of the rear loader has higher cost and great modification difficulty, but the environment in the automobile can be kept beautiful after installation.
Meanwhile, if the automobile data recorders are divided according to functions, the automobile data recorders installed on the current vehicle include but are not limited to one or more of a high-definition automobile data recorder, a mini automobile data recorder, a night vision automobile data recorder or a wide-angle automobile data recorder.
The automobile data recorder may include one or more cameras, such as 2-way, 3-way, 4-way, 5-way, 8-way automobile data recorders, and each of the two automobile data recorders includes a camera corresponding to the number of ways, and may acquire, in real time, an image of a road ahead of the current vehicle and/or behind the current vehicle through the camera.
Determining whether a vehicle exists in front of the current vehicle by identifying the acquired road image, wherein the method can be that whether the vehicle which can block the current vehicle runs exists in front of the current vehicle or not is accurately determined according to the position of the automobile data recorder installed on the current vehicle and the width of the current vehicle; the method can also be used for recognizing a lane line in the road image, determining a lane in which the current vehicle runs, and determining whether the vehicle exists in front of the current vehicle on the lane.
Step S20, if a vehicle exists, the distance between the current vehicle and the vehicle in front is obtained, and whether early warning prompt is needed or not is judged according to the distance between the vehicles;
in this embodiment, if there is a vehicle in front of the current vehicle, the distance between the current vehicle and the vehicle in front may be obtained in real time or at a preset frequency by using a microwave radar or an ultrasonic radar.
The radar sends a detection signal, receives a return signal reflected by the detection signal after encountering a front vehicle, and can determine the distance between the current vehicle and the front vehicle according to the time required between sending the detection signal and receiving the return signal and the propagation speed of the detection signal in the air. Since the propagation speed of the radar signal is generally fast, and the time required for measuring the distance is extremely short, the measured distance can be approximated to the actual distance between two vehicles at the current moment.
The method for judging whether the early warning prompt is needed or not according to the distance between the vehicles can be that if the distance between the vehicles is less than the preset early warning distance, the early warning prompt is judged to be needed; and if the preset early warning distance is greater than or equal to the preset early warning distance, judging that early warning prompt is not needed.
The method for judging whether the early warning prompt is needed or not according to the inter-vehicle distance can also be that when the inter-vehicle distance between the current vehicle and the front vehicle at the current moment is determined, the current relative movement speed between the current vehicle and the front vehicle is determined, the distance between the current vehicle and the front vehicle is 0 after the current relative movement speed is judged, the elapsed time is the collision duration, and if the collision duration is less than the first preset time, the early warning prompt is needed; and if the collision time length is greater than or equal to the first preset time length, determining that no early warning prompt is needed.
And step S30, if the early warning prompt is needed, outputting distance danger early warning prompt information.
In this embodiment, if it is determined that the warning prompt is required, distance danger warning prompt information is output, that is, the distance danger warning prompt information is sent to the user. The user refers to a driver of the current vehicle or all persons in the vehicle.
The vehicle event data recorder can further comprise an audio output module which sends the early warning prompt information to the user in a sound mode, for example, sounds such as 'click and click' are output through a loudspeaker; the automobile data recorder also comprises a light emitting module, such as an LED lamp, and early warning prompt information is sent to a user through the flickering of a warning lamp. Meanwhile, a voice prompt mode such as 'passing by the front car' can also be adopted.
According to the invention, a vehicle data recorder of the current vehicle is used for acquiring a road image, whether a vehicle exists in front of the current vehicle is judged according to the road image, if the vehicle exists, the inter-vehicle distance between the current vehicle and the vehicle in front is acquired, whether early warning prompt is needed or not is judged according to the inter-vehicle distance, and if the early warning prompt is needed, distance danger early warning prompt information is output. According to the invention, by determining the workshop distance between the current vehicle and the vehicle in front, the user of the current vehicle can be warned in advance in time when the front vehicle and the rear vehicle lose the safety distance, so that the user can change the driving operation in time according to the warning information, accidents are avoided, and the safety of the user in driving the vehicle is improved.
