CN103971541B - Vehicle collision avoidance safety alarm method and device - Google Patents
Vehicle collision avoidance safety alarm method and device Download PDFInfo
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Abstract
The invention provides a kind of vehicle collision avoidance safety alarm method and device, the method comprises: the velocity and the position that obtain its car, and the velocity and the position that confirm this car; Obtain the position vector of its car according to the position calculation of its car, and obtain the position vector of this car according to the position calculation of this car, the position vector of its car is pointed to the position of its car by initial point, the position vector of this car is pointed to the position of this car by this initial point; If (PB-PA) × VA, (PB-PA) × VB and VA × VB three's homopolarity, then judge that this car and its car will cross in front, wherein PA is the position vector of this car, and VA is the velocity of this car, PB is the position vector of its car, and VB is the velocity of its car.With the account form of vector quantization, the present invention can judge whether two cars can cross, be conducive to sending early warning in advance with collision free.
Description
Technical field
The present invention relates to technical field of vehicle safety, particularly relate to a kind of vehicle collision avoidance safety alarm method and device.
Background technology
Along with the continuous increase of automobile pollution, the quantity of motor-vehicle accident also increases year by year.In prior art, detection and the judging means of vehicle collision, the dangerous situation such as to knock into the back are all use the passive technology such as radar or video analysis.But these technology often cannot send warning against danger in advance to avoid vehicle collision.
The information of vehicle (such as position, speed, break condition etc.) for providing information sharing passage between multiple vehicle, can be supplied to other vehicles of periphery by Dedicated Short Range Communications, (DSRC) by Dedicated Short Range Communications.In prior art, the integrated of equipment is often integrated in for the application of Dedicated Short Range Communications, and does not have the concrete grammar utilizing Dedicated Short Range Communications, to avoid vehicle collision.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of vehicle collision avoidance safety alarm method and device, can judge whether two cars can cross, be conducive to sending early warning in advance with collision free with the account form of vector quantization.
For solving the problems of the technologies described above, the invention provides a kind of vehicle collision avoidance safety alarm method, comprising:
Obtain velocity and the position of its car, and confirm velocity and the position of this car;
Obtain the position vector of its car according to the position calculation of its car, and obtain the position vector of this car according to the position calculation of this car, the position vector of its car is pointed to the position of its car by initial point, the position vector of this car is pointed to the position of this car by this initial point;
If (PB-PA) × VA, (PB-PA) × VB and VA × VB three's homopolarity, then judge that this car and its car will cross in front, wherein PA is the position vector of this car, and VA is the velocity of this car, PB is the position vector of its car, and VB is the velocity of its car.
According to one embodiment of present invention, the method also comprises:
If it is determined that Ben Che and its car will cross in front, then calculate and estimate collision time, this expectation collision time equals the business of position vector difference and the projection of velocity difference on this position vector difference direction, and wherein this position vector difference is PB-PA, and this velocity difference is VB-VA;
If described expectation collision time is less than default threshold value, then send collision warning.
According to one embodiment of present invention, the method also comprises: when judging the crossing in front of this car and its car, if receive the emergency brake situation that its car sends, then sends emergency brake alarm.
According to one embodiment of present invention, the method also comprises: if arbitrarily both the not homopolarities in (PB-PA) × VA, (PB-PA) × VB and VA × VB, then judge that this car and its car will not cross in front.
According to one embodiment of present invention, velocity and the position of its car is obtained by Dedicated Short Range Communications.
Present invention also offers a kind of vehicle collision avoidance safety alarm device, comprising:
Data obtaining module, for obtaining velocity and the position of its car, and confirms velocity and the position of this car;
Vectors calculation module, for obtaining the position vector of its car according to the position calculation of its car, and the position vector of this car is obtained according to the position calculation of this car, the position vector of its car is pointed to the position of its car by initial point, the position vector of this car is pointed to the position of this car by this initial point;
Judge module, if (PB-PA) × VA, (PB-PA) × VB and VA × VB three's homopolarity, then judge that this car and its car will cross in front, wherein PA is the position vector of this car, VA is the velocity of this car, PB is the position vector of its car, and VB is the velocity of its car.
