CN102225692A - Automobile anti-collision method as well as corresponding mobile terminal and anti-collision system thereof - Google Patents
Automobile anti-collision method as well as corresponding mobile terminal and anti-collision system thereof Download PDFInfo
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Abstract
The invention discloses an automobile anti-collision method as well as a corresponding mobile terminal and a corresponding anti-collision system thereof. The automobile anti-collision method comprises the following steps: obtaining related data when an automobile is in travelling, wherein the related data comprises an angle acceleration, a forward acceleration and an instant speed which are measured once at each first determined time slot when the automobile is in travelling, and a plurality of instant distances between the automobile and surroundings; processing the related data measured at two adjacent time points corresponding to the first predetermined time slot and judging whether the automobile is in a safe state; when judging that the automobile is not in the safe state, obtaining automatic driving parameters according to the related data and outputting an automatic driving starting signal and an automatic driving parameter to an automatic driving control device so as to prevent the automobile from collision, wherein the automatic driving parameters comprise braking power and a torque applied to a steering wheel. The anti-collision method can be used for accurately judging whether the automobile is in the safe state so as to effectively prevent the traffic accident.
Description
Technical field
The present invention relates to a kind of safety detection device, particularly relate to the anticollision of motor vehicles method and corresponding mobile terminal and the collision avoidance system that in the motor-driven vehicle going process, prevent and reduce the generation of collision of motor-driven vehicles accident.
Background technology
Along with the continuous progress of society and the raising of people's living standard, self-propelled vehicle (for example automobile, motor bike or battery-driven car or the like) is constantly by people's popularization and application.Along with the continuous increase of self-propelled vehicle quantity, the continuous increase of people's operation pressure and the continuous quickening of rhythm of life, the incidence of traffic accident rises thereupon sharp.Therefore, traffic safety has become the emphasis that the whole society gazes at.Improve self-propelled vehicle driving safe reliability and avoid navigating mate to greatest extent because the collision case that influences such as human element or road surface accident cause is the key subjects that world today's self-propelled vehicle industry and society very pay close attention to and be badly in need of solving.
Summary of the invention
The technical matters that the present invention mainly solves provides a kind of anticollision of motor vehicles method and corresponding mobile terminal and collision avoidance system, and whether it can judge self-propelled vehicle accurately and be in a safe condition, the generation that avoids traffic accident.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of anticollision of motor vehicles method is provided, it comprises the related data when obtaining this motor-driven vehicle going, itself and a plurality of instant distance between the object on every side when angle acceleration/accel, forward acceleration and the instantaneous velocity when described related data comprises this motor-driven vehicle going of measuring every first predetermined amount of time and this motor-driven vehicle going; Handle the measured related data of pairing two the adjacent time points of this first predetermined amount of time and judge whether this self-propelled vehicle is in a safe condition; When judging that this self-propelled vehicle is not in a safe condition, obtain automatic drive parameter according to described related data, and output automatic steering actuation signal and this automatic steering parameter crash to avoid this self-propelled vehicle to the automatic steering control setup, and wherein this automatic steering parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
Wherein, the related data that pairing two the adjacent time points of this first predetermined amount of time of step process are measured also judges whether this self-propelled vehicle is in a safe condition, comprise: from the measured a plurality of instant distance of pairing very first time of this first predetermined amount of time point, find out this self-propelled vehicle with recently around the first minimum instant distance between the object, according to this first minimum instant distance obtain this recently on every side object depart from the angle of the travel direction of this self-propelled vehicle; According to this measured angle acceleration/accel of this point, this forward acceleration, this instantaneous velocity very first time and should be recently around the object angle that departs from the travel direction of this self-propelled vehicle obtain this very first time put this self-propelled vehicle towards this recently around first speed of object; According to this measured angle acceleration/accel of pairing second time point of this first predetermined amount of time, this forward acceleration, this instantaneous velocity and should be recently around the object angle that departs from the travel direction of this self-propelled vehicle obtain this this self-propelled vehicle of second time point towards this recently around the second speed of object; Obtain the second minimum instant distance between the object around this self-propelled vehicle distance of this second time point is somebody's turn to do recently; According to this first minimum instant distance, this second minimum instant distance, this very first time put this self-propelled vehicle towards this recently around object first speed and this this self-propelled vehicle of second time point towards this recently around second speed of object obtain around this second time point should be recently object towards the speed of this self-propelled vehicle; According to this this self-propelled vehicle of second time point towards this recently around object second speed, object obtains the safety distance of this self-propelled vehicle at this second time point towards the speed and second predetermined amount of time of this self-propelled vehicle around this second time point should be recently; And relatively whether this second minimum instant distance is in this safe condition with judgement at this this self-propelled vehicle of second time point with this safety distance.