Further, a second embodiment of the intelligent driving safety assistance method according to the present invention is provided, in the step S20, the step of obtaining a vehicle-to-vehicle distance between the current vehicle and a vehicle ahead, and determining whether an early warning prompt is required according to the vehicle-to-vehicle distance includes:
step S201, acquiring the inter-vehicle distance between the current vehicle and the front vehicle at a preset acquisition frequency, and determining a first inter-vehicle distance acquired at the current moment and a second inter-vehicle distance acquired at the latest time from the current moment;
step S202, determining the relative movement speed of the current vehicle and the front vehicle according to the first vehicle-to-vehicle distance, the second vehicle-to-vehicle distance and the preset acquisition frequency;
step S203, determining a collision time length according to the relative movement speed and the first inter-vehicle distance, and judging whether early warning prompt is needed or not according to the collision time length and a first preset time length.
In this embodiment, the method for determining whether the warning prompt is needed according to the inter-vehicle distance may be to continuously acquire the inter-vehicle distance between the current vehicle and the vehicle ahead at a preset acquisition frequency, determine the first inter-vehicle distance acquired at the current time, and determine the second inter-vehicle distance acquired the last time from the current time, that is, determine the inter-vehicle distance acquired the last two times from the inter-vehicle distances acquired the current time and before the current time.
The time interval of continuously obtaining the inter-vehicle distance twice can be obtained through presetting the obtaining frequency, namely, the time interval t between the second inter-vehicle distance and the first inter-vehicle distance is obtained, it can be determined that the distance between the current vehicle and the front vehicle is changed into the difference value between the first inter-vehicle distance and the second inter-vehicle distance within the shortest t time from the current moment, if the first inter-vehicle distance is larger than or equal to the second inter-vehicle distance, the fact that the distance between the two vehicles is increasing or the distance between the two vehicles is not changed is represented, and warning prompt is not needed at the moment.
If the first inter-vehicle distance is smaller than the second inter-vehicle distance, it indicates that the distance between the two vehicles is decreasing, and at this time, an early warning prompt may be required, so that a difference value is obtained by subtracting the first inter-vehicle distance from the second inter-vehicle distance, that is, the distance between the current vehicle and the vehicle in front within the time of the nearest t, when the preset obtaining frequency is large and the time is small, the relative movement speed of the two vehicles at the current time can be approximately obtained according to the distance and the time t, and then according to the distance between the two vehicles at the current time, that is, the first inter-vehicle distance, and the relative movement speed at the current time, how long the two vehicles collide with the current relative movement speed is calculated, and the calculated time is the collision duration.
If the collision duration is less than a first preset duration, judging that early warning prompt is needed; if the collision duration is greater than or equal to the first preset duration, judging that early warning prompt is not needed.
The embodiment judges whether the early warning prompt information needs to be sent to the user or not by determining the time required by the collision between the current vehicle and the front vehicle, so that the user is prevented from being prompted when the collision probability is low, and the accuracy of the early warning prompt can be improved.
Further, a third embodiment of the intelligent driving safety assistance method according to the present invention is provided, wherein in the step S203, after the step of determining the collision duration according to the relative movement speed and the first inter-vehicle distance, the method further includes:
step S2031, if the collision time length is less than a second preset time length and the current vehicle does not trigger braking, controlling the current vehicle to trigger braking.
In this embodiment, after the collision duration is determined, if the collision duration is less than the second preset duration and the current vehicle does not trigger braking, that is, the user does not control the current vehicle to brake, or the user does not take any measures to avoid the vehicle colliding with the vehicle, the current vehicle is controlled to trigger braking. And if the collision duration is less than the second preset duration, the current vehicle must be braked at the moment, otherwise, a collision accident can occur or is particularly serious. By automatically controlling the current vehicle braking, the occurrence of a collision event can be avoided and the severity of the collision event can be reduced.
