CN105243174B - The representation method in safe driving space - Google Patents
The representation method in safe driving space Download PDFInfo
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- CN105243174B CN105243174B CN201510540051.8A CN201510540051A CN105243174B CN 105243174 B CN105243174 B CN 105243174B CN 201510540051 A CN201510540051 A CN 201510540051A CN 105243174 B CN105243174 B CN 105243174B
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Abstract
The invention discloses a kind of representation methods in safe driving space, include the following steps：S1：The enclosure body that compacts of this vehicle is established previously according to this vehicle shape；S2：After vehicle has certain speed, the space length to compact between enclosure body and peripheral objects is periodically detected；S3：When predicting when this vehicle along current driving direction with present speed, acceleration operation, the time interval that may be collided with periphery barrier, when taking current minimum collision away from；S4：Away from calculating obtains this vehicle safe driving spatial parameter, and constructs safe driving space representation body when being collided according to current minimum；S5：Show this vehicle safe driving space representation body.The present invention proposes the concept in safe driving space, and gives judgement and the representation method in safe driving space.According to the detection method, can drive a car to driver or automobile emulator residing for evaluate and test and judge with the relevant safe condition in spatial position, and result is expressed in the form of safe driving spatial parameter.
Description
Technical field
The present invention relates to the technical fields such as car steering, traffic safety more particularly to automobile assistant driving, car steering to imitate
True field more particularly to a kind of representation method in safe driving space.
Background technology
During car steering, driver needs the judgement to traffic environment by itself so that institute's driving vehicle row
It sails in a comparatively safe space.Driver mainly passes through road traffic facility in observation front window, side window and rearview mirror
Position, other traffic participants motion state, and assess the interference relationship of its moving line and this vehicle travel route, be used for
Instruct itself driving behavior.
In recent years, auto vendor designs, produces all kinds of DAS (Driver Assistant System)s, driven a vehicle using different sensors
Required data, and to driver provide this vehicle at a distance from front truck, at a distance from traffic lane line etc. information, assist driver are made just
True driving behavior.Do not have the detection of safe driving space and display function in existing automobile driving simulation device, no normal direction drives
Person provides relevant information.Existing automobile does not have detection and the display function in safe driving space yet.Most of automobile has
Vehicle radar or reverse image system provide ranging information and diagram display in reversing.And during driving path, it can not
The relevant information in safe driving space is provided.Partial automobile has driving radar or video detecting device, can show and front truck
Distance, and diagram prompt is carried out to run-off-road line.But in case above, the equal concepts without safe driving space, also not
It is proposed or realize detection and the display methods in safe driving space.
These information are often scattered single datum, could be used after needing driver to carry out secondary judgement.By research
It was found that if can will likely influence being integrated with the data of space correlation for this vehicle driving, and graphically carry out straight
The statement of sight is beneficial to the state that driver quickly grasps this vehicle safe driving space, is done to the various situations occurred on road
Go out timely, appropriate response.The judgement in this safe driving space can not only be used in automobile assistant driving field with representation method,
It can also be applied on automobile driving simulation device, driver is helped to establish safe driving spatial impression, improve traffic safety consciousness.
Invention content
The object of the present invention is to provide a kind of representation method in safe driving space, by obtain this vehicle and surrounding static,
Away from the parameter for calculating safe driving space when minimum between dynamic environment object, according to these parametric configuration safe driving spaces
Indicate body；And safe driving space representation method provided by the invention can be realized in terms of geometric shape, color two to driver
Safe driving prompt is carried out, has the characteristics that information representation is intuitive；It is provided for automobile assistant driving, driving safety, driving training
Useful auxiliary information indicates, is conducive to traffic safety.
The purpose of the present invention is achieved through the following technical solutions：The representation method in safe driving space, it includes
Following steps：
S1：The enclosure body that compacts of this vehicle is established previously according to this vehicle shape, it is static, dynamic object with periphery for detecting
Space length；
S2：After vehicle has certain speed, start to periodically detect compact enclosure body and periphery static state/dynamic object
Between space length；
S3：According to detected space length, this vehicle speed of service and direction, this vehicle acceleration and orientation angle, in advance
When measuring when this vehicle along current driving direction with present speed, acceleration operation, with periphery barrier may collide when
Between be spaced；Wherein, the minimum value in the time interval that these are possible to collide is taken, when being defined as current minimum collision
Away from；
S4：Away from calculating obtains this vehicle safe driving spatial parameter, and constructs safe driving sky when being collided according to current minimum
Between indicate body；
S5：Show this vehicle safe driving space representation body in the right way using graphical display technics.
