CN104960518B - A kind of method and apparatus for pointing out driver - Google Patents
A kind of method and apparatus for pointing out driver Download PDFInfo
- Publication number
- CN104960518B CN104960518B CN201510337396.3A CN201510337396A CN104960518B CN 104960518 B CN104960518 B CN 104960518B CN 201510337396 A CN201510337396 A CN 201510337396A CN 104960518 B CN104960518 B CN 104960518B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- bend
- speed
- velocity
- safe velocity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005119 centrifugation Methods 0.000 claims description 2
- 206010039203 Road traffic accident Diseases 0.000 abstract description 21
- 230000001133 acceleration Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
- B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Abstract
The invention discloses a kind of method and apparatus for pointing out driver, belong to field of locating technology.Method includes：Obtain the current positional information of vehicle；According to the positional information, determine whether the vehicle will enter bend；If it is, obtaining the current driving speed of the vehicle and the road data of the bend；According to the road data, the first safe velocity of the vehicle is calculated；According to the current driving speed and first safe velocity, the driver of the vehicle is pointed out.Device includes：First acquisition module, the first determining module, the second acquisition module, computing module and reminding module.The present invention improves the accuracy of prompting and reduces the generation of traffic accident.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of method and apparatus for pointing out driver.
Background technology
Bend is the special tectonic thing in highway carrier, and linear design is complicated, and nearby driver's seat is limited bend,
Lack enough Rule of judgment for appropriate speed, be the multiple location of traffic accident, traffic thing of especially breakking away or turn on one's side
Therefore occur frequent.Therefore, it needs to be determined that whether vehicle may occur traffic accident, if it is, prompting drives in time on bend
Member is to reduce the generation of traffic accident.
At present, when driver drives to arrive bend, the traffic information of road is obtained by vehicle sensors, in car-mounted terminal
Show the traffic information；Driver determines whether vehicle may occur traffic accident according to the traffic information, if possible occurs
Traffic accident, driver takes the generation that the measures such as deceleration avoid traffic accident.Wherein, artificially judge whether occur traffic accident
Poor reliability.
The content of the invention
In order to solve problem of the prior art, the invention provides a kind of method and apparatus for pointing out driver.Technical side
Case is as follows：
A kind of method for pointing out driver, methods described includes：
Obtain the current positional information of vehicle；
According to the positional information, determine whether the vehicle will enter bend；
If it is, obtaining the current driving speed of the vehicle and the road data of the bend；
According to the road data, the first safe velocity of the vehicle is calculated；
According to the current driving speed and first safe velocity, the driver of the vehicle is pointed out.
Further, it is described according to the road data, the first safe velocity of the vehicle is calculated, including：
According to the road data, the slipspeed when vehicle is travelled on the bend is calculated；
Obtain the vehicle body data of the vehicle；
According to the road data and the vehicle body data, the rollover speed when vehicle is travelled on the bend is calculated
Degree；
According to the slipspeed and the rollover speed, the first safe velocity of the vehicle is determined.
Further, it is described according to the road data and the vehicle body data, the vehicle is calculated on the bend
Rollover speed during traveling, including：
According to the road data and the vehicle body data, what the calculating vehicle was produced in the negotiation of bends returns just
Torque, the first moment resulting from sidesway that centrifugal force is produced, the second moment resulting from sidesway of the superelevation generation of the bend；
According to the aligning torque, first moment resulting from sidesway, second moment resulting from sidesway, the vehicle is calculated described
Rollover speed when being travelled on bend.
Further, methods described also includes：
According to the slipspeed and the rollover speed, the second safe velocity of the vehicle is determined；
Accordingly, it is described according to the current driving speed and first safe velocity, point out the vehicle
Driver, including：
According to the current driving speed, first safe velocity and second safe velocity, obtain
Prompting mode；
By the prompting mode, the driver of the vehicle is pointed out.
Further, it is described according to the current driving speed, first safe velocity and second safety
Travel speed, obtains prompting mode, including：
According to the current driving speed, first safe velocity and second safe velocity, it is determined that
Length velocity relation between the current driving speed and first safe velocity and second safe velocity；
According to the length velocity relation, prompting mode is obtained from the corresponding relation of length velocity relation and prompting mode.
