CN105761546A - Vehicle collision prevention method, device and system - Google Patents
Vehicle collision prevention method, device and system Download PDFInfo
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Abstract
The invention discloses a vehicle collision prevention method, device and system, and the method, device and system improve the early warning accuracy of vehicle collision prevention, and enable the driving to be safer. The method comprises the steps: receiving the attribute information and movement state information of a vehicle; determining a single-vehicle risk region of the vehicle according to the attribute information and movement state information of the vehicle; determining an early-warning vehicle set with collision risks according to the determined single-vehicle risk region of the vehicle; and carrying out the early-warning prompt for the vehicles in the early-warning vehicle set.
Description
Technical field
The present invention relates to technical field of vehicle safety, particularly relate to the methods, devices and systems of a kind of vehicle collision avoidance.
Background technology
Along with constantly popularizing of vehicle, the vehicle that road travels gets more and more, vehicle increase the vehicle accident product caused and repeatedly occur, and how to ensure that safety trip has been a problem needing solution badly of field of traffic.And in numerous vehicle accidents, the collision accident between vehicle occupies significant proportion in vehicle accident, statistical data shows that in Chinese transportation accident in 2010, motor vehicles death toll is 36923, accounts for the 56.61% of overall death toll.Therefore, vehicle collision risk is carried out effectively identification, assessment and risk control management and seems abnormal important, and everything will be based upon on the accurate rational basis defining vehicle risk zones.
The scheme calculating vehicle collision risk generally adopted by people at present has two kinds:
1, based on the such as radar, ultrasonic transmitter-receiver of the installation of on vehicle or roadside, photographic head, RF identification instrument (RadioFrequencyIDentification, RFID) and the various sensing equipments such as infrared ray night vision device detect surrounding vehicles and other barriers, so that it is determined that whether self exists risk of collision.But, this scheme has given tacit consent to the sensing range that the risk zones of vehicle is exactly sensing equipment.Owing to the perceived distance of sensing equipment itself is limited, and the change with surrounding can be different, and therefore, the sensing range of sensing equipment can not accurately reflect the risk of collision of vehicle, it is easy to causes that result is determined in insecure vehicle collision.
2, the Special Geographic scope on section (in such as accident-prone road section or the certain limit centered by the vehicle having an accident) is risk zones, and the vehicle entering risk zones is alerted.This scheme makes the sensing range of vehicle be no longer influenced by the constraint of sensing equipment, can solve the problem that the Exploration on Train Operation Safety in subregion, but be but a kind of passive, there is the solution of application limitation, for the vehicle safety problem of overall intelligence transportation network, still lack effective solution so far.
Summary of the invention
The embodiment of the present invention provides the methods, devices and systems of a kind of vehicle collision avoidance, improves the accuracy of vehicle collision avoidance early warning, makes vehicle travel safer.
The embodiment of the present invention is by the following technical solutions:
On the one hand, it is provided that a kind of method of vehicle collision avoidance, including:
Receive attribute information and the movement state information of vehicle；
Attribute information according to described vehicle and movement state information, it is determined that the bicycle risk zones of described vehicle；
Bicycle risk zones according to the described vehicle determined, it is determined that there is the early warning vehicle set of risk of collision；
The vehicle comprised in described early warning vehicle set is carried out early warning.
Optionally, according to the attribute information of described vehicle and movement state information, it is determined that the bicycle risk zones of described vehicle, specifically include:
According to the attribute information of described vehicle, movement state information and the brake control power determined, it is determined that sector region；Wherein, described sector region comprises described vehicle when braking with described brake control power, with all track combination that the motion of any steering angle produces；
The vehicle body region of described sector region and described vehicle is defined as the bicycle risk zones of described vehicle.
Optionally, described brake control power is determined as follows:
According to the positional information of traffic lights in the road prestored and the positional information of described vehicle comprised in described running state information and velocity information, from the movement state information of described vehicle, filter out described vehicle before each traffic lights, have deceleration behavior the movement state information stopped；
According to the movement state information filtered out, it is determined that described vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；
According to formulaDetermine described vehicle braking strength in the brake process of each traffic lights；Wherein, described F is described vehicle braking strength in the brake process of each traffic lights；S be described vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；Described M is the quality information of described vehicle；Described VnReduce speed now the velocity amplitude in moment for described vehicle；
According to the described vehicle determined braking strength in the brake process of each traffic lights, it is determined that the average braking strength of described vehicle, described average braking strength is defined as the brake control power of described vehicle.