Wherein, step according to described related data obtain automatic drive parameter comprise according to this this self-propelled vehicle of second time point towards this recently around object second speed, object calculates the forward acceleration that braking should have towards speed and this second minimum instant distance of this self-propelled vehicle around this second time point should be recently, and this forward acceleration that should have according to braking obtains the dynamics of this braking; And according to this recently around object angle of departing from the travel direction of this self-propelled vehicle obtain the steering angle acceleration/accel that this self-propelled vehicle crash-avoidance should have, and the steering angle acceleration/accel that should have according to this self-propelled vehicle crash-avoidance obtains the moment of torsion that this gives bearing circle.
Wherein, when judging that this self-propelled vehicle is not in this safe condition, then export the alarm enable signal, thereby give the alarm to remind the driver to carry out the hedging operation in the manual operation time of reserving with the activation siren horn.And after the manual operation time of this reservation, further judge whether this self-propelled vehicle is in a safe condition, when judging that this self-propelled vehicle is not in a safe condition, then obtain automatic drive parameter and send to the automatic steering control setup according to described related data, to avoid this self-propelled vehicle to crash, wherein this automatic steering parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
For solving the problems of the technologies described above, another technical solution used in the present invention is: a kind of portable terminal is provided, and it comprises treater.This treater comprises that running data obtains module, computing and judgement module and the automatic steering calculation of parameter is handled module.Wherein, related data when running data obtains module and is used to obtain motor-driven vehicle going, itself and a plurality of instant distance between the object on every side when angle acceleration/accel, forward acceleration and the instantaneous velocity when described related data comprises this motor-driven vehicle going of measuring every first predetermined amount of time and this motor-driven vehicle going.Computing with judge that module is used to handle the measured related data of pairing two the adjacent time points of this first predetermined amount of time and judge whether this self-propelled vehicle is in a safe condition.And automatic steering calculation of parameter processing module is used for when judging that this self-propelled vehicle is not in a safe condition, obtain automatic drive parameter according to described related data, and output automatic steering actuation signal and this automatic steering parameter crash to avoid this self-propelled vehicle to the automatic steering control setup, and wherein this automatic steering parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
Wherein, this computing comprises deflection angle generation unit, first calculation processing unit, second calculation processing unit, the 3rd calculation processing unit and judging unit with the judgement module.Wherein, the deflection angle generation unit be used for the measured a plurality of instant distance of pairing very first time of this first predetermined amount of time point find out this self-propelled vehicle with recently around the first minimum instant distance between the object, and according to this first minimum instant distance obtain this recently on every side object depart from the angle of the travel direction of this self-propelled vehicle.First calculation processing unit respectively according to this first predetermined amount of time pairing should put the very first time and this angle acceleration/accel that adjacent second time point is measured, this forward acceleration, this instantaneous velocity and should be recently around the object angle that departs from the travel direction of this self-propelled vehicle obtain this very first time point and this this self-propelled vehicle of second time point towards this recently around first speed and the second speed of object.Second calculation processing unit according to this first minimum instant distance, this self-propelled vehicle of second time point with should be recently around between the object the second minimum instant distance and this very first time point and this this self-propelled vehicle of second time point towards this recently around this first speed and this second speed of object obtain second time point should nearest object on every side towards the speed of this self-propelled vehicle.The 3rd calculation processing unit according to this this self-propelled vehicle of second time point towards this recently around object this second speed, object obtains the safety distance of this self-propelled vehicle at this second time point towards this speed and second predetermined amount of time of this self-propelled vehicle around this second time point should be recently.Judging unit is used for relatively, and whether this second minimum instant distance is in a safe condition at this this self-propelled vehicle of second time point with judging with this safety distance.
Wherein, this treater comprises that further alarm signal produces module, is used for when judging that this self-propelled vehicle is not in a safe condition, and enable signal gives the alarm.