A kind of device of prompting driver, described device includes：
First acquisition module, the positional information current for obtaining vehicle；
First determining module, for according to the positional information, determining whether the vehicle will enter bend；
Second acquisition module, for if it is, obtaining the current driving speed of the vehicle and the road way of the bend
According to；
Computing module, for according to the road data, calculating the first safe velocity of the vehicle；
Reminding module, for according to the current driving speed and first safe velocity, pointing out the vehicle
Driver.
Further, the computing module, including：
First computing unit, for according to the road data, calculating the side when vehicle is travelled on the bend
Slip velocity degree；
First acquisition unit, the vehicle body data for obtaining the vehicle；
Second computing unit, for according to the road data and the vehicle body data, calculating the vehicle described curved
Rollover speed when being travelled on road；
Determining unit, for according to the slipspeed and the rollover speed, determining the first security row of the vehicle
Sail speed.
Further, second computing unit, including：
First computation subunit, for according to the road data and the vehicle body data, calculating the vehicle described
The aligning torque produced during negotiation of bends, the first moment resulting from sidesway that centrifugal force is produced, the second side of the superelevation generation of the bend
Go all out square；
Second computation subunit, for according to the aligning torque, first moment resulting from sidesway, second roll force
Square, calculates the rollover speed when vehicle is travelled on the bend.
Further, described device also includes：
Second determining module, for according to the slipspeed and the rollover speed, determining the second peace of the vehicle
Full travel speed；
Accordingly, the reminding module, including：
Second acquisition unit, for according to the current driving speed, first safe velocity and described second
Safe velocity, obtains prompting mode；
Tip element, for by the prompting mode, pointing out the driver of the vehicle.
Further, the second acquisition unit, including：
Determination subelement, for according to the current driving speed, first safe velocity and second peace
Full travel speed, determine the current driving speed and first safe velocity and second safe velocity it
Between length velocity relation；
Subelement is obtained, for according to the length velocity relation, being obtained from the corresponding relation of length velocity relation and prompting mode
Prompting mode.
In embodiments of the present invention, car-mounted terminal determines whether the vehicle will enter according to the current positional information of vehicle
Enter bend；If the vehicle will enter bend, the current driving speed and the first safe velocity of the vehicle are obtained, according to
Current driving speed and the first safe velocity, point out the driver of the vehicle, thus improve prompting accuracy and
Reduce the generation of traffic accident.
Brief description of the drawings
Fig. 1 is a kind of method flow diagram for prompting driver that the embodiment of the present invention 1 is provided；
Fig. 2 is a kind of method flow diagram for prompting driver that the embodiment of the present invention 2 is provided；
Fig. 3 is a kind of apparatus structure schematic diagram for prompting driver that the embodiment of the present invention 3 is provided.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiment 1
The embodiments of the invention provide a kind of method for pointing out driver, the executive agent of this method can be the car of vehicle
Mounted terminal, referring to Fig. 1, wherein, this method includes：
Step 101：Obtain the current positional information of vehicle；
Step 102：According to the positional information, determine whether the vehicle will enter bend；
Step 103：If it is, obtaining the current driving speed of the vehicle and the road data of the bend；
Step 104：According to the road data, the first safe velocity of the vehicle is calculated；
Step 105：According to the current driving speed and the first safe velocity, the driver of the vehicle is pointed out.
Further, according to the road data, the first safe velocity of the vehicle is calculated, including：
According to the road data, the slipspeed when vehicle is travelled on the bend is calculated；
Obtain the vehicle body data of the vehicle；
According to the road data and the vehicle body data, the rollover speed when vehicle is travelled on the bend is calculated；
According to the slipspeed and the rollover speed, the first safe velocity of the vehicle is determined.
Further, according to the road data and the vehicle body data, the rollover when vehicle is travelled on the bend is calculated
Speed, including：
According to the road data and the vehicle body data, the aligning torque that the vehicle is produced in the negotiation of bends is calculated, from
The first moment resulting from sidesway that mental and physical efforts are produced, the second moment resulting from sidesway of the superelevation generation of the bend；
According to the aligning torque, the first moment resulting from sidesway, the second moment resulting from sidesway, the side when vehicle is travelled on bend is calculated
Turn over speed.
Further, this method also includes：
According to slipspeed and rollover speed, the second safe velocity of the vehicle is determined；
Accordingly, according to the current driving speed and the first safe velocity, the driver of the vehicle is pointed out, including：
According to the current driving speed, the first safe velocity and the second safe velocity, prompting mode is obtained；
By the prompting mode, the driver of the vehicle is pointed out.