According to one embodiment of present invention, this device also comprises:
Time Calculation module, for estimating collision time at this car of judgement with calculating when front crosses of its car, this expectation collision time equals the business of position vector difference and the projection of velocity difference on this position vector difference direction, wherein this position vector difference is PB-PA, and this velocity difference is VB-VA;
Collision warning module, if described expectation collision time is less than default threshold value, then sends collision warning.
According to one embodiment of present invention, this device also comprises: emergency brake alarm modules, when judging the crossing in front of this car and its car, if receive the emergency brake situation that its car sends, then sends emergency brake alarm.
According to one embodiment of present invention, if arbitrarily both the not homopolarities in (PB-PA) × VA, (PB-PA) × VB and VA × VB, then described judge module judges that this car and its car will not cross in front.
According to one embodiment of present invention, described data obtaining module obtains velocity and the position of its car by Dedicated Short Range Communications.
Compared with prior art, the present invention has the following advantages:
The vehicle collision avoidance safety alarm method of the embodiment of the present invention and device are according to the position vector of Ben Che and its car and velocity, the computing method of vector quantization are adopted to judge whether two cars can cross, when judging to cross, prompting can be sent in advance, with collision free to driver.
Furthermore, the vehicle collision avoidance safety alarm method of the embodiment of the present invention and device also adopt the computing method of vector quantization to calculate expectation collision time, if this expectation collision time is less than default threshold value, then send collision warning, make driver can make evasive action in time, reduce accident rate.
In addition, the embodiment of the present invention, when two cars will cross, can also directly send emergency brake alarm according to the emergency brake situation of its car, can take workaround as early as possible to make driver.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the vehicle collision avoidance safety alarm method of the embodiment of the present invention;
Fig. 2 is the vector distribution schematic diagram of an application scenarios example of the vehicle collision avoidance safety alarm method of the embodiment of the present invention;
Fig. 3 is the structured flowchart of the vehicle collision avoidance safety alarm device of the embodiment of the present invention.
Embodiment
Below in conjunction with specific embodiments and the drawings, the invention will be further described, but should not limit the scope of the invention with this.
With reference to figure 1, the vehicle collision avoidance safety alarm method of the present embodiment comprises the steps:
Step S11, obtains velocity and the position of its car, and confirms velocity and the position of this car;
Step S12, obtains the position vector of its car according to the position calculation of its car, and obtains the position vector of this car according to the position calculation of this car, and the position vector of its car is pointed to the position of its car by initial point, the position vector of this car is pointed to the position of this car by this initial point;
Step S13, if (PB-PA) × VA, (PB-PA) × VB and VA × VB three's homopolarity, then judge that this car and its car will cross in front, wherein PA is the position vector of this car, VA is the velocity of this car, PB is the position vector of its car, and VB is the velocity of its car.
In step S11, the information such as velocity and position that Dedicated Short Range Communications, (DSRC) obtains its car of periphery can be passed through.The position of its car and the position of Ben Che such as can adopt the mode of longitude, latitude to represent, but are not limited to this.The velocity of its car and Ben Che comprises velocity amplitude and velocity reversal.
Adopt DSRC can obtain the information of nearby vehicle in less time delay (being generally Millisecond).When adopting DSRC, vehicle can adopt the information of the continuous peripherad vehicle broadcast of the frequency of 10Hz oneself, and such as position, velocity etc., also can receive the information that surrounding vehicles sends over.Certainly, Dedicated Short Range Communications, is only a kind of preferred mode, and the mode obtaining the information of its car is not limited to this, also can adopt with other appropriate means.
Initial point in step S12 can be the initial point of the lat/longitude of GPS, or also can be the initial point of Chinese terrestrial coordinate, or also can be other suitable origin positions.
In step S13, it is equidirectional that (PB-PA) × VA, (PB-PA) × VB and VA × VB three's homopolarity refers to three, and namely the direction of three vector products is identical.If three's homopolarity, so just can judge that two cars will cross in front, now can send prompting to driver, remind auditor to note enhancing your vigilance, can not certainly prompting be sent; If three's any two not homopolarities wherein, so just can judge that this car and its car can not cross in front.
When judgement two car will cross in front, can continue to do to collide anticipation more accurately, specific as follows: first to calculate and estimate collision time, the projection of this expectation collision time=position vector difference/velocity difference on this position vector difference direction, wherein, position vector is poor=position vector of the position vector-Ben Che of its car, and the velocity of the velocity-Ben Che of velocity=its car; If the expectation collision time calculated is less than default threshold value (such as 5s, 10s, 20s, but be not limited thereto), then send collision warning.