It should be noted that, when the current vehicle is controlled to trigger braking, the running speed of the current vehicle at the current moment can be acquired, and when the running speed is low, the current vehicle is controlled to normally brake; and when the running speed is higher, controlling the current vehicle to brake emergently. If the current running speed of the current vehicle is smaller than a preset speed threshold value, controlling the current vehicle to trigger common braking; and if the current running speed of the current vehicle is greater than or equal to the preset speed threshold value, controlling the current vehicle to trigger emergency braking.
According to the embodiment, when the collision duration is less than the second preset duration and the user does not control the current vehicle to trigger braking, the current vehicle is automatically controlled to brake, so that the occurrence of a collision accident can be avoided, the severity of the collision accident is reduced, and the safety of the user in driving the vehicle is improved.
Further, a fourth embodiment of the intelligent driving safety assistance method according to the present invention is provided, wherein in the step S10, the step of determining whether a vehicle exists in front of the current vehicle according to the road image includes:
step S101, recognizing a lane line in the road image, determining a lane where the current vehicle is located according to the lane line, and judging whether a vehicle exists in front of the current vehicle on the lane.
In this embodiment, the manner of determining whether there is a vehicle in front of the current vehicle from the road image may be to recognize a lane line in the road image, determine a lane in which the current vehicle is traveling from the lane line, and then determine whether there is a vehicle in front of the current vehicle on the lane.
The lane lines refer to lines drawn on the road for distinguishing different lanes. The road can be divided into a plurality of lanes by lane lines. In the driving process of the vehicle, the vehicle can run on one lane, the driving safety can be improved, and the problem that the vehicle collides with vehicles on other lanes due to the fact that lanes are changed randomly is solved.
Since the vehicle generally runs in the lane, is generally hindered by other vehicles in the same lane during the running process of the current vehicle, and has the highest probability of collision with the vehicle in the same lane, the lane in which the current vehicle runs is determined first, and then whether other vehicles exist in front of the current vehicle in the lane is determined.
It should be noted that, in addition to determining whether there is a vehicle in front of the current vehicle, it is also possible to determine whether there is a vehicle behind the current vehicle, in the same manner as determining whether there is a vehicle in front.
Meanwhile, if a vehicle exists behind the vehicle, the distance between the current vehicle and the vehicle behind the vehicle can be determined, and whether early warning prompt is needed or not is judged according to the distance.
The current relative movement speed between the current vehicle and the rear vehicle is determined while the inter-vehicle distance between the current vehicle and the rear vehicle at the current moment is determined, the distance between the current vehicle and the rear vehicle is 0 after a long time under the current relative movement speed, the elapsed time is collision duration, and if the collision duration is less than first preset time, early warning prompt is determined to be needed; and if the collision time length is greater than or equal to the first preset time length, determining that no early warning prompt is needed. The early warning prompt between the current vehicle and the rear vehicle is the same as the early warning prompt between the current vehicle and the front vehicle, but if the collision time between the current vehicle and the rear vehicle is less than a second preset time, the current vehicle cannot be controlled to brake.
According to the embodiment, the lane where the current vehicle runs is determined, and whether other vehicles exist in front of the current vehicle in the lane is judged, so that the accuracy of determining whether the vehicles are obstructed in front of the current vehicle can be improved, and the accuracy of early warning prompt is improved.
Further, a fifth embodiment of the intelligent driving safety assistance method according to the present invention is provided, where in the step S101, after the step of determining the lane where the current vehicle is located according to the lane line, the method further includes:
step S1011, determining the lane line distance between the current vehicle and the lane line of the lane where the current vehicle is located according to the road image;
step S1012, when it is detected that the inter-lane distance decreases, starting timing, determining a lane change duration that takes the inter-lane distance as a starting point when the inter-lane distance starts decreasing and takes the inter-lane distance as an ending point when the inter-lane distance continuously decreases to a preset boundary threshold;
step S1013, if the average reduction value of the inter-vehicle-line distance in the lane change duration is smaller than a deviation determination threshold value, outputting lane deviation early warning prompt information.