Optionally, the bicycle risk zones according to described vehicle, it is determined that there is the early warning vehicle set of risk of collision, specifically include:
Bicycle risk zones according to described vehicle, it is determined that Che Qun；Wherein, there is overlap in the bicycle risk zones of any two Adjacent vehicles of described Che Qunzhong；
The track of the vehicle that described car group comprises is predicted, and according to trajectory predictions result, it is determined that there is the early warning vehicle set of risk of collision in described Che Qunzhong.
Optionally, the track of the vehicle that described car group comprises is predicted, and according to trajectory predictions result, it is determined that there is the early warning vehicle set of risk of collision in described Che Qunzhong, specifically includes:
Movement state information according to the vehicle that described car group comprises, it is determined that the travel direction of the vehicle that described Che Qunzhong comprises；
From the end of the travel direction of the described Che Qunzhong vehicle comprised, forward direction travels through each vehicle of described Che Qunzhong successively, carries out trajectory predictions；
When described Che Qunzhong exists and meets pre-conditioned two Adjacent vehicles, these two Adjacent vehicles are divided in the early warning vehicle set that there is risk of collision；Described pre-conditioned it is: the prediction locus of two Adjacent vehicles in described car group exists intersection point, and this intersection point drops in the bicycle risk zones of any one vehicle in described two Adjacent vehicles.
On the one hand, it is provided that a kind of preventing collision of vehicles collision device, including:
Information acquisition unit, for receiving attribute information and the movement state information of vehicle；
Bicycle risk zones determines unit, for the attribute information of vehicle obtained according to described information acquisition unit and movement state information, it is determined that the bicycle risk zones of described vehicle；
Unit is determined in early warning vehicle set, for determining the bicycle risk zones of described vehicle that unit determines according to described bicycle risk zones, it is determined that there is the early warning vehicle set of risk of collision；
To described early warning vehicle set, early warning unit, for determining that the vehicle comprised in the early warning vehicle set that unit is determined carries out early warning.
Optionally, described bicycle risk zones determines unit, specifically includes:
Sector determines module, for according to the attribute information of described vehicle, movement state information and the brake control power determined, it is determined that sector region；Wherein, described sector region comprises described vehicle when braking with described brake control power, with all track combination that the motion of any steering angle produces；
Bicycle risk zones determines module, and the vehicle body region for described sector is determined sector region that module determines and described vehicle is defined as the bicycle risk zones of described vehicle.
Optionally, described brake control power is determined as follows:
According to the positional information of traffic lights in the road prestored and the positional information of described vehicle comprised in described running state information and velocity information, from the movement state information of described vehicle, filter out described vehicle before each traffic lights, have deceleration behavior the movement state information stopped；
According to the movement state information filtered out, it is determined that described vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；
According to formulaDetermine described vehicle braking strength in the brake process of each traffic lights；Wherein, described F is described vehicle braking strength in the brake process of each traffic lights；S be described vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；Described M is the quality information of described vehicle；Described VnReduce speed now the velocity amplitude in moment for described vehicle；
According to the described vehicle determined braking strength in the brake process of each traffic lights, it is determined that the average braking strength of described vehicle, described average braking strength is defined as the brake control power of described vehicle.
Optionally, unit is determined in described early warning vehicle set, specifically includes:
Car group determines module, for the bicycle risk zones according to described vehicle, it is determined that Che Qun；Wherein, there is overlap in the bicycle risk zones of any two Adjacent vehicles of described Che Qunzhong；
Module is determined in early warning vehicle set, and the track for described car group determines vehicle that the car group that module is determined comprises is predicted, and according to trajectory predictions result, it is determined that there is the early warning vehicle set of risk of collision in described Che Qunzhong.
Optionally, module is determined in described early warning vehicle set, specifically for:
Movement state information according to the vehicle that described car group comprises, it is determined that the travel direction of the vehicle that described Che Qunzhong comprises；From the end of the travel direction of the described Che Qunzhong vehicle comprised, forward direction travels through each vehicle of described Che Qunzhong successively, carries out trajectory predictions；When described Che Qunzhong exists and meets pre-conditioned two Adjacent vehicles, these two Adjacent vehicles are divided in the early warning vehicle set that there is risk of collision；Described pre-conditioned it is: the prediction locus of two Adjacent vehicles in described car group exists intersection point, and this intersection point drops in the bicycle risk zones of any one vehicle in described two Adjacent vehicles.
