CN105243174A - Safe driving space representation method - Google Patents
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- CN105243174A CN105243174A CN201510540051.8A CN201510540051A CN105243174A CN 105243174 A CN105243174 A CN 105243174A CN 201510540051 A CN201510540051 A CN 201510540051A CN 105243174 A CN105243174 A CN 105243174A
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Abstract
The invention discloses a safe driving space representation method. The method comprises the following steps of: S1: previously establishing a compact surrounded body of a vehicle according to the vehicle shape; S2: after the vehicle has a certain speed, periodically detecting a spatial distance between the compact surrounded body and a peripheral object; S3: predicting a time interval of possible collision between the vehicle and a peripheral barrier when the vehicle runs at current speed and accelerated speed in a current driving direction, and obtaining a current minimum collision time interval; S4: according to the current minimum collision time interval, calculating a safe driving space parameter of the vehicle and constructing a safe driving space representation body; and S5: displaying the safe driving space representation body of the vehicle. According to the safe driving space representation method, a safe driving space concept is proposed and a safe driving space determining and representing method is given. According to the detection method, a spatial position related safety state of the vehicle or a vehicle simulator driven by a driver can be evaluated and determined, and a result is expressed in the form of the safe driving space parameter.
Description
Technical field
The present invention relates to the technical field such as car steering, traffic safety, particularly relate to automobile assistant driving, automobile driving simulation field, particularly relate to a kind of method for expressing of safe driving space.
Background technology
In car steering process, driver needs by self judgement to traffic environment, and institute's steering vehicle is travelled in a comparatively safe space.Driver mainly by observing the position of road traffic facility, the motion state of other traffic participant in front window, side window and rearview mirror, and assesses the interference relation of its moving line and this car travel route, is used to guide self driving behavior.
In the last few years, auto vendor designs, produces all kinds of DAS (Driver Assistant System), adopt different sensor to obtain data needed for driving, and provide distance, and the information such as distance of traffic lane line of Ben Che and front truck to driver, auxiliary driver makes correct driving behavior.Do not possess safe driving space in existing automobile driving simulation device to detect and Presentation Function, relevant information cannot be provided to driver.Existing automobile does not possess detection and the Presentation Function in safe driving space yet.Major part automobile has radar for backing car or reverse image system, when moveing backward, provides ranging information and diagram display.And in driving path process, the relevant information in safe driving space cannot be provided.Partial automobile possesses driving radar or video detecting device, can show the distance with front truck, and carries out diagram prompting to run-off-road line.But in above situation, all without the concept in safe driving space, do not propose yet or realize detection and the display packing in safe driving space.
The single datum that these information are scattered often, could use after needing driver to carry out secondary judgement.Find through research, if integrating with the data of space correlation of this car driving can will may be affected, and graphically state intuitively, to driver will be conducive to grasp fast the state in this car safe driving space, timely, appropriate response will be made to the various situations that road occurs.Judgement and the method for expressing in this safe driving space not only can be used on automobile assistant driving field, also can be applied on automobile driving simulation device, help driver to set up safe driving spatial impression, improve traffic safety consciousness.
Summary of the invention
The object of this invention is to provide a kind of method for expressing of safe driving space, apart from the parameter calculating safe driving space time minimum by obtaining between this car and surrounding static, dynamic environment object, according to these parametric configuration safe driving space representation bodies; And safe driving space representation method provided by the invention can realize carrying out safe driving prompting from geometric shape, color two aspect to driver, there is the features such as information representation is directly perceived; For automobile assistant driving, driving safety, driving training provide useful supplementary and represent, be conducive to traffic safety.
The object of the invention is to be achieved through the following technical solutions: the method for expressing in safe driving space, it comprises the following steps:
S1: the enclosure body that compacts setting up this car in advance according to this car shape, for detecting space length that is static with periphery, dynamic object;
S2: after vehicle has certain speed, starts periodically to detect the space length compacted between enclosure body and periphery static state/dynamic object;
S3: according to detect obtain space length, this car travelling speed and direction, this car acceleration and orientation angle, dope when this car along current driving direction with present speed, acceleration operation time, the time interval that may collide with periphery barrier; Wherein, get the minimum value in these time intervals likely collided, distance when being defined as current minimum collision;
S4: according to distance during current minimum collision, calculates and obtains this car safe driving spatial parameter, and construct safe driving space representation body;
S5: utilize graphical display technics to show this car safe driving space representation body by rights.
Described safe driving space representation body adopts two-dimensional approach or three dimensional constitution to represent; Represent according to two-dimensional approach, the shape of safe driving space representation body is an approximate rectangle, and junction, each limit adopts circular arc chamfering; Represent according to three dimensional constitution, the shape of safe driving space representation body is an approximate rectangular parallelepiped, the employing face of cylinder, junction, two faces chamfering, and junction, three faces adopts sphere chamfering.