The safe driving space representation body is indicated using two-dimensional approach or three dimensional constitution；According to two-dimensional approach table
Show, the shape of safe driving space representation body is an approximate rectangle, and each side junction uses circular arc chamfering；According to three
Dimension mode indicates that the shape of safe driving space representation body is an approximate cuboid, and two faces junction is fallen using cylindrical surface
Angle, three faces junction use spherical surface chamfering.
The boundary of the safe driving space representation body is solid line, and inside is filled in a manner of translucent color, size
According to minimum collide when away from this vehicle speed dynamic change；When the Fill Color of safe driving space representation body is collided according to minimum
Away from dynamic change and change.
When vehicle does not have certain speed, this vehicle safe driving space representation body is not shown.
This vehicle safe driving space representation body calculates this vehicle safe driving space representation body by following algorithm
Spatial parameter：
(1) the length L of this vehicle safe driving space representation body is calculated using following formula：
In formula, L is the length of safe driving space representation body, LvFor this vehicle commander degree, TsFor this vehicle under current time and this vehicle
Away from V when the minimum of static state/dynamic object in 90 degree of three-dimensional subtended angle scopes of travel directionsFor this vehicle under current time and TsIt is corresponding
The mould of speed differ-ence vector vd between object；
(2) the width W of this vehicle safe driving space representation body is calculated using following formula：
In formula, W is the width of safe driving space representation body, WvFor this vehicle-width, TuFor this vehicle under current time and this vehicle
Away from V when the minimum of the outer static state/dynamic object of 90 degree of three-dimensional subtended angle scopes of travel directionuFor this vehicle under current time and TsIt is corresponding
The mould of speed differ-ence vector vd between object；
(3) the height H of this vehicle safe driving space representation body is calculated using following formula：
H=Hv× 120%；
In formula, H is the length in safe driving space, HvFor this height.
This vehicle safe driving space representation body uses red-green-blue color model, or is transformed into other face
Color model space；It is normalized according to using the color component value range of red-green-blue color model, red, green, blue
To [0.0,1.0].
The specific value of the red-green-blue color model is calculated by following formula：
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, LvFor this vehicle commander
Degree, W are the width of safe driving space representation body, WvFor this vehicle-width.
The time interval is joined by the velocity vector of this vehicle, acceleration, the shape for the enclosure body that compacts and vertex
The relative distance of number, surrounding objects and this vehicle is completed to calculate；Wherein, compact enclosure body shape and vertex parameter it is true according to vehicle
Calmly, the relative distance of the velocity vector, acceleration of this vehicle, surrounding objects and this vehicle is in the operation of this vehicle or simulated program
It obtains.
The beneficial effects of the invention are as follows：The concept in safe driving space is proposed in the present invention, and is given safety and driven
Sail judgement and the representation method in space.According to the detection method, can drive a car to driver or automobile emulator residing for
The relevant safe condition in spatial position is evaluated and tested and is judged, and result is expressed in the form of safe driving spatial parameter.
It is empty away from safe driving is calculated when core is by obtaining the minimum between this vehicle and surrounding static, dynamic environment object
Between parameter, according to these parametric configuration safe driving space representation bodies.Safe driving space representation method provided by the invention
It realizes and safe driving prompt is carried out to driver in terms of geometric shape, color two, have the characteristics that information representation is intuitive；For automobile
Auxiliary driving, driving safety, driving training provide useful auxiliary information and indicate, are conducive to traffic safety.
According to safe driving space representation method, screen can be shown in automobile instrument screen, vehicle mounted multimedia screen, new line
Or show in safe driving space in a manner of tangible in automobile emulator what comes into a driver's picture, it is carried to carry out safety to driver
Show, plays the role of auxiliary driving or safety education.It the composite can be widely applied to automobile driving simulation device, automobile instrument, auxiliary
Help the fields such as driving, traffic safety training education.