Further, according to the current driving speed, the first safe velocity and the second safe velocity, acquisition is carried
Show mode, including：
According to the current driving speed, the first safe velocity and the second safe velocity, the current driving is determined
Length velocity relation between speed and the first safe velocity and the second safe velocity；
According to the length velocity relation, prompting mode is obtained from the corresponding relation of length velocity relation and prompting mode.
In embodiments of the present invention, car-mounted terminal determines whether the vehicle will enter according to the current positional information of vehicle
Enter bend；If the vehicle will enter bend, the current driving speed and the first safe velocity of the vehicle are obtained, according to
Current driving speed and the first safe velocity, point out the driver of the vehicle, thus improve prompting accuracy and
Reduce the generation of traffic accident.
Embodiment 2
The embodiments of the invention provide a kind of method for pointing out driver, when vehicle will enter bend, by this hair
The method prompting driver that bright embodiment is provided, so that driver notes road conditions and taken measures on customs clearance to avoid traffic thing
Therefore generation.
The executive agent of this method is the car-mounted terminal of vehicle, referring to Fig. 2, wherein, this method includes：
Step 201：Obtain the current positional information of vehicle；
GPS (Global Positioning System, global positioning system) or BDS is installed on car-mounted terminal
(BeiDou Navigation Satellite System, Chinese Beidou satellite navigation system), car-mounted terminal by GPS or
BDS obtains the current positional information of a vehicle every preset duration.
In embodiments of the present invention, what car-mounted terminal can also be simultaneously current by GPS acquisition vehicles every preset duration
First position information, the current second place information of vehicle is obtained by BDS, by first position information and second place information
Average information is as the current positional information of vehicle, so as to improve the accuracy of positioning.
Wherein, the positional information includes latitude information and longitude information.Preset duration can be configured simultaneously as needed
Change, is not especially limited to preset duration in embodiments of the present invention；For example, preset duration is 5s, then often 5s vehicle-mounted ends are spent
End obtains the current positional information of a vehicle.
Step 202：According to the positional information, determine whether the vehicle will enter bend；
Be stored with map datum in car-mounted terminal, and map datum includes the position model of bends all in nationwide
Enclose；The position range of all bends included according to the positional information and map datum, obtains the current location from the vehicle
A nearest bend, and calculate the distance between current location and the bend of the vehicle；If the distance be less than it is default away from
From, it is determined that the vehicle will enter bend, perform step 203；If the distance is not less than pre-determined distance, it is determined that the vehicle
Without bend will be entered, terminate.
Pre-determined distance can be configured and change as needed, not do specific to pre-determined distance in embodiments of the present invention
Limit；For example, pre-determined distance is 300 meters, then this step is：
According to the positional information, obtain a bend nearest from the current location of vehicle, and determine the vehicle whether away from
300 meters from bend, if it is, performing step 203；If not, terminating.
When vehicle will enter bend, begin to point out driver, so as to arrange to take to driver's time enough
The generation avoided traffic accident is applied, so as to effectively reduce the generation of traffic accident.
Step 203：If the vehicle will enter bend, the current driving speed of the vehicle and the road of the bend are obtained
Data；
Wherein, the mark of bend that is stored with map datum and the corresponding relation of road data；Then obtain the road of the bend
The step of circuit-switched data can be：
The mark of the bend is obtained, according to the mark of the bend, from the mark of bend and the corresponding relation of road data
Obtain the road data of the bend.
Wherein, road data can include sweep, the transverse slope of superelevation and lateral adhesion coefficient of bend etc..Bend
Mark can be for bend title or the position etc. of bend.
Wherein, (Controller Area Network, controller LAN is total by the CAN on the vehicle for car-mounted terminal
Line) bus is connected with the velocity sensor installed on the vehicle, then can be the step of the current driving speed for obtaining the vehicle：
Car-mounted terminal receives the current travel speed of the vehicle that the velocity sensor sends by the CAN of the vehicle in real time.
Step 204：According to the road data, the slipspeed when vehicle is travelled on the bend is calculated；
Wherein, this step can be realized by following steps (1) to (3), including：
(1)：According to the road data, the first centrifugal force and the bend that the vehicle is produced in the negotiation of bends are calculated
The second centrifugal force that superelevation is produced；
According to the road data, the first centrifugation that the vehicle is produced in the negotiation of bends is calculated by below equation (1)
Power F1, the second centrifugal force F2 that the superelevation for calculating the bend by below equation (2) is produced.