On the one hand, it is provided that a kind of vehicle collision avoidance system, including the preventing collision of vehicles collision device described in above-mentioned any one.
Having the beneficial effect that of the embodiment of the present invention:
In the embodiment of the present invention, attribute information according to vehicle and movement state information determine the bicycle risk zones of vehicle, bicycle risk zones further according to vehicle determines the early warning vehicle set that there is risk of collision, and the vehicle comprised in early warning vehicle set carries out early warning, compared with prior art, the bicycle risk zones of vehicle effectively extends the sensing range of vehicle, the ruuning situation that vehicle is current can be reflected comprehensively, make the anticollision early warning that carries out based on this bicycle risk zones more accurately and reliably, also improve the safety that vehicle travels simultaneously.
Other features and advantages of the present invention will be set forth in the following description, and, partly become apparent from description, or understand by implementing the present invention.The purpose of the present invention and other advantages can be realized by structure specifically noted in the description write, claims and accompanying drawing and be obtained.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the present invention, and the schematic description and description of the present invention is used for explaining the present invention, is not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is in the embodiment of the present invention, the flowchart of a kind of vehicle collision avoidance method；
Fig. 2 is in the embodiment of the present invention, the schematic diagram of bicycle risk zones；
Fig. 3 is in the embodiment of the present invention, based on the schematic diagram of the bicycle risk zones that brake control power is maximum braking force Fmax；
Fig. 4 is in the embodiment of the present invention, car group's schematic diagram；
Fig. 5 is in the embodiment of the present invention, the flowchart of a kind of preventing collision of vehicles collision device.
Detailed description of the invention
In order to solve problems of the prior art, embodiments provide a kind of vehicle collision avoidance scheme.In this technical scheme, attribute information according to vehicle and movement state information determine the bicycle risk zones of vehicle, bicycle risk zones further according to vehicle determines the early warning vehicle set that there is risk of collision, and the vehicle comprised in early warning vehicle set carries out early warning, compared with prior art, the bicycle risk zones of vehicle effectively extends the sensing range of vehicle, the ruuning situation that vehicle is current can be reflected comprehensively, make the anticollision early warning that carries out based on this bicycle risk zones more accurately and reliably, also improve the safety that vehicle travels simultaneously.
Below in conjunction with Figure of description, embodiments of the invention are illustrated, it will be appreciated that embodiment described herein is merely to illustrate and explains the present invention, is not limited to the present invention.And when not conflicting, embodiment and the feature of embodiment in the present invention can be combined with each other.
Embodiments provide a kind of vehicle collision avoidance method, as it is shown in figure 1, be the flowchart of the method, specifically include following step:
Step 11, obtains attribute information and the running state information of vehicle.
Wherein, the attribute information of vehicle can be characterized as P (r, M,W, l), wherein r is the min. turning radius of vehicle, and M is the empty mass of vehicle,For the maximum grip coefficient of wheel Yu road surface, w is headstock width, and l is the length of car；
Specifically, the above-mentioned attribute information of vehicle can pre-set and store, and is such as stored in a property file, or is stored in certain hardware module, time for later use, directly transfers from this property file or hardware module.
Wherein, the running state information of vehicle can be characterized as S (t, v0, a0, β, φ), wherein, t is sampling time stamp, v0For the speed of vehicle, a0For the acceleration of vehicle, β is the angle of pitch of vehicle, and φ is the steering angle of vehicle.
When implementing, the running state information of vehicle can be obtained with certain sample frequency (such as 1s) sampling by the harvester on vehicle.
Current vehicle is generally fitted with global positioning system (GlobalPositioningSystem, GPS), on-board diagnostic system (On-BoardDiagnostics, OBD), gravity sensor G-Sensor etc..Therefore, step 11 is when specifically applying, vehicle can pass through GPS, OBD and G-Sensor sensor in the process of moving, get above-mentioned movement state information, and it is delivered to harvester, and then, the harvester on this vehicle the movement state information of this car collected and the attribute information of acquisition it is uploaded to car networking cloud platform.