Description of the drawings
Fig. 1 is the method for the present invention flow chart.
Specific implementation mode
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings：As shown in Figure 1, the table in safe driving space
Show method, it includes the following steps：
S1：The enclosure body that compacts of this vehicle is established previously according to this vehicle shape, it is static, dynamic object with periphery for detecting
Space length；
S2：After vehicle has certain speed, start to periodically detect compact enclosure body and periphery static state/dynamic object
Between space length；
S3：According to detected space length, this vehicle speed of service and direction, this vehicle acceleration and orientation angle, in advance
When measuring when this vehicle along current driving direction with present speed, acceleration operation, with periphery barrier may collide when
Between be spaced；Wherein, the minimum value in the time interval that these are possible to collide is taken, when being defined as current minimum collision
Away from；
The time interval is joined by the velocity vector of this vehicle, acceleration, the shape for the enclosure body that compacts and vertex
The relative distance of number, surrounding objects and this vehicle is completed to calculate；Wherein, compact enclosure body shape and vertex parameter it is true according to vehicle
Fixed, the velocity vector, acceleration, the relative distance of surrounding objects and this vehicle of this vehicle obtain in the operation of this vehicle；
S4：Away from calculating obtains this vehicle safe driving spatial parameter, and constructs safe driving sky when being collided according to current minimum
Between indicate body；
S5：Show this vehicle safe driving space representation body in the right way using graphical display technics.
Embodiment 1 is that this method is applied in true vehicle driving environment.
The representation method in safe driving space, it includes the following steps：
S1：After automobile starting operation, the enclosure body that compacts of this vehicle is established previously according to this vehicle shape, for detection and periphery
Static, dynamic object space length；
S2：When this vehicle operating rate is more than 1km/h, compacted enclosure body by static, dynamic object and this vehicle to periphery
Minimum range be measured in real time；The modes such as ultrasonic wave can be used and carry out ranging；
S3：According to detected space length, this vehicle speed of service and direction, this vehicle acceleration and orientation angle, in advance
When measuring when this vehicle along current driving direction with present speed, acceleration operation, with periphery barrier may collide when
Between be spaced；Wherein, the minimum value in the time interval that these are possible to collide is taken, when being defined as current minimum collision
Away from；
The time interval is joined by the velocity vector of this vehicle, acceleration, the shape for the enclosure body that compacts and vertex
The relative distance of number, surrounding objects and this vehicle is completed to calculate；Wherein, compact enclosure body shape and vertex parameter it is true according to vehicle
Fixed, velocity vector, acceleration, relative distance data can be obtained from vehicle dynamics simulation program；
S4：Away from calculating obtains this vehicle safe driving spatial parameter, and constructs safe driving sky when being collided according to current minimum
Between indicate body；
S5：When this vehicle operating rate is more than 1km/h, safe driving spatial table is shown in translucent fashion in this vehicle surrounding
Show body.Safe driving space representation body will in two dimensions be shown in Vehicular screen.Its shape is an approximate rectangle, each side
It is solid line that, which there are circular arc chamfering, boundary in junction, and inside is filled in a manner of translucent color.Safe driving space representation body
Away from, this vehicle speed dynamic change when size is collided according to minimum.The Fill Color of safe driving space representation body is touched according to minimum
When hitting away from dynamic change and change.When this vehicle operating rate is less than 1km/h, this vehicle safe driving space representation is not shown
Body.
Embodiment 2 is that this method is applied in automobile driving simulation device environment.