Formula (1)
F2=127m (i+ μ) formula (2)
Wherein, m is the weight of the vehicle, and v1 is slipspeed, and R is the sweep of bend, and i is the transverse slope of superelevation, μ
For lateral adhesion coefficient.
(2)：Calculate the traction of the bend；
According to the road data, the traction F3 of the bend is calculated by below equation (3).
F3=μm of g formula (3)
Wherein, μ is lateral adhesion coefficient, and m is the weight of the vehicle, and g is acceleration of gravity.
(3)：According to the first centrifugal force, the second centrifugal force and traction, when calculating the vehicle and being travelled on the bend
Slipspeed.
It is met when not breakked away when the vehicle is travelled in the bend：First centrifugal force and the second centrifugal force
Difference is less than or equal to traction, then obtains below equation (4).
F1-F2<=F3 formula (4)
Above formula (1), (2) and (3) is brought into below equation (5) is obtained in formula (4).
Formula (5)
Obtained by calculatingTake in embodiments of the present invention
Wherein, v1 is slipspeed, and μ is lateral adhesion coefficient, and g is acceleration of gravity, and R is the sweep of bend, and i is
The transverse slope of superelevation.
Step 205：Obtain the vehicle body data of vehicle；
Wherein, be stored with the vehicle body data of vehicle in car-mounted terminal, and the wheelspan and barycenter that vehicle body data include the vehicle are high
Degree.
Before this step, car-mounted terminal receives the vehicle body data of user input, and stores the vehicle body data.
Step 206：According to the road data and the vehicle body data, the rollover speed when vehicle is travelled on the bend is calculated
Degree；
Wherein, this step can be realized by following steps (1) and (2), including：
(1)：According to the road data and the vehicle body data, time positive force that the vehicle is produced in the negotiation of bends is calculated
Square, the first moment resulting from sidesway that centrifugal force is produced, the second moment resulting from sidesway of the superelevation generation of the bend；
According to the road data and the vehicle body data, the vehicle is calculated by below equation (6) and produced in the negotiation of bends
Raw aligning torque M1, calculates the first moment resulting from sidesway M2 that centrifugal force is produced by below equation (7), passes through below equation (8)
Calculate the second moment resulting from sidesway M3 that the superelevation of bend is produced.
Formula (6)
Formula (7)
M3=F2*h formula (8)
Wherein, m is the weight of the vehicle, and g is acceleration of gravity, and b is the wheelspan of the vehicle, and V2 is rollover speed, and h is matter
Highly, R is sweep to the heart, and F2 is the second centrifugal force.
(2)：According to aligning torque, the first moment resulting from sidesway, the second moment resulting from sidesway, when calculating the vehicle and being travelled on the bend
Rollover speed.
The condition do not turned on one's side when the vehicle is travelled in the bend is：First moment resulting from sidesway and the second moment resulting from sidesway
Difference be less than or equal to aligning torque, then obtain below equation (9).
M2-M3<=M1 formula (9)
Above formula (6), (7) and (8) is brought into below equation (10) is obtained in formula (9).
Formula (10)
Obtained by calculatingTake in embodiments of the present invention
Wherein, v2 is rollover speed, and b is the wheelspan of the vehicle, and g is acceleration of gravity, and R is the sweep of bend, and h is
Height of center of mass, i is the transverse slope of superelevation, and μ is lateral adhesion coefficient.
Step 207：According to the slipspeed and the rollover speed, the first safe velocity of the vehicle is determined；
First safe velocity of the minimum speed as the vehicle is obtained from the slipspeed and the rollover speed.
If i.e. slipspeed is less than rollover speed, the first safe velocity is slipspeed；If slipspeed is more than rollover
Speed, then the first safe velocity is rollover speed.
Further, according to slipspeed and rollover speed, the second safe velocity of the vehicle is determined；Second safety
Travel speed is more than the first safe velocity.
Wherein, slipspeed and the speed in rollover speed in addition to the first safe velocity are the second safety traffic
Speed；For example, the first safe velocity is slipspeed, then the second safe velocity is rollover speed；If the first peace
Full travel speed is rollover speed, then the second safe velocity is slipspeed.
Step 208：According to the current driving speed and the first safe velocity, the driver of the vehicle is pointed out.
If the current driving speed is more than the first safe velocity, the driver of the vehicle is pointed out.