Wherein, this portable terminal utilizes data line to be connected with this self-propelled vehicle, the described related data when obtaining this motor-driven vehicle going.
For solving the problems of the technologies described above, the another technical scheme that the present invention adopts is: a kind of collision avoidance system is provided, and it comprises data acquisition unit, treater and automatic steering control setup.Related data when data acquisition unit is used to gather motor-driven vehicle going.Thereby treater connects this data acquisition unit judges with the described related data that receives and handle this data acquisition unit and gathered whether this self-propelled vehicle is in a safe condition.The automatic steering control setup connects this treater to determine whether to start this automatic steering control setup according to above-mentioned judged result.This treater comprises that running data obtains module, computing and judgement module and the automatic steering calculation of parameter is handled module.Wherein, related data when running data obtains module and is used to obtain motor-driven vehicle going, itself and a plurality of instant distance between the object on every side when angle acceleration/accel, forward acceleration and the instantaneous velocity when described related data comprises this motor-driven vehicle going of measuring every first predetermined amount of time and this motor-driven vehicle going.Computing with judge that module is used to handle the measured related data of pairing two the adjacent time points of this first predetermined amount of time and judge whether this self-propelled vehicle is in a safe condition.And automatic steering calculation of parameter processing module is used for when judging that this self-propelled vehicle is not in a safe condition, obtain automatic drive parameter according to described related data, and output automatic steering actuation signal and this automatic steering parameter crash to avoid this self-propelled vehicle to the automatic steering control setup, and wherein this automatic steering parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
The invention has the beneficial effects as follows: be different from prior art, anticollision of motor vehicles method provided by the invention, portable terminal and collision avoidance system can obtain the nearest object on every side of longitudinal maneuver car exactly, the speed that self-propelled vehicle object around recently travels and recently around object towards the speed of motor-driven vehicle going, therefore whether it can judge self-propelled vehicle exactly and be in a safe condition, thereby carries out the generation of hedging operation to avoid traffic accident in the time of abundance.And anticollision of motor vehicles method of the present invention can be applied in the portable terminal, and portable terminal is easy to carry, therefore field of application is wider, promptly can implement the disclosed generation of anticollision of motor vehicles method to avoid traffic accident as long as portable terminal is connected with self-propelled vehicle.
Description of drawings
Fig. 1 is the box structure scheme drawing of an embodiment of collision avoidance system in the embodiment of the invention;
Fig. 2 is the box structure scheme drawing of an embodiment of the treater of portable terminal in the embodiment of the invention;
Fig. 3 is the diagram of circuit of an embodiment of anticollision of motor vehicles method in the embodiment of the invention; And
Fig. 4 is the diagram of circuit of another embodiment of anticollision of motor vehicles method in the embodiment of the invention.
The specific embodiment
Fig. 1 is the box structure scheme drawing of an embodiment of collision avoidance system in the embodiment of the invention.As shown in Figure 1, collision avoidance system 200 of the present invention can be applicable in the self-propelled vehicle, and self-propelled vehicle of the present invention can be automobile, motor bike or battery-driven car or the like.Wherein self-propelled vehicle comprises bearing circle 110 and brake gear 120.Certainly, it will be appreciated by persons skilled in the art that self-propelled vehicle also comprises the element of the self-propelled vehicle that other is common, for example motor, tire or the like do not repeat them here.
As shown in Figure 1, collision avoidance system 200 comprises data acquisition unit 210, automatic steering control setup 220 and portable terminal 230.Wherein, data acquisition unit 210 is used for harvester motor-car Various types of data in motion.Portable terminal 230 connects data acquisition unit 210 and automatic steering control setup 220 by data line 240, receiving the related data that data acquisition unit 210 is gathered, and portable terminal 230 comprises the related data that treater 2300 is received with handle mobile terminal 230 and produces the control corresponding instruction.In addition, portable terminal 230 control command that further connection automatic steering control setup 220 is produced with the treater 2300 according to portable terminal 230 by data line 240 determines whether start automatic steering control setup 220.