Store it should be noted that each vehicle in the target road section set is uploaded in car networking cloud platform each through the said process attribute information by self and movement state information.
Step 12, according to the attribute information of the vehicle obtained and movement state information, it is determined that the bicycle risk zones of vehicle.
Wherein, the bicycle risk zones of vehicle characterizes the scope that vehicle is likely to other traffic elements are threatened under current state with arbitrary motion pattern, therefore, bicycle risk zones can be defined as: when vehicle brake control power in different sizes brakes, all track combination that vehicle produces with the motion of any steering angle, as shown in Figure 2:
The area attribute vehicle that arc C1, line segment L11, line segment L12 surround with brake control power for maximum braking force Fmax brake time all tracks；The area attribute vehicle that arc Cn, line segment Ln1, line segment Ln2 surround with brake control power forAll tracks time (the average braking strength in normal vehicle operation situation)；
The area attribute vehicle that arc Ci, line segment Li1, line segment Li2 surround is with brake control power for i*FmaxAll tracks during brake.
Therefore, in step 12 when determining the bicycle risk zones of vehicle, it is possible to but be not limited to realize in accordance with the following steps:
First with the brake control power determined, and the attribute information of vehicle and movement state information determine a sector region, and this sector region comprises this vehicle when braking with the brake control power determined, with all track combination that the motion of any steering angle produces；
Then the vehicle body region of this sector region He this vehicle is defined as the bicycle risk zones of vehicle.
Wherein, the above-mentioned brake control power determined can be, but not limited to be the maximum braking force of the vehicle pre-set, it is also possible to is the average dynamics of brake of vehicle.
For certain car, the movement state information of this vehicle that cloud platform obtains that car is networked and attribute information, just can determine that the driver of this vehicle average braking strength in normal driving situation.
Concrete, in cloud platform networked by car, it is previously stored with some road infrastructure information of target road section, the positional information of such as traffic lights.Thus, in order to determine the average braking strength of certain vehicle, it is possible to determine as follows:
First, the positional information of this vehicle that car networking cloud platform comprises in the running state information according to the vehicle obtained and velocity information, from the movement state information of this vehicle, filter out this vehicle before each traffic lights, have deceleration behavior the movement state information stopped；
And then, according to the movement state information filtered out, it is determined that this vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；
So far, just vehicle braking strength in the brake process of each traffic lights can be determined according to equation below；
Wherein, F is this vehicle braking strength in the brake process of each traffic lights；
S be this vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；
M is the quality information of this vehicle；
VnReduce speed now the velocity amplitude in moment for this vehicle.
Finally, by this vehicle repeatedly brake process, namely repeatedly braking strength before traffic lights is averaged, it is possible to obtain the average braking strength of this vehicle.
It addition, when determining sector region according to the attribute information of vehicle, movement state information and the brake control power determined, be mainly concerned with the calculating of two parameters: the straight line braking distance of first vehicle, it two is fan-shaped central angle.
Below for brake control power for maximum braking force Fmax, with reference to Fig. 3, the determination process of sector region is illustrated.
One, the straight line braking distance h of vehicle
Driver needs a period of time from perceiving danger to taking measures, and cries the response time during this period of time, and due to the restriction of the Physiological Psychology factor of people, this period of time is generally 0.4-1.0s, in the calculating process of the embodiment of the present invention, arranges person's development time t0For 1s.Within the response time, vehicle to keep former speed and acceleration to advance a segment distance, and this segment distance is called reaction distance S1；From touching on the brake, vehicle stops, and vehicle also to advance a segment distance, and this segment distance is called braking distance S2.Therefore, straight line braking distance h is by reaction distance S1With braking distance S2Two parts form, i.e. h=S1+S2；
If the speed that vehicle is after the response time is v1, acceleration is a1, then
v1=v0+a0t0；
Braking distance S2Being divided into two parts, one is the braking procedure that brake force increases, and braking distance is L1, two is the braking procedure that brake force reaches stable deceleration, and braking distance is L2。
First some parameter declarations are carried out,Maximum grip coefficient for wheel Yu road surface；M is the quality (kg) of vehicle；G is acceleration of gravity；T1 is that brake force rises to the maximum time (s) from 0；K is vehicle empty mass and tumbler equivalent inertia coefficient；V1 is vehicle speed (m/s) after the response time；V2 is brake control power speed (m/s) when reaching maximum braking force.