In addition, if obtain the second safe velocity of the vehicle in step 207, then this step can also by with
Lower step (1) and (2) realization, including：
(1)：According to the current driving speed, the first safe velocity and the second travel speed, prompting mode is obtained；
According to the current driving speed, the first safe velocity and the second safe velocity, the current driving is determined
Length velocity relation between speed and the first safe velocity and the second safe velocity；According to the length velocity relation, from speed
Prompting mode is obtained in the corresponding relation of relation and prompting mode.
Wherein, length velocity relation includes the current driving speed and is less than the first safe velocity, and the current driving speed is big
In or equal to the first safe velocity and less than the second safe velocity, the current driving speed is more than or equal to the second peace
Full travel speed.
Wherein, prompting mode includes the first prompting mode and the second prompting mode, and the first prompting mode can be broadcasting language
Sound message, the second prompting mode can be broadcasting buzzer.
Wherein, when the current driving speed is less than the first safe velocity, the prompting mode can be broadcasting first
Speech message and the first buzzer；For example, the first speech message can be for " front preset distance will enter bend, please carefully drive
Sail ", the first buzzer can be light and slow buzzing；Certainly, because the current driving speed is less than the first safe velocity, then
Traffic accident may not occur for the vehicle, and now the prompting mode can only include playing the first speech message, not including playing
Buzzer.
Wherein, when the current driving speed is more than or equal to the first safe velocity and less than the second safe velocity
When, the prompting mode can be to play the second speech message and the second buzzer, and the second speech message includes the first security row
Speed is sailed, the frequency of the second buzzer is more than the frequency of the first buzzer；For example, the second speech message can be " travel speed
Comparatively fast, have the risk for occurring accident, the first safe velocity please be decelerate to ", the second buzzer can be light and slow buzzing.
Wherein, when the current driving speed is more than or equal to the second safe velocity, the prompting mode can be to broadcast
Put the 3rd speech message and the 3rd buzzer；3rd speech message includes the first safe velocity；The frequency of 3rd buzzer
Rate is more than the frequency of the second buzzer；For example, the 3rd speech message can be for " travel speed is too fast, will cause major accident, please
Decelerate to the first safe velocity ", the 3rd buzzer can be sharp buzzing.
Further, obtain prompting mode before, can also according to the current driving speed, the first safe velocity and
Second safe velocity, determines whether the vehicle may occur traffic accident；If possible occur traffic accident, obtain prompting
Mode；Traffic accident does not occur if possible, then terminates.
Wherein, if the current driving speed is less than the first safe velocity, it is determined that the vehicle may not be handed over
Interpreter's event, otherwise, it is determined that traffic accident may occur for the vehicle.Namely if the current driving speed is more than or equal to first
Safe velocity and less than the second safe velocity, or the current driving speed is more than the second safe velocity, then
Determine that traffic accident may occur for the vehicle.
(2)：By the prompting mode, the driver of the vehicle is pointed out.
The driver of the vehicle is pointed out by the prompting mode, so that driver avoids handing over by corresponding measures such as decelerations
The generation of interpreter's event.Also, the prompting mode in the present invention, which is voice message mode, plus buzzer prompting mode is combined carries
Show mode, so as to add the attention degree of driver, effectively reduce the generation of traffic accident.
In embodiments of the present invention, car-mounted terminal determines whether the vehicle will enter according to the current positional information of vehicle
Enter bend；If the vehicle will enter bend, the current driving speed and the first safe velocity of the vehicle are obtained, according to
Current driving speed and the first safe velocity, point out the driver of the vehicle, thus improve prompting accuracy and
Reduce the generation of traffic accident.
Embodiment 3
The embodiments of the invention provide a kind of device of prompting driver, referring to Fig. 3, wherein, the device includes：
First acquisition module 301, the positional information current for obtaining vehicle；
First determining module 302, for according to the positional information, determining whether the vehicle will enter bend；
Second acquisition module 303, for if it is, obtaining the current driving speed of the vehicle and the road way of the bend
According to；
Computing module 304, for according to the road data, calculating the first safe velocity of the vehicle；
Reminding module 305, for according to the current driving speed and the first safe velocity, pointing out the driving of the vehicle
Member.
Further, computing module 304, including：
First computing unit, for according to the road data, calculating the slipspeed when vehicle is travelled on bend；
First acquisition unit, the vehicle body data for obtaining the vehicle；
Second computing unit, when being travelled for according to the road data and the vehicle body data, calculating the vehicle on bend
Rollover speed；
Determining unit, for according to the slipspeed and the rollover speed, determining the first safe velocity of the vehicle.