Particularly, data acquisition unit 210 comprises gyro sensor 211, acceleration pick-up 212, rate meter 213 and apomecometer 214.Wherein, angle acceleration/accel R when gyro sensor 211 is measured a motor turning every the first predetermined amount of time T0, forward acceleration G when acceleration pick-up 212 is measured a motor-driven vehicle going every the first predetermined amount of time T0, instantaneous velocity V when rate meter 213 is measured a motor-driven vehicle going every the first predetermined amount of time T0, and apomecometer 214 itself and instant distance D 1 between the object on every side when measuring a motor-driven vehicle going every the first predetermined amount of time T0, D2...Dn, wherein apomecometer 214 can be laser rangefinder, thereby utilizes laser and accurately judge self-propelled vehicle and the instant distance between the object on every side.Because the speed of self-propelled vehicle is very fast, therefore the first predetermined amount of time T0 generally is set to Millisecond.
Automatic steering control setup 220 comprises bearing circle motor controller 221 and brake motor controller 222, and wherein bearing circle motor controller 221 is connected the rotation direction that the control command that is produced with the treater 2300 according to portable terminal 230 between the bearing circle 110 of portable terminal 230 and self-propelled vehicle is controlled bearing circle 110.And brake motor controller 222 is connected the control command that is produced with the treater 2300 according to portable terminal 230 between the brake gear 120 of portable terminal 230 and self-propelled vehicle and controls the relevant braking strength of brake gear 120.
Fig. 2 is the box structure scheme drawing of an embodiment of the treater of portable terminal in the embodiment of the invention.See also Fig. 1-2, the treater 2300 of portable terminal 230 comprises that running data obtains module 2310, computing and judgement module 2320 and the automatic steering calculation of parameter is handled module 2330.
Itself and instant distance D 1, the D2...Dn between the object on every side when angle acceleration/accel R, the forward acceleration G the when related data when running data obtains module 2310 and is used to obtain motor-driven vehicle going, for example above-mentioned motor-driven vehicle going of measuring every first predetermined amount of time and instantaneous velocity V and this motor-driven vehicle going.
Computing comprises deflection angle generation unit 2321, first calculation processing unit 2322, second calculation processing unit 2323, the 3rd calculation processing unit 2324 and judging unit 2325 with judgement module 2320.Wherein, computing is handled pairing two the adjacent time points of the first predetermined amount of time T0 respectively with judging each unit in the module 2320, for example the measured above-mentioned related data of the very first time point t and the second time point t+T0 and judge whether self-propelled vehicle is in a safe condition.
The automatic steering calculation of parameter is handled module 2330 and is used for when computing and judgement module 2320 are judged self-propelled vehicle and be not in a safe condition, obtain automatic drive parameter according to above-mentioned related data, and output automatic steering actuation signal and automatic steering parameter to automatic steering control setup 220 shown in Figure 1 crashes to avoid self-propelled vehicle.
Fig. 3 is the diagram of circuit of an embodiment of anticollision of motor vehicles method in the embodiment of the invention.See also Fig. 1-3, the anticollision of motor vehicles method that the embodiment of the invention disclosed may further comprise the steps:
Step S1: itself and instant distance D 1, the D2...Dn between the object on every side when angle acceleration/accel R, the forward acceleration G the when related data when obtaining motor-driven vehicle going, wherein said related data comprise the motor-driven vehicle going of measuring every the first predetermined amount of time T0 and instantaneous velocity V and this motor-driven vehicle going.
At this, portable terminal 230 can be connected with collision avoidance system 200 on being arranged on self-propelled vehicle by data line 240, thus the related data that data acquisition unit 210 in the collision avoidance system 200 can be gathered every first predetermined amount of time and the running data that is passed to treater 2300 in the portable terminal 230 obtains module 2310.
Step S2: handle the measured related data of pairing two the adjacent time points of the first predetermined amount of time T0 and judge whether self-propelled vehicle is in a safe condition.At this, pairing two the adjacent time points of the first predetermined amount of time T0 are defined as the very first time point t and the second time point t+T0, conveniently to introduce the present invention.Wherein, the second time point t+T0 is later than very first time point t.
Particularly, above-mentioned steps S2 may further comprise the steps:
Step S21:, obtain the angle w that nearest object A on every side departs from the travel direction of self-propelled vehicle according to the first minimum distance D tmin immediately among the first predetermined amount of time T0 point t of the pairing very first time measured a plurality of instant distance D 1t, D2t...Dnt, finding out self-propelled vehicle and the nearest instant distance D tmin of first minimum between the object A on every side.