This collision warning can adopt voice, the mode of signal lamp is supplied to user, if the current state of alerting driver remains unchanged will cause collision, that is to say under the position and velocity conditions of current two cars, cause collision accident the most at last, remind driver to take workaround in advance, such as, brake or suitably turn to etc.
In addition, when judging that this car and its car will cross in front, this car can also receive by modes such as DSRC the emergency brake situation that its car sends.If have received emergency brake situation, show that its car takes brake hard, so directly send emergency brake alarm, point out the driver of this car to take to evade action.Sending of emergency brake alarm is preferably real-time, namely just sends emergency brake alarm once the emergency brake situation receiving its car, makes this car driver the very first time can take workaround as far as possible.
Example below in conjunction with a crossing is described in detail to this vehicle collision avoidance safety alarm method.
With reference to figure 2, in intersection, this car A travels eastwards in west, and its car B travels from south orientation north, and two cars all through intersection, likely will collide in intersection.
Correlation parameter mark is as follows:
The position vector of this car is designated as: PA;
The position vector of its car is designated as: PB;
The velocity of this car is designated as: VA;
The velocity of its car is designated as: VB.
If (PB-PA) × VA, (PB-PA) × VB and VA × VB three's homopolarity, then judge that this car A and its car B will cross in front; If arbitrarily both the not homopolarities in (PB-PA) × VA, (PB-PA) × VB and VA × VB, then judge that two cars do not cross in front.
Below calculating and deterministic process are described in detail.
The position of this car A can represent with longitude and latitude, and its longitude is designated as LLong, and its latitude is designated as LLat; The position of its car B also can represent with longitude and latitude, and its longitude is designated as RLong, and its latitude is designated as RLat.The velocity amplitude of this car A is designated as LSpeed, and the velocity reversal of this car A is designated as Lheading; The velocity amplitude of its car B is designated as RSpeed, and the velocity reversal of its car B is designated as Rheading.In addition, earth radius is designated as R.
According to above mark, corresponding computation process is as follows:
The position vector of this car A: PA=(LLong, LLat);
The position vector of its car B: PB=(RLong, RLat);
The position vector of its car B and this car A is poor: DP=PB-PA=(DPx, DPy);
Wherein, DPx=Cos (LLat) × Sin (RLong – LLong) × R, DPx are again two car East and West direction distances;
DPy=Sin (RLat – LLat) × R, Dpy are again two car north-south distances;
The velocity of its car B: VB=(VBx, VBy);
Wherein, VBx=Sin (Rheading) × RSpeed;
VBy＝Cos(Rheading)×RSpeed；
The velocity of this car A: VA=(VAx, VAy);
Wherein, VAx=Sin (Lheading) × LSpeed;
VAy＝Cos(Lheading)×LSpeed；
The velocity of its car B and this car A is poor: DV=VB-VA=(DVx, DVy);
Wherein, DVx=VBx-VAx;
DVy＝VBy-VAy；
For judging whether two cars are calculated as follows the variable crossed in front:
The vector product (or being called multiplication cross) of the velocity of this car A and the velocity of its car B:
VA×VB＝(VAx,VAy)×(VBx,VBy)＝(VAx×VBy)–(VAy×VBx)；
The position vector difference of two cars and the vector product of the velocity of this car A:
DP×VA＝(DPx,DPy)×(VAx,VAy)＝(DPx×VAy)-(DPy×VAx)；
The vector product of the position vector difference of two cars and the velocity of its car B:
DP×VB＝(DPx,DPy)×(VBx,VBy)＝(DPx×VBy)-(DPy×VBx)；
According to above calculating, corresponding deterministic process is as follows:
If VA × VB<0 and DP × VA<0 and DP × VB<0, or VA × VB>0 and DP × VA>0 and DP × VB>0, so two cars will cross in front; Otherwise two cars can not cross in front, there is not the possibility collided in two cars.