Further, the second computing unit, including：
First computation subunit, for according to the road data and the vehicle body data, calculating the vehicle in negotiation of bends
The aligning torque of generation, the first moment resulting from sidesway that centrifugal force is produced, the second moment resulting from sidesway of the superelevation generation of the bend；
Second computation subunit, for according to the aligning torque, the first moment resulting from sidesway, the second moment resulting from sidesway, calculating the car
Rollover speed when travelling on the bend.
Further, the device also includes：
Second determining module, for according to the slipspeed and the rollover speed, determining the second safety traffic of the vehicle
Speed；
Accordingly, reminding module 305, including：
Second acquisition unit, for according to the current driving speed, the first safe velocity and the second safety traffic speed
Degree, obtains prompting mode；
Tip element, for by the prompting mode, pointing out the driver of the vehicle.
Further, second acquisition unit, including：
Determination subelement, for according to the current driving speed, the first safe velocity and the second safe velocity,
Determine the length velocity relation between the current driving speed and the first safe velocity and the second safe velocity；
Subelement is obtained, for according to the length velocity relation, obtaining and carrying from the corresponding relation of length velocity relation and prompting mode
Show mode.
In embodiments of the present invention, car-mounted terminal determines whether the vehicle will enter according to the current positional information of vehicle
Enter bend；If the vehicle will enter bend, the current driving speed and the first safe velocity of the vehicle are obtained, according to
Current driving speed and the first safe velocity, point out the driver of the vehicle, thus improve prompting accuracy and
Reduce the generation of traffic accident.
It should be noted that：The device for the prompting driver that above-described embodiment is provided is when pointing out driver, only with above-mentioned
The division progress of each functional module is for example, in practical application, as needed can distribute above-mentioned functions by different
Functional module complete, i.e., the internal structure of device is divided into different functional modules, with complete it is described above whole or
Partial function.In addition, the device for the prompting driver that above-described embodiment is provided belongs to same with pointing out the embodiment of the method for driver
One design, it implements process and refers to embodiment of the method, repeats no more here.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can be by hardware
To complete, the hardware of correlation can also be instructed to complete by program, described program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only storage, disk or CD etc..
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modifications, equivalent substitutions and improvements made etc. should be included within the scope of the present invention.
Claims (8)
1. a kind of method for pointing out driver, it is characterised in that methods described includes：
Obtain the current positional information of vehicle；
According to the positional information, determine whether the vehicle will enter bend；
If it is, obtaining the current driving speed of the vehicle and the road data of the bend；
According to the road data, calculate the first safe velocity of the vehicle, the road data include sweep,
The transverse slope and lateral adhesion coefficient of superelevation；
According to the current driving speed and first safe velocity, the driver of the vehicle is pointed out；
Wherein, it is described according to the road data, the first safe velocity of the vehicle is calculated, including：
According to the road data, the slipspeed when vehicle is travelled on the bend is calculated；
Obtain the vehicle body data of the vehicle；
According to the road data and the vehicle body data, the rollover speed when vehicle is travelled on the bend is calculated；
According to the slipspeed and the rollover speed, the first safe velocity of the vehicle is determined；
Wherein, it is described according to the road data, the slipspeed when vehicle is travelled on the bend is calculated, including：
According to the road data, the first centrifugal force that the vehicle produces in the negotiation of bends and the bend are calculated
The second centrifugal force that superelevation is produced, calculates the traction of the bend, according to first centrifugal force, second centrifugation
Power and the traction, calculate the slipspeed when vehicle is travelled on the bend.
2. the method as described in claim 1, it is characterised in that described according to the road data and the vehicle body data, meter
The rollover speed when vehicle is travelled on the bend is calculated, including：
According to the road data and the vehicle body data, time positive force that the vehicle is produced in the negotiation of bends is calculated
Square, the first moment resulting from sidesway that centrifugal force is produced, the second moment resulting from sidesway of the superelevation generation of the bend；
According to the aligning torque, first moment resulting from sidesway, second moment resulting from sidesway, the vehicle is calculated in the bend
Rollover speed during upper traveling.