At this, it will be understood by those skilled in the art that, because it is fixing and known that apomecometer 214 is installed in position on the self-propelled vehicle, so the deflection angle generation unit 2321 in the treater 2300 can obtain module 2310 according to running data and records the first minimum instant distance D tmin and obtain at very first time point t motor-driven vehicle going direction and the deviation angle w between the object A on every side recently.
Step S22: the angle w that departs from the travel direction of self-propelled vehicle according to object A at very first time point t measured angle acceleration/accel Rt, forward acceleration Gt, instantaneous velocity Vt and recently obtains the first speed Vta at very first time point t self-propelled vehicle object A around recently.
Step S23: obtain at the second time point t+T0 self-propelled vehicle towards nearest second speed V (t+T0) a of object A on every side according to the angle w that departs from the travel direction of self-propelled vehicle at the measured angle acceleration/accel R (t+T0) of the second time point t+T0, forward acceleration G (t+T0), instantaneous velocity V (t+T0) and nearest object A on every side.
Wherein, first calculation processing unit 2322 of treater 2300 obtains the related data that module 2310 is obtained at very first time point t and the second time point t+T0 according to running data, cooperate motor-driven vehicle going direction that deflection angle generation unit 2321 produced with recently around deviation angle w between the object A, thereby calculate and obtain respectively at very first time point t and the second time point t+T0 self-propelled vehicle by vector towards the nearest first speed Vta and second speed V (t+T0) a of object A on every side.
Step S24: obtain second minimum instant distance D (t+T0) min between the object A around the second time point t+T0 self-propelled vehicle is nearest.
At this, it should be noted that, because the first predetermined amount of time T0 is very of short duration, for example it can be set to Millisecond, therefore at the second time point t+T0, can assert the longitudinal maneuver car nearest still be object A around recently, and the motor-driven vehicle going direction with recently around not variation of deviation angle w between the object A.
Step S25: according to the first minimum instant distance D tmin, second minimum instant distance D (t+T0) min, the first speed Vta of very first time point t self-propelled vehicle object A around recently and second time point t+T0 self-propelled vehicle second speed V (t+T0) a of object A around recently obtain the second time point t+T0 recently around object A towards speed V (t+T0) x of self-propelled vehicle.
At this moment, nearest object A on every side can obtain by following formula by second calculation processing unit 2323 at the speed V of the second time point t+T0 (t+T0) x towards self-propelled vehicle:
V(t+T0)x＝{[Dtmin-D(t+T0)min]-{[Vta+V(t+T0)a]×T0/2}}/T0 (1)
At this, it is to be noted, owing to object A around nearest also may move in the process of motor-driven vehicle going, so the present invention can and obtain at the nearest object A on every side of the second time point t+T0 towards speed V (t+T0) x of self-propelled vehicle by second calculation processing unit, 2323 execution above-mentioned steps S25.That is to say that the present invention takes into account the possibility that object A around nearest moves simultaneously in the motor-driven vehicle going process.
Step S26: according to second speed V (t+T0) a of second time point t+T0 self-propelled vehicle object A around recently, the second time point t+T0 recently around object A obtain self-propelled vehicle at the safety distance S of the second time point t+T0 (t+T0) towards speed V (t+T0) x and the second predetermined amount of time T of self-propelled vehicle.
Wherein, the 3rd calculation processing unit 2324 can obtain by following formula according to above-mentioned related data:
S(t+T0)＝[V(t+T0)a+V(t+T0)x]×T (2)
In the present embodiment, the second predetermined amount of time T can be set at a preset parameter, and it mainly is time, treater 2300 processing data and the automatic steering control setup 200 control bearing circle 110 of time that produces the automatic steering parameter and collision avoidance system 200 and the summation that brake gear 120 carries out the time of automatic steering operation that is transmitted by the first predetermined amount of time T0, signal.At this, because the time that the first predetermined amount of time T0, signal transmit, treater 2300 processing data and to produce time of automatic steering parameter all very of short duration, therefore the second predetermined amount of time T is mainly determined by the time that the automatic steering control setup 220 control bearing circle 110 and the brake gear 120 of collision avoidance system 200 carries out the automatic steering operation.
Step S27: relatively whether second minimum instant distance D (t+T0) min and safety distance S (t+T0) are in a safe condition at the second time point t+T0 self-propelled vehicle to judge.