The border of described safe driving space representation body is solid line, and inside is filled in translucent color mode, and size is according to distance during minimum collision and the dynamic change of this vehicle speed; The Fill Color of safe driving space representation body changes according to the dynamic change of distance during minimum collision.
When vehicle does not possess certain speed, do not show this car safe driving space representation body.
Described this car safe driving space representation body calculates the spatial parameter of this car safe driving space representation body by following algorithm:
(1) the length L of this car safe driving space representation body adopts following formulae discovery:
In formula, L is the length of safe driving space representation body, L
vfor this vehicle commander degree, T
sfor distance during static state/dynamic object within the scope of this car under current time and this car travel direction 90 degree of three-dimensional subtended angles minimum, V
sfor this car under current time and T
sthe mould of speed differ-ence vector vd between corresponding object;
(2) width W of this car safe driving space representation body adopts following formulae discovery:
In formula, W is the width of safe driving space representation body, W
vfor this vehicle-width, T
ufor distance during the outer static state/dynamic object of this car under current time and the three-dimensional subtended angle scope of this car travel direction 90 degree minimum, V
ufor this car under current time and T
sthe mould of speed differ-ence vector vd between corresponding object;
(3) height H of this car safe driving space representation body adopts following formulae discovery:
H＝H
v×120％
；
In formula, H is the length in safe driving space, H
vfor this height.
Described this car safe driving space representation body adopts red-green-blue color model, or is transformed into other color model space; According to employing red-green-blue color model, the color component span of red, green, blue is normalized to [0.0,1.0].
The concrete value of described red-green-blue color model is by following formulae discovery:
B＝0.0；
In formula, R is red, and G is green, and B is blue; L is the length of safe driving space representation body, L
vfor this vehicle commander degree, W is the width of safe driving space representation body, W
vfor this vehicle-width.
The described time interval completes calculating by the velocity of this car, acceleration, the shape of the enclosure body that compacts and the relative distance of vertex parameter, surrounding objects and this car; Wherein, shape and the vertex parameter of the enclosure body that compacts are determined according to vehicle, and the relative distance of the velocity of this car, acceleration, surrounding objects and this car is run at this car or obtained in simulated program.
The invention has the beneficial effects as follows: the concept proposing safe driving space in the present invention, and give judgement and the method for expressing in safe driving space.According to this detection method, can to driver to drive a car or safe condition relevant to locus residing for automobile emulator carries out evaluating and testing and judge, and result to be expressed with the form of safe driving spatial parameter.
Core be by when to obtain between this car and surrounding static, dynamic environment object minimum apart from the parameter calculating safe driving space, according to these parametric configuration safe driving space representation bodies.Safe driving space representation method provided by the invention realizes carrying out safe driving prompting from geometric shape, color two aspect to driver, has the features such as information representation is directly perceived; For automobile assistant driving, driving safety, driving training provide useful supplementary and represent, be conducive to traffic safety.
According to safe driving space representation method, in automobile instrument screen, vehicle mounted multimedia screen, new line display screen or automobile emulator what comes into a driver's picture, safe driving space can be showed in tangible mode, to carry out safety instruction to driver, play the effect of auxiliary driving or safety education.The present invention can be widely used in the field such as automobile driving simulation device, automobile instrument, auxiliary driving, traffic safety training education.
Accompanying drawing explanation
Fig. 1 is the inventive method process flow diagram.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail: as shown in Figure 1, the method for expressing in safe driving space, it comprises the following steps:
S1: the enclosure body that compacts setting up this car in advance according to this car shape, for detecting space length that is static with periphery, dynamic object;
S2: after vehicle has certain speed, starts periodically to detect the space length compacted between enclosure body and periphery static state/dynamic object;
S3: according to detect obtain space length, this car travelling speed and direction, this car acceleration and orientation angle, dope when this car along current driving direction with present speed, acceleration operation time, the time interval that may collide with periphery barrier; Wherein, get the minimum value in these time intervals likely collided, distance when being defined as current minimum collision;
The described time interval completes calculating by the velocity of this car, acceleration, the shape of the enclosure body that compacts and the relative distance of vertex parameter, surrounding objects and this car; Wherein, shape and the vertex parameter of the enclosure body that compacts are determined according to vehicle, and the relative distance of the velocity of this car, acceleration, surrounding objects and this car obtains in this car runs;
S4: according to distance during current minimum collision, calculates and obtains this car safe driving spatial parameter, and construct safe driving space representation body;
S5: utilize graphical display technics to show this car safe driving space representation body by rights.
Embodiment 1 is for be applied to this method in true car driving environment.