3. the method as described in claim 1, it is characterised in that methods described also includes：
According to the slipspeed and the rollover speed, the second safe velocity of the vehicle is determined；
Accordingly, it is described according to the current driving speed and first safe velocity, point out the driving of the vehicle
Member, including：
According to the current driving speed, first safe velocity and second safe velocity, prompting is obtained
Mode；
By the prompting mode, the driver of the vehicle is pointed out.
4. method as claimed in claim 3, it is characterised in that it is described according to the current driving speed, first safety
Travel speed and second safe velocity, obtain prompting mode, including：
According to the current driving speed, first safe velocity and second safe velocity, it is determined that described
Length velocity relation between current driving speed and first safe velocity and second safe velocity；
According to the length velocity relation, prompting mode is obtained from the corresponding relation of length velocity relation and prompting mode.
5. a kind of device of prompting driver, it is characterised in that described device includes：
First acquisition module, the positional information current for obtaining vehicle；
First determining module, for according to the positional information, determining whether the vehicle will enter bend；
Second acquisition module, for if it is, obtaining the current driving speed of the vehicle and the road data of the bend；
Computing module, for according to the road data, calculating the first safe velocity of the vehicle, the road data
Including sweep, the transverse slope of superelevation and lateral adhesion coefficient；
Reminding module, for according to the current driving speed and first safe velocity, pointing out driving for the vehicle
The person of sailing；
The computing module, including：
First computing unit, for according to the road data, calculating the sideslip speed when vehicle is travelled on the bend
Degree；
First acquisition unit, the vehicle body data for obtaining the vehicle；
Second computing unit, for according to the road data and the vehicle body data, calculating the vehicle on the bend
Rollover speed during traveling；
Determining unit, for according to the slipspeed and the rollover speed, determining the first safety traffic speed of the vehicle
Degree；
First computing unit, is additionally operable to according to the road data, calculates the vehicle and is produced in the negotiation of bends
The first centrifugal force and the bend the second centrifugal force for producing of superelevation, the traction of the bend is calculated, according to institute
The first centrifugal force, second centrifugal force and the traction are stated, is calculated when the vehicle is travelled on the bend
Slipspeed.
6. device as claimed in claim 5, it is characterised in that second computing unit, including：
First computation subunit, for according to the road data and the vehicle body data, calculating the vehicle in the bend
The aligning torque produced during traveling, the first moment resulting from sidesway that centrifugal force is produced, the second roll force of the superelevation generation of the bend
Square；
Second computation subunit, for according to the aligning torque, first moment resulting from sidesway, second moment resulting from sidesway, meter
Calculate the rollover speed when vehicle is travelled on the bend.
7. device as claimed in claim 5, it is characterised in that described device also includes：
Second determining module, for according to the slipspeed and the rollover speed, determining the second security row of the vehicle
Sail speed；
Accordingly, the reminding module, including：
Second acquisition unit, for according to the current driving speed, first safe velocity and second safety
Travel speed, obtains prompting mode；
Tip element, for by the prompting mode, pointing out the driver of the vehicle.
8. device as claimed in claim 7, it is characterised in that the second acquisition unit, including：
Determination subelement, for according to the current driving speed, first safe velocity and second security row
Speed is sailed, is determined between the current driving speed and first safe velocity and second safe velocity
Length velocity relation；
Subelement is obtained, for according to the length velocity relation, prompting to be obtained from the corresponding relation of length velocity relation and prompting mode
Mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510337396.3A CN104960518B (en) | 2015-06-17 | 2015-06-17 | A kind of method and apparatus for pointing out driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510337396.3A CN104960518B (en) | 2015-06-17 | 2015-06-17 | A kind of method and apparatus for pointing out driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104960518A CN104960518A (en) | 2015-10-07 |
| CN104960518B true CN104960518B (en) | 2017-07-11 |
Family