In this embodiment, after the lane where the current vehicle is located is determined, the distance between the current vehicle and the lane line of the lane where the current vehicle is located is determined according to the road image, the head of the current vehicle in the road image is identified, the boundary positions of the left side and the right side of the head of the current vehicle can be used as two preset points, the distances between the two preset points and the lane lines on the two sides of the lane, namely the inter-lane distance, are respectively determined, the distance between the left preset point and the left lane line is determined, and the distance between the right preset point and the right lane line is determined.
When the inter-lane distance of a certain side begins to continuously decrease, it is indicated that the current vehicle is moving towards the lane line, which may happen under the condition of unconscious driving of a user, and when the inter-lane distance continuously decreases to a preset boundary threshold value, it indicates that the vehicle is about to generate lane departure. However, the normal lane change behavior or the steering behavior under conscious control of the user can also cause the above change, however, because the normal lane change behavior or the steering behavior often has a fast distance change and a large reduction amplitude of the inter-lane distance, the time consumed by continuously reducing the inter-lane distance from the current distance to the preset boundary threshold value, that is, the lane change duration, can be determined, the average reduction value of the inter-lane distance in the lane change duration is calculated, and if the average reduction value is large, it is determined that the lane departure is consciously controlled by the user, and the lane departure warning prompt information does not need to be output; if the average reduction value is smaller, the lane departure is determined to occur under the condition that the user does not drive unconsciously, and lane departure early warning prompt information should be sent to the user at the moment.
Therefore, when the inter-vehicle distance on one side is detected to be reduced, timing is started, the lane change time length between the starting point when the inter-vehicle distance starts to be reduced and the end point when the inter-vehicle distance continuously reduces to the preset boundary threshold value is determined, the average reduction value of the inter-vehicle distance in the lane change time length is determined, if the average reduction value is smaller than the deviation determination threshold value, the lane deviation is determined to occur under the condition that a user does not drive unconsciously, and the lane deviation early warning prompt information is output at the moment; and if the average reduction value is larger than or equal to the deviation judgment threshold value, determining that the lane deviation is consciously controlled by the user, and not outputting lane deviation early warning prompt information at the moment.
It should be noted that, in the timing process caused by the decrease of the inter-lane distance on a certain side, the inter-lane distance needs to be continuously decreased to a preset boundary threshold, if the inter-lane distance is kept unchanged or increased at a certain time, the lane change duration that has been timed is cleared, and when the timing condition is met, the timing is restarted.
Meanwhile, in a general situation, when the distance between the vehicle lines on one side starts to decrease to cause timing, the distance between the vehicle lines on the other side starts to increase, and the timing process caused by the decrease between the distance between the vehicle lines on the other side is cleared; vice versa, when the inter-lane distance on one side starts to increase, the inter-lane distance on the other side starts to decrease, and the inter-lane distance on the other side decreases at this time to cause the timing process.
It should be noted that, in addition to starting timing when the inter-lane distance of a certain side is detected to be reduced, timing may also be started when the inter-lane distance of a certain side is detected to be continuously reduced by a preset distance threshold, and lane change duration between a starting point when the inter-lane distance is just continuously reduced by the preset distance threshold and an ending point when the inter-lane distance is continuously reduced to a preset boundary threshold is determined. Determining an average reduction value of the inter-vehicle-line distance in the lane change duration, if the average reduction value is smaller than a deviation determination threshold value, determining that the lane deviation occurs under the condition that a user does not drive unconsciously, and outputting lane deviation early warning prompt information at the moment; and if the average reduction value is larger than or equal to the deviation judgment threshold value, determining that the lane deviation is consciously controlled by the user, and not outputting lane deviation early warning prompt information at the moment.