If it is determined that two cars will cross in front, so can continue to calculate and estimate collision time, detailed process will be as follows:
The vector length of two truck position phasor differences: DPValu=|DP|=Sqrt (DPx × DPx+DPy × DPy);
The vector length of two vehicle speed phasor differences: DVValu=|DV|=Sqrt (DVx × DVx+DVy × DVy);
The included angle cosine value of two truck position phasor differences and two vehicle speed phasor differences:
cosDAngle＝(DPx×DVx+DPy×DVy)/(DPValu×DVValu)；
Estimate collision time: tImpact=DPValu/ (cosDAngle × DVValu);
Wherein, (cosDAngle × DVValu) is the vector length of the projection of velocity on the direction vector of position.
If this expectation collision time tImpact is less than default threshold value, then send collision warning to this car driver, remind driver to perform evasive action in advance.
It should be noted that, although the example scenario of Fig. 2 is crossing of right-angled intersection, the method for the present embodiment can also be applicable to other scenes, and such as T-shaped road junction crosses, Y shape crossing crosses etc.But, the method for the present embodiment is when being applied to the anti-collision warning of right-angled intersection, and effect is better.
With reference to figure 3, the vehicle collision avoidance safety alarm device of the present embodiment comprises: data obtaining module 31, vectors calculation module 32, judge module 33, Time Calculation module 34, collision warning module 35 and emergency brake alarm modules 36.
Wherein, data obtaining module 31 for obtaining velocity and the position of its car, and confirms velocity and the position of this car; Vectors calculation module 32 is for obtaining the position vector of its car according to the position calculation of its car, and the position vector of this car is obtained according to the position calculation of this car, the position vector of its car is pointed to the position of its car by initial point, the position vector of this car is pointed to the position of this car by this initial point; Judge module 33 is for judging whether two cars will cross in front, if (PB-PA) × VA, (PB-PA) × VB and VA × VB three's homopolarity, then judge that this car and its car will cross in front, wherein PA is the position vector of this car, VA is the velocity of this car, PB is the position vector of its car, and VB is the velocity of its car; Time Calculation module 34 estimates collision time for calculating when front crosses at this car of judgement and its car, this expectation collision time equals the business of position vector difference and the projection of velocity difference on this position vector difference direction, wherein this position vector difference is PB-PA, and this velocity difference is VB-VA; If described expectation collision time is less than default threshold value, then collision warning module 35 sends collision warning; When judge module 33 judges that this car will cross in front with its car, if data obtaining module 31 receives the emergency brake situation that its car sends, then emergency brake alarm modules 36 sends emergency brake alarm.
About more details of this vehicle collision avoidance safety alarm device, refer to the associated description of previous embodiment for vehicle collision avoidance safety alarm method, repeat no more here.
This vehicle collision avoidance safety alarm device can adopt the mode of software, hardware or software and hardware combining to realize.Such as, this vehicle collision avoidance safety alarm device can be integrated in vehicle-mounted terminal equipment, as one of them hardware module or software module,
By upper, according to the position vector of vehicle, the dependent vector computing of velocity, the vehicle collision avoidance safety alarm method of the embodiment of the present invention and device judge whether two cars will cross and whether can collide, the accuracy of anti-collision warning can be improved, make driver can obtain reliable alarm signal more rapidly before accident occurs, and reserve the more time and allow driver take necessary workaround, thus reduce traffic hazard ratio.Adopt the technical scheme of the present embodiment, very well can realize the vehicle collision prewarning of intersection, and the conventional art such as radar, video means cannot complete this point.
Although the present invention with preferred embodiment openly as above; but it is not for limiting the present invention; any those skilled in the art without departing from the spirit and scope of the present invention; can make possible variation and amendment, the scope that therefore protection scope of the present invention should define with the claims in the present invention is as the criterion.
Claims (10)
1. a vehicle collision avoidance safety alarm method, is characterized in that, comprising:
Obtain velocity and the position of its car, and confirm velocity and the position of this car;
Obtain the position vector of its car according to the position calculation of its car, and obtain the position vector of this car according to the position calculation of this car, the position vector of its car is pointed to the position of its car by initial point, the position vector of this car is pointed to the position of this car by this initial point;
If (PB-PA) × VA, (PB-PA) × VB and VA × VB three's homopolarity, then judge that this car and its car will cross in front, wherein PA is the position vector of this car, and VA is the velocity of this car, PB is the position vector of its car, and VB is the velocity of its car.