That is to say that as second minimum instant distance D (t+T0) min during greater than safety distance S (t+T0), then representing at the second time point t+T0 self-propelled vehicle is to be in a safe condition; And when second minimum instant distance D (t+T0) min non-during greater than safety distance S (t+T0), then representing at the second time point t+T0 self-propelled vehicle is not to be in a safe condition.
Behind correlation step S21～S27 of treater 2300 execution of step S2, and when judging self-propelled vehicle and not being in a safe condition, then carry out following step S3: obtain automatic drive parameter and export the automatic steering actuation signal and the automatic steering parameter crashes to avoid this self-propelled vehicle to automatic steering control setup 220 according to described related data, wherein the automatic steering parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
Wherein, the automatic steering calculation of parameter in the treater 2300 handle module 2330 can be according to speed V (t+T0) a of the self-propelled vehicle of current (i.e. second time point) object A around recently, recently around object A calculate brake motor controller 222 towards speed V (t+T0) x of self-propelled vehicle and distance D between the two (t+T0) min and operate brake gears 120 and brake needed braking dynamics.Simultaneously the automatic steering calculation of parameter handle module 2330 can according to self-propelled vehicle with recently around angle w between the object A provide crash-avoidance recently on every side object A should have turn to, thereby the angle acceleration/accel that is converted into self-propelled vehicle is to extrapolate the moment of torsion that give bearing circle 110.
Then, execution in step S4: startup automatic steering control setup 220 and automatic steering control setup 220 control bearing circle 110 according to the automatic steering parameter of obtaining and brake gear 120 carries out the automatic steering operation.
In addition, it is to be noted, owing to disclosed anticollision of motor vehicles method is a related data when the first predetermined amount of time T0 measures a motor-driven vehicle going, therefore, it will be understood by those skilled in the art that, for the pairing very first time point of next first predetermined amount of time, it is exactly pairing second time point of last one first predetermined amount of time.Therefore, though anticollision of motor vehicles method of the present invention is to judge at pairing second time point of first predetermined amount of time whether self-propelled vehicle is in a safe condition, it in fact still judges promptly every first predetermined amount of time whether a self-propelled vehicle is in a safe condition.
In addition, please continue to consult Fig. 1-2, collision avoidance system 200 of the present invention further comprises siren horn 250, and accordingly, the treater 2300 in the portable terminal 230 comprises that further alarm signal produces module 2340.When treater 2300 is judged self-propelled vehicle and is not in a safe condition, then the alarm signal in the treater 2300 produces module 2340 and can produce the alarm intelligent signal, and exports siren horn 250 to so that siren horn 250 gives the alarm to remind the driver to carry out the hedging operation by data line 240.
Fig. 4 is the diagram of circuit of another embodiment of anticollision of motor vehicles method in the embodiment of the invention.The anticollision of motor vehicles method that present embodiment disclosed is similar to anticollision of motor vehicles method shown in Figure 3, its difference is, behind execution of step S1～S2, and when judging self-propelled vehicle and not being in a safe condition, execution in step S3a then: output alarm enable signal is with the siren horn in the activation collision avoidance system 200 250 by alarm signal produces module 2340, thereby siren horn 250 is given the alarm to remind the driver to carry out the hedging operation at the manual operation time T m that reserves.
Wherein, it is to be noted, when execution in step S26, the second predetermined amount of time T can be set at by the manual operation time T m that reserves and by the automatic steering control setup 220 control bearing circle 110 of collision avoidance system 200 and brake gear 120 and carry out the time of automatic steering operation and form.
Then, behind the manual operation time T m that reserves, whether return execution in step S1～S2 and be in a safe condition further to judge self-propelled vehicle, promptly judge in the manual operation time of reserving, the driver whether has carried out the hedging operation and whether the operation of this hedging is that self-propelled vehicle is in a safe condition.That is to say that the very first time point of this moment is t+Tm, and second time point is t+Tm+T0.When returning execution in step S1～S2 and further judge self-propelled vehicle and still be not in a safe condition, then execution in step S3～S4 is to carry out the automatic steering operation.
What wherein, the time of above-mentioned automatic steering operation can be for the manual operation time T m of the second predetermined amount of time T and reservation is poor.