ID=54214668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510337396.3A Active CN104960518B (en) | 2015-06-17 | 2015-06-17 | A kind of method and apparatus for pointing out driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104960518B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105865474A (en) * | 2016-04-29 | 2016-08-17 | 乐视控股（北京）有限公司 | Navigation method and device |
| CN106476805A (en) * | 2016-10-14 | 2017-03-08 | 深圳市元征科技股份有限公司 | A kind of control method of safe driving of vehicle and terminal |
| CN107139723A (en) * | 2017-04-21 | 2017-09-08 | 奇瑞汽车股份有限公司 | The method and apparatus for controlling the travel speed of vehicle |
| CN108121346A (en) * | 2017-12-20 | 2018-06-05 | 东风汽车集团有限公司 | A kind of automatic Pilot heading control loop and method based on high-precision navigation positioning system |
| CN108189838B (en) * | 2017-12-30 | 2019-10-22 | 吉利汽车研究院（宁波）有限公司 | A kind of pattern of fusion adaptive cruise curve control method and device |
| CN108973575A (en) * | 2018-08-12 | 2018-12-11 | 苏州青科艾莉电子科技有限公司 | A kind of anti-rollover control method and device based on electronic control air suspension |
| CN112373466A (en) * | 2020-10-12 | 2021-02-19 | 上汽通用五菱汽车股份有限公司 | Cruise control method added with vehicle-mounted navigation information |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101607554A (en) * | 2008-06-18 | 2009-12-23 | 爱信艾达株式会社 | Drive assistance device and driving assistance method |
| CN101952154A (en) * | 2008-02-15 | 2011-01-19 | 爱信艾达株式会社 | Driving supporting device, driving supporting method, and driving supporting program |
| CN102001338A (en) * | 2010-10-28 | 2011-04-06 | 奇瑞汽车股份有限公司 | Control method and device for safe driving of vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8692980B2 (en) * | 2010-11-01 | 2014-04-08 | Advanced Scientific Concepts, Inc. | Flash LADAR collision avoidance system |
-
2015
- 2015-06-17 CN CN201510337396.3A patent/CN104960518B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101952154A (en) * | 2008-02-15 | 2011-01-19 | 爱信艾达株式会社 | Driving supporting device, driving supporting method, and driving supporting program |
| CN101607554A (en) * | 2008-06-18 | 2009-12-23 | 爱信艾达株式会社 | Drive assistance device and driving assistance method |
| CN102001338A (en) * | 2010-10-28 | 2011-04-06 | 奇瑞汽车股份有限公司 | Control method and device for safe driving of vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104960518A (en) | 2015-10-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104960518B (en) | A kind of method and apparatus for pointing out driver | |
| US10687171B1 (en) | Detecting handling of a device in a vehicle | |
| CN102815300B (en) | Cruise control apparatus and control method thereof | |
| CN105313769B (en) | A kind of vehicle-mounted active forewarning method, system and device based on millimetre-wave radar | |
| CN107993453B (en) | Method for calculating safe speed of curve based on vehicle-road cooperation | |
| JP4582170B2 (en) | Gradient information calculation device, vehicle travel control device, navigation system | |
| EP3118079B1 (en) | Road surface submergence estimation device | |
| US8315756B2 (en) | Systems and methods of vehicular path prediction for cooperative driving applications through digital map and dynamic vehicle model fusion | |
| CN109544992A (en) | A kind of vehicle collision prewarning system based on GPS and ZigBee | |
| CN102903254B (en) | School regional safety device of advanced safety vehicle, and method thereof | |
| JP4980207B2 (en) | Emergency vehicle guidance device, program and method | |
| CN104325978A (en) | Safety anti-collision early warning method based on vehicular ad-hoc network | |
| CN108495330A (en) | A kind of anti-collision warning method for testing reliability of Che-vehicle information exchange communication | |
| CN109050520A (en) | Vehicle driving state based reminding method and device, computer readable storage medium | |
| JP2015219830A (en) | Drive assist system | |
| JP5704229B2 (en) | Driving support device and vehicle information processing device | |
| CN103496366A (en) | Active-lane-changing collision-avoidance control method and device based on vehicle-vehicle coordination | |
| CN103661366A (en) | Vehicle curve overturn prevention system and method thereof | |
| CN107230389A (en) | A kind of mountain area winding road safety pre-warning system and method | |
| CN109760678A (en) | A kind of method for limiting speed of automotive self-adaptive cruise system | |
| US20200130690A1 (en) | Lateral adaptive cruise control | |
| CN104361760A (en) | Emergency brake intelligent control method based on Internet of Vehicles | |
| JP2019098914A (en) | Pre-congestion deceleration notification apparatus | |
| CN105632203B (en) | A kind of traffic security early warning method of traffic control and system | |
| JP4289421B2 (en) | Vehicle control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220215 Address after: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee after: Wuhu Sambalion auto technology Co.,Ltd. Address before: 241006 Changchun Road, Wuhu economic and Technological Development Zone, Wuhu, Anhui, 8 Patentee before: CHERY AUTOMOBILE Co.,Ltd. |
|
| TR01 | Transfer of patent right |