In the L1 stage, using 0.5Fmax as Brake Mean Power
Calculate according to impulse principle:
0.5Fmaxt1=kM (v1-v2), therefore
Calculate by principle of work and power:
Therefore
Therefore
To sum up, braking distance
It should be noted that during neutral gear braking, it is possible to take k=1.03；When not disengaging neutral braking, affected by factors such as electromotor and flywheel equivalent inertias, it is possible to take k=1.09.In the embodiment of the present invention, the value of k can carry out self-defined setting according to the actual requirements.
Further, when vehicle is braked on non-horizontal road surface, it is considered to potential energy affect, the angle of pitch β according to vehicle, it is possible to above-mentioned formula is modified into:
Wherein, go up a slope and take positive sign when braking, during down hill braking, take negative sign.
Two, fan-shaped central angle alpha:
As it is shown on figure 3, the straight line braking distance that h is vehicle, when vehicle brakes with maximum left steering angle, path length AD ≈ h, the r of headstock left end point are the min. turning radius of vehicle, the computing formula according to arc length(wherein n is the angle number of central angle, and r is the radius of the circle at arc place, and l is arc length), can obtain:
∵ ∠ ACO=∠ ABD
∴
∵ again
∴
∵
∴
Just the central angle alpha of sector can be calculated according to above-mentioned formula.
Therefore, with reference to Fig. 3, the bicycle risk zones of this vehicle is the region at fan-shaped OMN and vehicle body place.
Step 13, the bicycle risk zones according to the vehicle determined, it is determined that there is the early warning vehicle set of risk of collision.
First, the bicycle risk zones according to the vehicle determined, it is determined that Che Qun.
Concrete, car networking cloud platform calculates the bicycle risk zones of vehicle in real time, by electronic map match technology, filters out vehicle set and car group that bicycle risk zones overlaps.There is overlap in the bicycle risk zones of any two Adjacent vehicles of Che Qunzhong, all vehicles meeting above-mentioned condition are defined as belonging to same car group；
Such as, with reference to Fig. 4, the bicycle risk zones of the Adjacent vehicles being numbered 2,3 overlaps, the bicycle risk zones of the Adjacent vehicles being numbered 3,4 overlaps, the bicycle risk zones being numbered the vehicle that the bicycle risk zones of the vehicle of 1 does not have and is adjacent overlaps, therefore, vehicle 2,3,4 is divided into a car group.
Secondly, the vehicle that the car group determined is comprised carries out trajectory predictions, and according to trajectory predictions result, it is determined that there is the early warning vehicle set of risk of collision in Che Qunzhong.
Concrete, in trajectory predictions process, the movement state information of the vehicle first comprised according to this car group, it is determined that the travel direction of the vehicle that this Che Qunzhong comprises；Again from the end of the travel direction of this Che Qunzhong vehicle comprised, forward direction travels through each vehicle of this Che Qunzhong successively, carries out trajectory predictions；When this Che Qunzhong exists and meets pre-conditioned two Adjacent vehicles, these two Adjacent vehicles are divided in the early warning vehicle set that there is risk of collision；
Wherein, pre-conditioned can be: the prediction locus of two Adjacent vehicles in car group exists intersection point, and this intersection point drops in the bicycle risk zones of any one vehicle in these two Adjacent vehicles.
When determining early warning vehicle set according to above-mentioned this method, it is possible to avoid the amount of calculation of some repetitions.Such as one two cars that Che Qunzhong travel direction is identical and front and back are adjacent, when whether the prediction locus of traversal rear car with other vehicles of Che Qunzhong has intersection point, have calculated that the prediction locus of this rear car and adjacent front truck, thus, when traveling through this adjacent front truck, it is not necessary to whether the prediction locus again calculating this adjacent front truck and this rear car has intersection point.
Still for Fig. 4, start screening from the vehicle being numbered 2 and need to carry out the vehicle pair of trajectory predictions, the bicycle risk zones of 2 cars and 3 cars is overlapping, therefore the prediction locus of 2 cars and 3 cars is judged, if within the scope of its prediction locus exists intersection point and drops on the bicycle risk zones of 2 cars or 3 cars, then 2 cars and 3 cars belong to early warning vehicle set.The bicycle risk zones not having other vehicles and 2 cars is overlapping, therefore continues with 3 cars for object, and the bicycle risk zones of 2 cars and 4 cars all overlaps with 3 cars, rejects 2 cars, continues the prediction locus of 3 cars and 4 cars is judged.By that analogy.