In sum, anticollision of motor vehicles method of the present invention and corresponding mobile terminal thereof and collision avoidance system can obtain exactly the longitudinal maneuver car nearest around object, self-propelled vehicle object around the recently speed of travelling and recently around object towards the speed of motor-driven vehicle going, therefore whether it can judge self-propelled vehicle exactly and be in a safe condition, thereby carries out the generation of hedging operation to avoid traffic accident in the time of abundance.And anticollision of motor vehicles method of the present invention can be applied in the portable terminal, and portable terminal is easy to carry, therefore field of application is wider, promptly can implement the disclosed generation of anticollision of motor vehicles method to avoid traffic accident as long as portable terminal is connected with self-propelled vehicle.
It is pointed out that terms such as " first " mentioned in embodiments of the present invention, " second " only are the indentification marks that adopts as required, in practice, be not limited to this, and described indentification mark can exchange use.
Below only be embodiments of the invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification sheets of the present invention and accompanying drawing content to be done; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. an anticollision of motor vehicles method is characterized in that, comprising:
Itself and a plurality of instant distance between the object on every side when angle acceleration/accel, forward acceleration and the instantaneous velocity the when related data when obtaining this motor-driven vehicle going, described related data comprise this motor-driven vehicle going of measuring every first predetermined amount of time and this motor-driven vehicle going;
Handle the measured related data of pairing two the adjacent time points of this first predetermined amount of time and judge whether this self-propelled vehicle is in a safe condition;
When judging that this self-propelled vehicle is not in a safe condition, obtain automatic drive parameter according to described related data, and output automatic steering actuation signal and this automatic steering parameter crash to avoid this self-propelled vehicle to the automatic steering control setup, and wherein this automatic steering parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
2. anticollision of motor vehicles method according to claim 1 is characterized in that, the related data that pairing two the adjacent time points of this first predetermined amount of time of step process are measured also judges that whether this self-propelled vehicle is in a safe condition, and comprising:
From the measured a plurality of instant distance of pairing very first time of this first predetermined amount of time point, find out this self-propelled vehicle with recently around the first minimum instant distance between the object, according to this first minimum instant distance obtain this recently on every side object depart from the angle of the travel direction of this self-propelled vehicle;
According to this measured angle acceleration/accel of this point, this forward acceleration, this instantaneous velocity very first time and should be recently around the object angle that departs from the travel direction of this self-propelled vehicle obtain this very first time put this self-propelled vehicle towards this recently around first speed of object;
According to this measured angle acceleration/accel of pairing second time point of this first predetermined amount of time, this forward acceleration, this instantaneous velocity and should be recently around the object angle that departs from the travel direction of this self-propelled vehicle obtain this this self-propelled vehicle of second time point towards this recently around the second speed of object;
Obtain the second minimum instant distance between the object around this self-propelled vehicle distance of this second time point is somebody's turn to do recently;
According to this first minimum instant distance, this second minimum instant distance, this very first time put this self-propelled vehicle towards this recently around object first speed and this this self-propelled vehicle of second time point towards this recently around second speed of object obtain around this second time point should be recently object towards the speed of this self-propelled vehicle;
According to this this self-propelled vehicle of second time point towards this recently around object second speed, object obtains the safety distance of this self-propelled vehicle at this second time point towards the speed and second predetermined amount of time of this self-propelled vehicle around this second time point should be recently; And
Relatively whether this second minimum instant distance is in this safe condition with judgement at this this self-propelled vehicle of second time point with this safety distance.
3. anticollision of motor vehicles method according to claim 2 is characterized in that, step is obtained automatic drive parameter according to described related data and comprised:
According to this this self-propelled vehicle of second time point towards this recently around object second speed, object calculates the forward acceleration that braking should have towards speed and this second minimum instant distance of this self-propelled vehicle around this second time point should be recently, and this forward acceleration that should have according to braking obtains the dynamics of this braking; And
Obtain the steering angle acceleration/accel that this self-propelled vehicle crash-avoidance should have according to the angle that this nearest object on every side departs from the travel direction of this self-propelled vehicle, and the steering angle acceleration/accel that should have according to this self-propelled vehicle crash-avoidance obtains the moment of torsion that this gives bearing circle.
4. anticollision of motor vehicles method according to claim 1, it is characterized in that, when judging that this self-propelled vehicle is not in this safe condition, then export the alarm enable signal with the activation siren horn, thereby give the alarm to remind the driver to carry out the hedging operation in the manual operation time of reserving.