The method for expressing in safe driving space, it comprises the following steps:
S1: automobile starting sets up the enclosure body that compacts of this car after running in advance according to this car shape, for detecting space length that is static with periphery, dynamic object;
S2: when this car operating rate is more than 1km/h, is detected in real time by the minor increment of the enclosure body that compacts to periphery static state, dynamic object and this car; The modes such as ultrasound wave can be adopted to find range;
S3: according to detect obtain space length, this car travelling speed and direction, this car acceleration and orientation angle, dope when this car along current driving direction with present speed, acceleration operation time, the time interval that may collide with periphery barrier; Wherein, get the minimum value in these time intervals likely collided, distance when being defined as current minimum collision;
The described time interval completes calculating by the velocity of this car, acceleration, the shape of the enclosure body that compacts and the relative distance of vertex parameter, surrounding objects and this car; Wherein, shape and the vertex parameter of the enclosure body that compacts are determined according to vehicle, and velocity, acceleration, relative distance data can obtain from vehicle dynamics simulation program;
S4: according to distance during current minimum collision, calculates and obtains this car safe driving spatial parameter, and construct safe driving space representation body;
S5: when this car operating rate is more than 1km/h, shows safe driving space representation body in this car surrounding in translucent mode.Safe driving space representation body will show in two dimensions in Vehicular screen.Its shape is an approximate rectangle, and there is circular arc chamfering junction, each limit, and border is solid line, and inside is filled in translucent color mode.The size of safe driving space representation body is according to distance, the dynamic change of this vehicle speed during minimum collision.The Fill Color of safe driving space representation body changes according to the dynamic change of distance during minimum collision.When this car operating rate is lower than 1km/h, do not show this car safe driving space representation body.
Embodiment 2 is for be applied to this method in automobile driving simulation device environment.
The method for expressing in safe driving space, it comprises the following steps:
S1: automobile starting sets up the enclosure body that compacts of this car after running in advance according to this car shape, for detecting space length that is static with periphery, dynamic object;
S2: when this car operating rate is more than 1km/h, is detected in real time by the minor increment of the enclosure body that compacts to periphery static state, dynamic object and this car; The spatial information of types of objects in model of place is utilized to carry out space length calculating;
S3: according to detect obtain space length, this car travelling speed and direction, this car acceleration and orientation angle, dope when this car along current driving direction with present speed, acceleration operation time, the time interval that may collide with periphery barrier; Wherein, get the minimum value in these time intervals likely collided, distance when being defined as current minimum collision;
S4: according to distance during current minimum collision, calculates and obtains this car safe driving spatial parameter, and construct safe driving space representation body;
S5: when this car operating rate is more than 1km/h, shows safe driving space representation body in this car surrounding in translucent mode.Safe driving space representation body will show in three dimensions in forward direction what comes into a driver's picture.Shape is an approximate rectangular parallelepiped, and there is the face of cylinder chamfering junction, two faces, and junction, three faces adopts sphere chamfering, while adopt indicated by the solid line, face and space adopt homochromy with limit but transparency is the color filling of 20-50%.The size of safe driving space representation body is according to distance, the dynamic change of this vehicle speed during minimum collision.The Fill Color of safe driving space representation body changes according to the dynamic change of distance during minimum collision.When this car operating rate is lower than 1km/h, do not show this car safe driving space representation body.
In embodiment 1 and embodiment 2, this car safe driving space representation body all calculates the spatial parameter of this car safe driving space representation body by following algorithm:
(1) the length L of this car safe driving space representation body adopts following formulae discovery:
In formula, L is the length of safe driving space representation body, L
vfor this vehicle commander degree, T
sfor distance during static state/dynamic object within the scope of this car under current time and this car travel direction 90 degree of three-dimensional subtended angles minimum, V
sfor this car under current time and T
sthe mould of speed differ-ence vector vd between corresponding object;
(2) width W of this car safe driving space representation body adopts following formulae discovery:
In formula, W is the width of safe driving space representation body, W
vfor this vehicle-width, T
ufor distance during the outer static state/dynamic object of this car under current time and the three-dimensional subtended angle scope of this car travel direction 90 degree minimum, V
ufor this car under current time and T
sthe mould of speed differ-ence vector vd between corresponding object;
(3) height H of this car safe driving space representation body adopts following formulae discovery:
H＝H
v×120％
；
In formula, H is the length in safe driving space, H
vfor this height.
Described this car safe driving space representation body adopts red-green-blue color model, or is transformed into other color model space; According to employing red-green-blue color model, the color component span of red, green, blue is normalized to [0.0,1.0].
The concrete value of described red-green-blue color model is by following formulae discovery:
B＝0.0；
In formula, R is red, and G is green, and B is blue; L is the length of safe driving space representation body, L
vfor this vehicle commander degree, W is the width of safe driving space representation body, W
vfor this vehicle-width.
Core of the present invention is the judgement and the graphical representation method that adopt a set of safe driving space, to reflect the spatial relationship between its automobile driven and other traffic participant around it, traffic environment in the dynamic process that real car is driven or simulated automotive is driven to driver in real time.