It should be noted that the embodiment of the present invention is when the track of certain vehicle is predicted, it is based on the movement state information etc. that the previous moment of this vehicle current time and current time reports.Such as, vehicle is at tnThe trajectory predictions in moment is based on tn-xTo tnThe reported data in moment, in like manner vehicle is at tn+1The trajectory predictions in moment is based on tn+1-xTo tn+1The reported data in moment, wherein X is a definite value.
Step 14, carries out early warning to the vehicle comprised in early warning vehicle set.
The vehicle comprised in early warning vehicle set is carried out early warning by car networking cloud platform.
In the embodiment of the present invention, attribute information according to vehicle and movement state information determine the bicycle risk zones of vehicle, bicycle risk zones further according to vehicle determines the early warning vehicle set that there is risk of collision, and the vehicle comprised in early warning vehicle set carries out early warning, compared with prior art, the bicycle risk zones of vehicle effectively extends the sensing range of vehicle, the ruuning situation that vehicle is current can be reflected comprehensively, make the anticollision early warning that carries out based on this bicycle risk zones more accurately and reliably, also improve the safety that vehicle travels simultaneously.
Based on same inventive concept, the embodiment of the present invention also each provides a kind of preventing collision of vehicles collision device and vehicle collision avoidance system, owing to the principle of said apparatus and system solution problem is similar to vehicle collision avoidance method, therefore the enforcement of said apparatus and system may refer to the enforcement of method, repeats part and repeats no more.
As it is shown in figure 5, the structural representation of the preventing collision of vehicles collision device provided for the embodiment of the present invention, including:
Information acquisition unit 51, for receiving attribute information and the movement state information of vehicle；
Bicycle risk zones determines unit 52, for attribute information and the movement state information of the vehicle according to the acquisition of described information acquisition unit 51, it is determined that the bicycle risk zones of described vehicle；
Unit 53 is determined in early warning vehicle set, for determining the bicycle risk zones of described vehicle that unit 52 determines according to described bicycle risk zones, it is determined that there is the early warning vehicle set of risk of collision；
To described early warning vehicle set, early warning unit 54, for determining that the vehicle comprised in the early warning vehicle set that unit 53 is determined carries out early warning.
Optionally, described bicycle risk zones determines unit 52, specifically includes:
Sector determines module 521, for according to the attribute information of described vehicle, movement state information and the brake control power determined, it is determined that sector region；Wherein, described sector region comprises described vehicle when braking with described brake control power, with all track combination that the motion of any steering angle produces；
Bicycle risk zones determines module 522, and the vehicle body region for described sector is determined sector region that module 521 determines and described vehicle is defined as the bicycle risk zones of described vehicle.
Optionally, described brake control power is determined as follows:
According to the positional information of traffic lights in the road prestored and the positional information of described vehicle comprised in described running state information and velocity information, from the movement state information of described vehicle, filter out described vehicle before each traffic lights, have deceleration behavior the movement state information stopped；
According to the movement state information filtered out, it is determined that described vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；
According to formulaDetermine described vehicle braking strength in the brake process of each traffic lights；Wherein, described F is described vehicle braking strength in the brake process of each traffic lights；S be described vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；Described M is the quality information of described vehicle；Described VnReduce speed now the velocity amplitude in moment for described vehicle；
According to the described vehicle determined braking strength in the brake process of each traffic lights, it is determined that the average braking strength of described vehicle, described average braking strength is defined as the brake control power of described vehicle.
Optionally, unit 53 is determined in described early warning vehicle set, specifically includes:
Car group determines module 531, for the bicycle risk zones according to described vehicle, it is determined that Che Qun；Wherein, there is overlap in the bicycle risk zones of any two Adjacent vehicles of described Che Qunzhong；
Module 532 is determined in early warning vehicle set, and the track for described car group determines vehicle that the car group that module 531 is determined comprises is predicted, and according to trajectory predictions result, it is determined that there is the early warning vehicle set of risk of collision in described Che Qunzhong.