The representation method in safe driving space, it includes the following steps：
S1：After automobile starting operation, the enclosure body that compacts of this vehicle is established previously according to this vehicle shape, for detection and periphery
Static, dynamic object space length；
S2：When this vehicle operating rate is more than 1km/h, compacted enclosure body by static, dynamic object and this vehicle to periphery
Minimum range be measured in real time；Space length calculating is carried out using the spatial information of types of objects in model of place；
S3：According to detected space length, this vehicle speed of service and direction, this vehicle acceleration and orientation angle, in advance
When measuring when this vehicle along current driving direction with present speed, acceleration operation, with periphery barrier may collide when
Between be spaced；Wherein, the minimum value in the time interval that these are possible to collide is taken, when being defined as current minimum collision
Away from；
S4：Away from calculating obtains this vehicle safe driving spatial parameter, and constructs safe driving sky when being collided according to current minimum
Between indicate body；
S5：When this vehicle operating rate is more than 1km/h, safe driving spatial table is shown in translucent fashion in this vehicle surrounding
Show body.Safe driving space representation body will in three dimensions be shown in forward direction what comes into a driver's picture.Shape is an approximate cuboid,
Two faces junction has cylinder surface chamfer, three faces junction to use spherical surface chamfering, while adopting indicated by the solid line, face and space use
Homochromy but transparency is the color filling of 20-50% with side.The size of safe driving space representation body according to minimum collide when away from,
This vehicle speed dynamic change.The Fill Color of safe driving space representation body according to minimum collide when away from dynamic change and become
Change.When this vehicle operating rate is less than 1km/h, this vehicle safe driving space representation body is not shown.
In embodiment 1 and embodiment 2, this vehicle safe driving space representation body calculates Ben Chean by following algorithm
Full driving space indicates the spatial parameter of body：
(1) the length L of this vehicle safe driving space representation body is calculated using following formula：
In formula, L is the length of safe driving space representation body, LvFor this vehicle commander degree, TsFor this vehicle under current time and this vehicle
Away from V when the minimum of static state/dynamic object in 90 degree of three-dimensional subtended angle scopes of travel directionsFor this vehicle under current time and TsIt is corresponding
The mould of speed differ-ence vector vd between object；
(2) the width W of this vehicle safe driving space representation body is calculated using following formula：
In formula, W is the width of safe driving space representation body, WvFor this vehicle-width, TuFor this vehicle under current time and this vehicle
Away from V when the minimum of the outer static state/dynamic object of 90 degree of three-dimensional subtended angle scopes of travel directionuFor this vehicle under current time and TsIt is corresponding
The mould of speed differ-ence vector vd between object；
(3) the height H of this vehicle safe driving space representation body is calculated using following formula：
H=Hv× 120%；
In formula, H is the length in safe driving space, HvFor this height.
This vehicle safe driving space representation body uses red-green-blue color model, or is transformed into other face
Color model space；It is normalized according to using the color component value range of red-green-blue color model, red, green, blue
To [0.0,1.0].
The specific value of the red-green-blue color model is calculated by following formula：
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, LvFor this vehicle commander
Degree, W are the width of safe driving space representation body, WvFor this vehicle-width.
Core of the present invention is the judgement using a set of safe driving space and graphical representation method, is driven in real car
Or reflect automobile and surrounding other traffic that it is driven in the dynamic process of simulated automotive driving in real time to driver
Spatial relationship between participant, traffic environment.
This vehicle three-dimensional coordinate system system is established firstly the need of by origin of this vehicle geometric center, passes through detection：1. vehicle
Bulk, coordinate, velocity vector, acceleration, the bulk of 2. nearby vehicles or other type traffic participants,
Coordinate, velocity vector, acceleration, the position relationship of static object and this vehicle in 3. periphery traffic environments calculate this
The state parameter of vehicle driving space.According to the state parameter, driving space is dynamically shown around this vehicle.Driving space
State parameter determines the display characteristics such as the shape of driving space, color, reflects that its driven vehicle exists to driver whereby
Safe coefficient spatially.
The detection in this vehicle security drive space, representation method can be applied to automobile driving simulation device, automobile and actively pacify
The fields such as full protection, defensive driving training.