First need with this car geometric center for initial point sets up this car three-dimensional coordinate system system, by detecting: 1. bulk, coordinate, velocity, the acceleration of this car, 2. bulk, coordinate, velocity, the acceleration of nearby vehicle or other type traffic participant, 3. the static object in periphery traffic environment and the position relationship of this car, calculate the state parameter that space driven by this car.According to this state parameter, dynamically demonstrate around this car and drive space.The state parameter driving space determines the display characteristic such as shape, color driving space, reflects its steering vehicle safe coefficient spatially whereby to driver.
The detection in this vehicle security drive space, method for expressing, can be applicable to the fields such as automobile driving simulation device, automobile active safety protection, defensive driving training.
Claims (9)
1. the method for expressing in safe driving space, is characterized in that: it comprises the following steps:
S1: the enclosure body that compacts setting up this car in advance according to this car shape, for detecting space length that is static with periphery, dynamic object;
S2: after vehicle has certain speed, starts periodically to detect the space length compacted between enclosure body and periphery static state/dynamic object;
S3: according to detect obtain space length, this car travelling speed and direction, this car acceleration and orientation angle, dope when this car along current driving direction with present speed, acceleration operation time, the time interval that may collide with periphery barrier; Wherein, get the minimum value in these time intervals likely collided, distance when being defined as current minimum collision;
S4: according to distance during current minimum collision, calculates and obtains this car safe driving spatial parameter, and construct safe driving space representation body;
S5: utilize graphical display technics to show this car safe driving space representation body by rights.
2. the method for expressing in safe driving space according to claim 1, is characterized in that: described safe driving space representation body adopts two-dimensional approach or three dimensional constitution to represent; Represent according to two-dimensional approach, the shape of safe driving space representation body is an approximate rectangle, and junction, each limit adopts circular arc chamfering; Represent according to three dimensional constitution, the shape of safe driving space representation body is an approximate rectangular parallelepiped, the employing face of cylinder, junction, two faces chamfering, and junction, three faces adopts sphere chamfering.
3. the method for expressing in safe driving space according to claim 1, it is characterized in that: the border of described safe driving space representation body is solid line, inside is filled in translucent color mode, and size is according to distance during minimum collision and the dynamic change of this vehicle speed; The Fill Color of safe driving space representation body changes according to the dynamic change of distance during minimum collision.
4. the method for expressing in safe driving space according to claim 1, is characterized in that: the spatial parameter of described this car safe driving space representation body comprises length L, width W, height H and color.
5. the method for expressing in safe driving space according to claim 4, is characterized in that: described this car safe driving space representation body calculates the spatial parameter of this car safe driving space representation body by following algorithm:
(1) the length L of this car safe driving space representation body adopts following formulae discovery:
In formula, L is the length of safe driving space representation body, L
vfor this vehicle commander degree, T
sfor distance during static state/dynamic object within the scope of this car under current time and this car travel direction 90 degree of three-dimensional subtended angles minimum, V
sfor this car under current time and T
sthe mould of speed differ-ence vector vd between corresponding object;
(2) width W of this car safe driving space representation body adopts following formulae discovery:
In formula, W is the width of safe driving space representation body, W
vfor this vehicle-width, T
ufor distance during the outer static state/dynamic object of this car under current time and the three-dimensional subtended angle scope of this car travel direction 90 degree minimum, V
ufor this car under current time and T
sthe mould of speed differ-ence vector vd between corresponding object;
(3) height H of this car safe driving space representation body adopts following formulae discovery:
H＝H
v×120％
；
In formula, H is the length in safe driving space, H
vfor this height.
6. the method for expressing in safe driving space according to claim 4, is characterized in that: described this car safe driving space representation body adopts red-green-blue color model, or is transformed into other color model space; According to employing red-green-blue color model, the color component span of red, green, blue is normalized to [0.0,1.0].
7. the method for expressing in safe driving space according to claim 6, is characterized in that: the concrete value of described red-green-blue color model is by following formulae discovery:
B＝0.0；
In formula, R is red, and G is green, and B is blue; L is the length of safe driving space representation body, L
vfor this vehicle commander degree, W is the width of safe driving space representation body, W
vfor this vehicle-width.
8. the method for expressing in safe driving space according to claim 1, is characterized in that: the described time interval completes calculating by the velocity of this car, acceleration, the shape of the enclosure body that compacts and the relative distance of vertex parameter, surrounding objects and this car; Wherein, shape and the vertex parameter of the enclosure body that compacts are determined according to vehicle, and the relative distance of the velocity of this car, acceleration, surrounding objects and this car is run at this car or obtained in simulated program.
9. the method for expressing in safe driving space according to claim 1, is characterized in that: when vehicle does not possess certain speed, does not show this car safe driving space representation body.
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