2. vehicle collision avoidance safety alarm method according to claim 1, it is characterized in that, the method also comprises:
If it is determined that Ben Che and its car will cross in front, then calculate and estimate collision time, this expectation collision time equals the business of position vector difference and the projection of velocity difference on this position vector difference direction, and wherein this position vector difference is PB-PA, and this velocity difference is VB-VA;
If described expectation collision time is less than default threshold value, then send collision warning.
3. vehicle collision avoidance safety alarm method according to claim 1 and 2, it is characterized in that, the method also comprises: when judging that this car and its car will cross in front, if receive the emergency brake situation that its car sends, then sends emergency brake alarm.
4. vehicle collision avoidance safety alarm method according to claim 1 and 2, it is characterized in that, the method also comprises: if arbitrarily both the not homopolarities in (PB-PA) × VA, (PB-PA) × VB and VA × VB, then judge that this car and its car will not cross in front.
5. vehicle collision avoidance safety alarm method according to claim 1 and 2, is characterized in that, is obtained velocity and the position of its car by Dedicated Short Range Communications.
6. a vehicle collision avoidance safety alarm device, is characterized in that, comprising:
Data obtaining module, for obtaining velocity and the position of its car, and confirms velocity and the position of this car;
Vectors calculation module, for obtaining the position vector of its car according to the position calculation of its car, and the position vector of this car is obtained according to the position calculation of this car, the position vector of its car is pointed to the position of its car by initial point, the position vector of this car is pointed to the position of this car by this initial point;
Judge module, if (PB-PA) × VA, (PB-PA) × VB and VA × VB three's homopolarity, then judge that this car and its car will cross in front, wherein PA is the position vector of this car, VA is the velocity of this car, PB is the position vector of its car, and VB is the velocity of its car.
7. vehicle collision avoidance safety alarm device according to claim 6, is characterized in that, this device also comprises:
Time Calculation module, collision time is estimated for calculating when front crosses at this car of judgement and its car, this expectation collision time equals the business of position vector difference and the projection of velocity difference on this position vector difference direction, wherein this position vector difference is PB-PA, and this velocity difference is VB-VA;
Collision warning module, if described expectation collision time is less than default threshold value, then sends collision warning.
8. the vehicle collision avoidance safety alarm device according to claim 6 or 7, is characterized in that, this device also comprises:
Emergency brake alarm modules, when judging that this car and its car will cross in front, if receive the emergency brake situation that its car sends, then sends emergency brake alarm.
9. the vehicle collision avoidance safety alarm device according to claim 6 or 7, it is characterized in that, if arbitrarily both the not homopolarities in (PB-PA) × VA, (PB-PA) × VB and VA × VB, then described judge module judges that this car and its car will not cross in front.
10. the vehicle collision avoidance safety alarm device according to claim 6 or 7, is characterized in that, described data obtaining module obtains velocity and the position of its car by Dedicated Short Range Communications.
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| JP6531698B2 (en) * | 2016-04-01 | 2019-06-19 | トヨタ自動車株式会社 | Approach vehicle notification device |
| CN107346612B (en) * | 2016-05-06 | 2021-02-12 | 中国科学院微电子研究所 | Vehicle anti-collision method and system based on Internet of vehicles |
| US20180090005A1 (en) * | 2016-09-27 | 2018-03-29 | GM Global Technology Operations LLC | Method And Apparatus For Vulnerable Road User Incidence Avoidance |
| CN106781692B (en) * | 2016-12-01 | 2020-09-04 | 东软集团股份有限公司 | Vehicle collision early warning method, device and system |
| CN106548630B (en) * | 2017-01-11 | 2019-09-06 | 青岛海信移动通信技术股份有限公司 | A kind of detection method and device of driving behavior |
| CN109935108A (en) * | 2017-12-18 | 2019-06-25 | 姜鹏飞 | A kind of traffic security early warning method of traffic control and device based on accurate location |
| CN112258895A (en) * | 2020-10-22 | 2021-01-22 | 东风汽车集团有限公司 | T-shaped intersection collision judgment method based on V2X |
| CN114093187B (en) * | 2021-11-26 | 2023-02-24 | 交通运输部公路科学研究所 | Risk early warning control method for automatic driving vehicle and intelligent network system |
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