Optionally, module 532 is determined in described early warning vehicle set, specifically for:
Movement state information according to the vehicle that described car group comprises, it is determined that the travel direction of the vehicle that described Che Qunzhong comprises；From the end of the travel direction of the described Che Qunzhong vehicle comprised, forward direction travels through each vehicle of described Che Qunzhong successively, carries out trajectory predictions；When described Che Qunzhong exists and meets pre-conditioned two Adjacent vehicles, these two Adjacent vehicles are divided in the early warning vehicle set that there is risk of collision；Described pre-conditioned it is: the prediction locus of two Adjacent vehicles in described car group exists intersection point, and this intersection point drops in the bicycle risk zones of any one vehicle in described two Adjacent vehicles.
For convenience of description, above each several part is divided by function and is respectively described for each module (or unit).Certainly, the function of each module (or unit) can be realized in same or multiple softwares or hardware when implementing the present invention.
Wherein, above-mentioned preventing collision of vehicles collision device can for car networking cloud platform.
The embodiment of the present invention additionally provides a kind of vehicle collision avoidance system, and this system includes above-mentioned preventing collision of vehicles collision device.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt the form of complete hardware embodiment, complete software implementation or the embodiment in conjunction with software and hardware aspect.And, the present invention can adopt the form at one or more upper computer programs implemented of computer-usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) wherein including computer usable program code.
The present invention is that flow chart and/or block diagram with reference to method according to embodiments of the present invention, equipment (system) and computer program describe.It should be understood that can by the combination of the flow process in each flow process in computer program instructions flowchart and/or block diagram and/or square frame and flow chart and/or block diagram and/or square frame.These computer program instructions can be provided to produce a machine to the processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device so that the instruction performed by the processor of computer or other programmable data processing device is produced for realizing the device of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions may be alternatively stored in and can guide in the computer-readable memory that computer or other programmable data processing device work in a specific way, the instruction making to be stored in this computer-readable memory produces to include the manufacture of command device, and this command device realizes the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device, make on computer or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computer or other programmable devices provides for realizing the step of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
Although preferred embodiments of the present invention have been described, but those skilled in the art are once know basic creative concept, then these embodiments can be made other change and amendment.So, claims are intended to be construed to include preferred embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, the present invention can be carried out various change and modification without deviating from the spirit and scope of the present invention by those skilled in the art.So, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (11)
1. the method for a vehicle collision avoidance, it is characterised in that including:
Receive attribute information and the movement state information of vehicle；
Attribute information according to described vehicle and movement state information, it is determined that the bicycle risk zones of described vehicle；
Bicycle risk zones according to the described vehicle determined, it is determined that there is the early warning vehicle set of risk of collision；
The vehicle comprised in described early warning vehicle set is carried out early warning.
2. the method for claim 1, it is characterised in that according to the attribute information of described vehicle and movement state information, it is determined that the bicycle risk zones of described vehicle, specifically includes:
According to the attribute information of described vehicle, movement state information and the brake control power determined, it is determined that sector region；Wherein, described sector region comprises described vehicle when braking with described brake control power, with all track combination that the motion of any steering angle produces；
The vehicle body region of described sector region and described vehicle is defined as the bicycle risk zones of described vehicle.
3. method as claimed in claim 2, it is characterised in that described brake control power is determined as follows:
According to the positional information of traffic lights in the road prestored and the positional information of described vehicle comprised in described running state information and velocity information, from the movement state information of described vehicle, filter out described vehicle before each traffic lights, have deceleration behavior the movement state information stopped；
According to the movement state information filtered out, it is determined that described vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；
According to formulaDetermine described vehicle braking strength in the brake process of each traffic lights；Wherein, described F is described vehicle braking strength in the brake process of each traffic lights；S be described vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；Described M is the quality information of described vehicle；Described VnReduce speed now the velocity amplitude in moment for described vehicle；
According to the described vehicle determined braking strength in the brake process of each traffic lights, it is determined that the average braking strength of described vehicle, described average braking strength is defined as the brake control power of described vehicle.
4. the method for claim 1, it is characterised in that the bicycle risk zones according to described vehicle, it is determined that there is the early warning vehicle set of risk of collision, specifically include:
Bicycle risk zones according to described vehicle, it is determined that Che Qun；Wherein, there is overlap in the bicycle risk zones of any two Adjacent vehicles of described Che Qunzhong；
The track of the vehicle that described car group comprises is predicted, and according to trajectory predictions result, it is determined that there is the early warning vehicle set of risk of collision in described Che Qunzhong.