Claims (8)
1. a kind of representation method in safe driving space, it is characterised in that：It includes the following steps：
S1：The enclosure body that compacts of this vehicle is established previously according to this vehicle shape, for detecting the space with periphery static state, dynamic object
Distance；
S2：After vehicle has certain speed, starts to periodically detect and compact between enclosure body and periphery static state/dynamic object
Space length；
S3：According to detected space length, this vehicle speed of service and direction, this vehicle acceleration and orientation angle, predict
When this vehicle along current driving direction with present speed, acceleration operation when, between the time that may be collided with periphery barrier
Every；Wherein, take the minimum value in the time interval that these are possible to collide, when being defined as current minimum collision away from；
S4：Away from calculating obtains this vehicle safe driving spatial parameter, and constructs safe driving spatial table when being collided according to current minimum
Show body；
S5：Show this vehicle safe driving space representation body in the right way using graphical display technics；
This vehicle safe driving space representation body calculates the sky of this vehicle safe driving space representation body by following algorithm
Between parameter：
(1) the length L of this vehicle safe driving space representation body is calculated using following formula：
In formula, L is the length of safe driving space representation body, LvFor this vehicle commander degree, TsIt is travelled for this vehicle under current time and this vehicle
Away from V when the minimum of static state/dynamic object in the three-dimensional subtended angle scope in 90 degree of directionsFor this vehicle under current time and TsCorresponding object
Between speed differ-ence vector vd mould；
(2) the width W of this vehicle safe driving space representation body is calculated using following formula：
In formula, W is the width of safe driving space representation body, WvFor this vehicle-width, TuIt is travelled for this vehicle under current time and this vehicle
Away from V when the minimum of the outer static state/dynamic object of the three-dimensional subtended angle scope in 90 degree of directionuFor this vehicle under current time and TuCorresponding object
Between speed differ-ence vector vd mould；
(3) the height H of this vehicle safe driving space representation body is calculated using following formula：
H=Hv× 120%；
In formula, H is the length in safe driving space, HvFor this height.
2. the representation method in safe driving space according to claim 1, it is characterised in that：The safe driving space
Indicate that body is indicated using two-dimensional approach or three dimensional constitution；It is indicated according to two-dimensional approach, the shape of safe driving space representation body
Shape is an approximate rectangle, and each side junction uses circular arc chamfering；It is indicated according to three dimensional constitution, safe driving spatial table
Show that the shape of body is an approximate cuboid, two faces junction uses cylinder surface chamfer, and three faces junction is fallen using spherical surface
Angle.
3. the representation method in safe driving space according to claim 1, it is characterised in that：The safe driving space
Indicate body boundary be solid line, inside filled in a manner of translucent color, size according to minimum collide when away from this vehicle speed
Dynamic change；The Fill Color of safe driving space representation body according to minimum collide when away from dynamic change and change.
4. the representation method in safe driving space according to claim 1, it is characterised in that：This vehicle safe driving
The spatial parameter of space representation body includes length L, width W, height H and color.
5. the representation method in safe driving space according to claim 4, it is characterised in that：This vehicle safe driving
Space representation body uses red-green-blue color model, or is transformed into other color model spaces；According to using red green
The color component value range of blue three primary colours color model, red, green, blue is normalized to [0.0,1.0].
6. the representation method in safe driving space according to claim 5, it is characterised in that：The red-green-blue
The specific value of color model is calculated by following formula：
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, LvFor this vehicle commander degree, W is
The width of safe driving space representation body, WvFor this vehicle-width.
7. the representation method in safe driving space according to claim 1, it is characterised in that：The time interval passes through
The velocity vector of this vehicle, the relative distance of acceleration, the shape for the enclosure body that compacts and vertex parameter, surrounding objects and this vehicle
It completes to calculate；Wherein, the shape of enclosure body of compacting and vertex parameter determine that the velocity vector of this vehicle, acceleration are sweared according to vehicle
Amount, the relative distance of surrounding objects and this vehicle obtain in the operation of this vehicle or simulated program.
8. the representation method in safe driving space according to claim 1, it is characterised in that：When vehicle does not have a constant speed
When spending, this vehicle safe driving space representation body is not shown.
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| CN110728877A (en) * | 2019-11-06 | 2020-01-24 | 北京千种幻影科技有限公司 | VR simulation driving training device |
| CN113393594A (en) * | 2020-03-13 | 2021-09-14 | 任梓豪 | Automobile visual safety situation perception method based on collision risk of peripheral objects |
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| 汽车三维安全防撞预警系统的设计与开发;闫新星;《万方数据库学位论文库》;20120427;第1.3、2节 * |
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