5. anticollision of motor vehicles method according to claim 4, it is characterized in that, after the manual operation time of this reservation, further judge whether this self-propelled vehicle is in a safe condition, when judging that this self-propelled vehicle is not in a safe condition, then obtain automatic drive parameter and send to the automatic steering control setup according to described related data, crash to avoid this self-propelled vehicle, wherein this automatic steering parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
6. a portable terminal is characterized in that, comprising:
Treater comprises:
Running data obtains module, itself and a plurality of instant distance between the object on every side when angle acceleration/accel, forward acceleration and the instantaneous velocity the when related data when obtaining motor-driven vehicle going, described related data comprise this motor-driven vehicle going of measuring every first predetermined amount of time and this motor-driven vehicle going;
Computing and judgement module are handled the measured related data of pairing two the adjacent time points of this first predetermined amount of time and are judged whether this self-propelled vehicle is in a safe condition; And
The automatic steering calculation of parameter is handled module, be used for when judging that this self-propelled vehicle is not in a safe condition, obtain automatic drive parameter according to described related data, and output automatic steering actuation signal and this automatic steering parameter crash to avoid this self-propelled vehicle to the automatic steering control setup, and wherein this automatic steering parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
7. portable terminal according to claim 6 is characterized in that this computing and judges that module comprises:
The deflection angle generation unit, in the measured a plurality of instant distance of pairing very first time of this first predetermined amount of time point, find out this self-propelled vehicle with recently around the first minimum instant distance between the object, according to this first minimum instant distance obtain this recently on every side object depart from the angle of the travel direction of this self-propelled vehicle;
First calculation processing unit, respectively according to this first predetermined amount of time pairing should put the very first time and this angle acceleration/accel that adjacent second time point is measured, this forward acceleration, this instantaneous velocity and should be recently around the object angle that departs from the travel direction of this self-propelled vehicle obtain this very first time point and this this self-propelled vehicle of second time point towards this recently around first speed and the second speed of object;
Second calculation processing unit, according to this first minimum instant distance, this self-propelled vehicle of second time point with should be recently around between the object the second minimum instant distance and this very first time point and this this self-propelled vehicle of second time point towards this recently around this first speed and this second speed of object obtain second time point should nearest object on every side towards the speed of this self-propelled vehicle;
The 3rd calculation processing unit, according to this this self-propelled vehicle of second time point towards this recently around object this second speed, object obtains the safety distance of this self-propelled vehicle at this second time point towards this speed and second predetermined amount of time of this self-propelled vehicle around this second time point should be recently; And
Judging unit, relatively whether this second minimum instant distance is in a safe condition at this this self-propelled vehicle of second time point with judging with this safety distance.
8. portable terminal according to claim 6 is characterized in that, this treater further comprises:
Alarm signal produces module, is used for when judging that this self-propelled vehicle is not in a safe condition, and enable signal gives the alarm.
9. portable terminal according to claim 6 is characterized in that, this portable terminal utilizes data line to be connected with this self-propelled vehicle, the described related data when obtaining this motor-driven vehicle going.
10. collision avoidance system, it comprises:
Data acquisition unit, the related data when being used to gather motor-driven vehicle going;
Treater judges with the described related data that receives and handle this data acquisition unit and gathered whether this self-propelled vehicle is in a safe condition thereby connect this data acquisition unit; And
The automatic steering control setup connects this treater to determine whether to start this automatic steering control setup according to above-mentioned judged result;
It is characterized in that this treater comprises:
Running data obtains module, itself and a plurality of instant distance between the object on every side when angle acceleration/accel, forward acceleration and the instantaneous velocity the when related data when obtaining this motor-driven vehicle going, described related data comprise this motor-driven vehicle going of measuring every first predetermined amount of time and this motor-driven vehicle going;
Computing and judgement module are handled the measured related data of pairing two the adjacent time points of this first predetermined amount of time and are judged whether this self-propelled vehicle is in a safe condition; And
The automatic steering calculation of parameter is handled module, be used for when judging that this self-propelled vehicle is not in a safe condition, obtain automatic drive parameter according to described related data, and output automatic steering actuation signal and this automatic steering parameter crash to avoid this self-propelled vehicle to the automatic steering control setup, and wherein this automatic steering parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
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