5. method as claimed in claim 4, it is characterised in that the track of the vehicle that described car group comprises is predicted, and according to trajectory predictions result, it is determined that there is the early warning vehicle set of risk of collision in described Che Qunzhong, specifically includes:
Movement state information according to the vehicle that described car group comprises, it is determined that the travel direction of the vehicle that described Che Qunzhong comprises；
From the end of the travel direction of the described Che Qunzhong vehicle comprised, forward direction travels through each vehicle of described Che Qunzhong successively, carries out trajectory predictions；
When described Che Qunzhong exists and meets pre-conditioned two Adjacent vehicles, these two Adjacent vehicles are divided in the early warning vehicle set that there is risk of collision；Described pre-conditioned it is: the prediction locus of two Adjacent vehicles in described car group exists intersection point, and this intersection point drops in the bicycle risk zones of any one vehicle in described two Adjacent vehicles.
6. a preventing collision of vehicles collision device, it is characterised in that including:
Information acquisition unit, for receiving attribute information and the movement state information of vehicle；
Bicycle risk zones determines unit, for the attribute information of vehicle obtained according to described information acquisition unit and movement state information, it is determined that the bicycle risk zones of described vehicle；
Unit is determined in early warning vehicle set, for determining the bicycle risk zones of described vehicle that unit determines according to described bicycle risk zones, it is determined that there is the early warning vehicle set of risk of collision；
To described early warning vehicle set, early warning unit, for determining that the vehicle comprised in the early warning vehicle set that unit is determined carries out early warning.
7. device as claimed in claim 6, it is characterised in that described bicycle risk zones determines unit, specifically includes:
Sector determines module, for according to the attribute information of described vehicle, movement state information and the brake control power determined, it is determined that sector region；Wherein, described sector region comprises described vehicle when braking with described brake control power, with all track combination that the motion of any steering angle produces；
Bicycle risk zones determines module, and the vehicle body region for described sector is determined sector region that module determines and described vehicle is defined as the bicycle risk zones of described vehicle.
8. device as claimed in claim 7, it is characterised in that described brake control power is determined as follows:
According to the positional information of traffic lights in the road prestored and the positional information of described vehicle comprised in described running state information and velocity information, from the movement state information of described vehicle, filter out described vehicle before each traffic lights, have deceleration behavior the movement state information stopped；
According to the movement state information filtered out, it is determined that described vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；
According to formulaDetermine described vehicle braking strength in the brake process of each traffic lights；Wherein, described F is described vehicle braking strength in the brake process of each traffic lights；S be described vehicle be finally stopped from reducing speed now in the brake process of each traffic lights through distance；Described M is the quality information of described vehicle；Described VnReduce speed now the velocity amplitude in moment for described vehicle；
According to the described vehicle determined braking strength in the brake process of each traffic lights, it is determined that the average braking strength of described vehicle, described average braking strength is defined as the brake control power of described vehicle.
9. device as claimed in claim 6, it is characterised in that unit is determined in described early warning vehicle set, specifically includes:
Car group determines module, for the bicycle risk zones according to described vehicle, it is determined that Che Qun；Wherein, there is overlap in the bicycle risk zones of any two Adjacent vehicles of described Che Qunzhong；
Module is determined in early warning vehicle set, and the track for described car group determines vehicle that the car group that module is determined comprises is predicted, and according to trajectory predictions result, it is determined that there is the early warning vehicle set of risk of collision in described Che Qunzhong.
10. device as claimed in claim 9, it is characterised in that module is determined in described early warning vehicle set, specifically for:
Movement state information according to the vehicle that described car group comprises, it is determined that the travel direction of the vehicle that described Che Qunzhong comprises；From the end of the travel direction of the described Che Qunzhong vehicle comprised, forward direction travels through each vehicle of described Che Qunzhong successively, carries out trajectory predictions；When described Che Qunzhong exists and meets pre-conditioned two Adjacent vehicles, these two Adjacent vehicles are divided in the early warning vehicle set that there is risk of collision；Described pre-conditioned it is: the prediction locus of two Adjacent vehicles in described car group exists intersection point, and this intersection point drops in the bicycle risk zones of any one vehicle in described two Adjacent vehicles.
11. a vehicle collision avoidance system, it is characterised in that include the preventing collision of vehicles collision device described in the claims 6 to 10 any one.
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