It should be noted that the way of outputting the lane departure warning prompt information may be to send the warning prompt information to the user in a form of sound through an audio output module of the automobile data recorder, for example, to send out sounds such as "drip" through a speaker; or the warning light flashes to send warning prompt information to the user through a light emitting module of the automobile data recorder, such as an LED lamp. Meanwhile, a voice prompt mode such as lane departure imminent and the like can also be adopted. The way of outputting the lane departure warning prompt information may be different from the way of outputting the distance danger warning prompt information, for example, different sounds may be emitted through the speaker to be used as the warning prompt information, so as to distinguish the prompt contents, and the user can accurately know the risk category of the current prompt.
According to the embodiment, the lane departure is determined to be under conscious control of the user or under the unconscious driving condition of the user according to the change condition of the distance between the current vehicle and the lane line, and if the lane departure occurs under the unconscious driving condition of the user, lane departure early warning prompt information is sent to the user, so that the user can correct the current driving operation by himself, and the safety of the user in driving the vehicle is improved.
Further, a sixth embodiment of the intelligent driving safety assistance method according to the present invention is provided, in the step S10, the step of acquiring the road image by the driving recorder of the current vehicle includes:
step S102, acquiring the running speed of the current vehicle, and acquiring the road image through the automobile data recorder of the current vehicle when the running speed is greater than a preset speed threshold value.
In this embodiment, because a vehicle accident generally occurs under the condition that the vehicle running speed is very high, when the current vehicle running speed is low, the possibility of the accident is very low, the warning prompt is generally not needed, and the automobile data recorder can not be controlled to collect road images in real time, so that the electric quantity of the automobile data recorder is saved.
Therefore, the running speed of the current vehicle is obtained in real time, and when the running speed is larger than a preset speed threshold value, the road image is collected in real time through the automobile data recorder.
Meanwhile, when the driving speed is less than or equal to the preset speed threshold value, the automobile data recorder can be controlled to intermittently acquire the road images.
According to the embodiment, the road image is collected through the automobile data recorder only when the running speed of the current vehicle is greater than the preset speed threshold value, and the electric quantity of the automobile data recorder is saved under the condition that the early warning prompt is not influenced.
The invention also provides an intelligent driving safety auxiliary device.
Referring to fig. 3, fig. 3 is a functional module diagram of the first embodiment of the intelligent driving safety assistance device of the present invention. Intelligence driving safety auxiliary device includes:
the system comprises an acquisition module 10, a display module and a control module, wherein the acquisition module is used for acquiring a road image through a vehicle event data recorder of a current vehicle and judging whether a vehicle exists in front of the current vehicle or not according to the road image;
the judging module 20 is configured to, if a vehicle exists, obtain a vehicle-to-vehicle distance between the current vehicle and a vehicle in front, and judge whether an early warning prompt is required according to the vehicle-to-vehicle distance;
and the prompt module 30 is configured to output distance danger early warning prompt information if early warning prompt is required.
In addition, the invention also provides a computer program product, which comprises an intelligent driving safety auxiliary program, wherein the intelligent driving safety auxiliary program realizes the intelligent driving safety auxiliary method when being executed by a processor.
The specific implementation manner of the computer program product of the present invention is substantially the same as that of each embodiment of the intelligent driving safety assistance method, and is not described herein again.
In addition, the invention also provides a computer readable storage medium.
The computer readable storage medium stores an intelligent driving safety assisting program, and the intelligent driving safety assisting program realizes the steps of the intelligent driving safety assisting method when being executed by the processor.
The specific implementation manner of the computer-readable storage medium of the present invention is substantially the same as that of the above-mentioned embodiments of the intelligent driving safety assistance method, and is not described herein again.
The present invention is described in connection with the accompanying drawings, but the present invention is not limited to the above embodiments, which are only illustrative and not restrictive, and those skilled in the art can make various changes without departing from the spirit and scope of the invention as defined by the appended claims, and all changes that come within the meaning and range of equivalency of the specification and drawings that are obvious from the description and the attached claims are intended to be embraced therein.
Claims (10)
1. An intelligent driving safety assisting method is characterized by comprising the following steps:
acquiring a road image through a vehicle event data recorder of a current vehicle, and judging whether a vehicle exists in front of the current vehicle according to the road image;
if the vehicle exists, the distance between the current vehicle and the vehicle in front is obtained, and whether early warning prompt is needed or not is judged according to the distance between the vehicles;
and if the early warning prompt is needed, outputting distance danger early warning prompt information.
2. The intelligent driving safety assistance method according to claim 1, wherein the step of obtaining a vehicle-to-vehicle distance between the current vehicle and a vehicle ahead, and determining whether an early warning prompt is required according to the vehicle-to-vehicle distance comprises:
acquiring the inter-vehicle distance between the current vehicle and the front vehicle at a preset acquisition frequency, and determining a first inter-vehicle distance acquired at the current moment and a second inter-vehicle distance acquired at the latest time from the current moment;
determining the relative movement speed of the current vehicle and the front vehicle according to the first vehicle-to-vehicle distance, the second vehicle-to-vehicle distance and the preset acquisition frequency;
determining collision time length according to the relative movement speed and the first inter-vehicle distance, and judging whether early warning prompt is needed or not according to the collision time length and a first preset time length.
3. The intelligent driving safety assistance method according to claim 2, wherein the step of determining the collision duration from the relative movement speed and the first inter-vehicle distance further comprises:
and if the collision time length is less than a second preset time length and the current vehicle does not trigger braking, controlling the current vehicle to trigger braking.
4. The intelligent driving safety assistance method according to claim 1, wherein the step of determining whether a vehicle exists in front of the current vehicle according to the road image includes:
and recognizing a lane line in the road image, determining a lane where the current vehicle is located according to the lane line, and judging whether a vehicle exists in front of the current vehicle on the lane.
5. The intelligent driving safety assistance method according to claim 4, wherein after the step of determining the lane in which the current vehicle is located according to the lane line, the method further comprises:
determining the lane distance between the current vehicle and the lane line of the lane where the current vehicle is located according to the road image;
when the inter-lane distance is detected to be reduced, timing is started, and the lane changing duration taking the inter-lane distance as a starting point and the inter-lane distance as an end point when the inter-lane distance is continuously reduced to a preset boundary threshold value is determined;
and if the average reduction value of the distance between the lines in the lane changing time is smaller than a deviation judgment threshold value, outputting lane deviation early warning prompt information.
6. The intelligent driving safety assistance method according to claim 1, wherein the step of acquiring the road image by the vehicle recorder of the current vehicle comprises:
and acquiring the running speed of the current vehicle, and acquiring the road image through the automobile data recorder of the current vehicle when the running speed is greater than a preset speed threshold value.
7. The utility model provides an intelligence driving safety auxiliary device which characterized in that, intelligence driving safety auxiliary device includes:
the acquisition module is used for acquiring a road image through a vehicle event data recorder of a current vehicle and judging whether a vehicle exists in front of the current vehicle or not according to the road image;
the judging module is used for acquiring the workshop distance between the current vehicle and the vehicle in front if the vehicle exists, and judging whether early warning prompt is needed or not according to the workshop distance;
and the prompt module is used for outputting distance danger early warning prompt information if early warning prompt is required.
8. An intelligent driving safety assistance device, comprising a memory, a processor and an intelligent driving safety assistance program stored on the memory and operable on the processor, wherein the intelligent driving safety assistance program, when executed by the processor, implements the intelligent driving safety assistance method according to any one of claims 1 to 6.
9. A computer program product, characterized in that the computer program product comprises an intelligent driving safety assistance program, which when executed by a processor implements the intelligent driving safety assistance method according to any one of claims 1-6.
10. A computer-readable storage medium, wherein the computer-readable storage medium stores thereon an intelligent driving safety assistance program, and when executed by a processor, the intelligent driving safety assistance program implements the intelligent driving safety assistance method according to any one of claims 1 to 6.
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