CN106448259A - Vehicle early warning method - Google Patents
Vehicle early warning method Download PDFInfo
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- CN106448259A CN106448259A CN201510483719.XA CN201510483719A CN106448259A CN 106448259 A CN106448259 A CN 106448259A CN 201510483719 A CN201510483719 A CN 201510483719A CN 106448259 A CN106448259 A CN 106448259A
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Abstract
The invention discloses a vehicle early warning method comprising: acquiring the speed of a current vehicle, the distance from the current vehicle to a front vehicle, the speed of the front vehicle, and the fatigue degree of a current vehicle driver, wherein the front vehicle is located in front of the current vehicle; determining the safe distance between the current vehicle and the front vehicle based on the speed of the current vehicle, the speed of the front vehicle, the fatigue degree of the current vehicle driver, and a safety vehicle distance model; and outputting warning information when the distance between the current vehicle and the front vehicle is less than the safety distance. The vehicle early warning method fully takes account of the fatigue state of the driver when the safety distance is determined, so that the output early warning is more accurate and the accuracy of the vehicle early warning is improved.
Description
Technical field
The present invention relates to traffic safety technical field is and in particular to a kind of method of vehicle early warning, device and be
System.
Background technology
At present, all carried out considerable spy in terms of preventing deviation and holding safe distance both at home and abroad
Rope, and achieve some breakthroughs.At present, relatively broad use monocular vision technique to apply to touch in front
Hit early warning system (Forward Collision Warning System, FCW) to ensure traffic safety.
Monocular vision technique is：Using the image of a camera acquisition road image and front vehicles, according to
The image collecting realizes the detection of road and the measurement of distance.
Frontal collisions early warning (Forward Collision Warning, FCW) system can monitor front car
, judge the distance between this car and front truck, orientation and relative velocity, when there is potential danger to driving
Person is alerted.FCW system itself will not take any brake measure to remove collision free or control vehicle.
FCW system is usually to utilize imageing sensor perception road ahead traffic environment and Obstacle Position,
Realize safe distance measurement, vehicle accident is advantageously reduced to the automobile and alarm being in risk of collision, carries
High traffic safety.Safe distance be usually according to this car present speed, front vehicle speed, driver anti-
To determine between seasonable, if Ben Che is less than safe distance with the distance of front truck, to report to the police.But driver exists
In the state of difference, the response time is different, and safe distance is too small, there is potential safety hazard, safe distance is excessive,
With driver expection inconsistent warning can often occurs, disturbs the traveling of driver, lead to driver
Distrust to early warning system, reduces the credibility of early warning system.
Content of the invention
In order to solve the problems, such as that in prior art, vehicle early warning is with a low credibility, the embodiment of the present invention provides a kind of car
The method of early warning, taken into full account the fatigue state of driver when determining safe distance, therefore output
Early warning is more accurate, improves the accuracy of vehicle early warning.The embodiment of the present invention additionally provides corresponding dress
Put and system.
First aspect present invention provides a kind of method of vehicle early warning, including：
Obtain the distance of speed, described car and front vehicles, the speed of described front vehicles and the institute of this car
State the fatigue strength of this car driver, described front vehicles are the vehicle positioned at described front side；
According to the speed of described car, the speed of described front vehicles, the fatigue strength of described car driver and
Safe distance between vehicles model, determines the safe distance of described car and described front vehicles；
When the distance of described car and described front vehicles is less than described safe distance, output early warning letter
Breath.
Second aspect present invention provides a kind of device of vehicle early warning, including：
Acquisition module, for obtaining the distance of the speed, described car and front vehicles of this car, described front
The speed of vehicle and the fatigue strength of described car driver, described front vehicles are positioned at described front side
Vehicle；
Determining module, the speed of the described car for being obtained according to described acquisition module, described front vehicles
Speed, the fatigue strength of described car driver and safe distance between vehicles model, determine described car and described front
The safe distance of vehicle；
Output module, the described car for obtaining when described acquisition module is little with the distance of described front vehicles
When the described safe distance that described determining module determines, export early warning information.
Third aspect present invention provides a kind of frontal collisions early warning system, including：Speed data collection device, first
Image collecting device, the second image collecting device, central processor and prior-warning device；
Described speed data collection device is used for gathering the speed of this car；
Described first image harvester is used for gathering the image of front vehicles, and the image of described front vehicles is used
In the distance determining described car and described front vehicles, described front vehicles are positioned at described front side
Vehicle；
Described second image collecting device is used for gathering the facial feature information of driver；
Described central processor is used for：
According to the distance of described car and described front vehicles, determine the phase of described car and described front vehicles
To speed, and the speed according to described car and described relative velocity determine the speed of described front vehicles；
According to the facial feature information of described driver, determine the fatigue strength of described driver；
According to the speed of described car, the speed of described front vehicles, the fatigue strength of described car driver and
Safe distance between vehicles model, determines the safe distance of described car and described front vehicles；
Described prior-warning device is used for being less than described safe distance when the distance of described car and described front vehicles
When, export early warning information.
The embodiment of the present invention using obtain this car the distance of speed, described car and front vehicles, described before
The speed of square vehicle and the fatigue strength of described car driver, described front vehicles are positioned at described front side
Vehicle；According to the speed of described car, the speed of described front vehicles, described car driver fatigue
Degree and safe distance between vehicles model, determine the safe distance of described car and described front vehicles；When described car with
When the distance of described front vehicles is less than described safe distance, export early warning information.In prior art
Fixing safe distance is compared, the method for vehicle early warning provided in an embodiment of the present invention, is determining safe distance
When taken into full account the fatigue state of driver, the early warning of therefore output is more accurate, improves vehicle pre-
Alert accuracy.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to institute in embodiment description
Need use accompanying drawing be briefly described it should be apparent that, drawings in the following description are only the present invention
Some embodiments, for those skilled in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to these accompanying drawings.
Fig. 1 is an embodiment schematic diagram of frontal collisions early warning system in the embodiment of the present invention；
Fig. 2 is an embodiment schematic diagram of the method for vehicle early warning in the embodiment of the present invention；
Fig. 3 is an embodiment schematic diagram of the device of vehicle early warning in the embodiment of the present invention；
Fig. 4 is another embodiment schematic diagram of the device of vehicle early warning in the embodiment of the present invention；
Fig. 5 is another embodiment schematic diagram of the device of vehicle early warning in the embodiment of the present invention；
Fig. 6 is another embodiment schematic diagram of the device of vehicle early warning in the embodiment of the present invention；
Fig. 7 is another embodiment schematic diagram of the device of vehicle early warning in the embodiment of the present invention；
Fig. 8 is an embodiment schematic diagram of related to vehicle early warning terminal in the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention provides a kind of method of vehicle early warning, has taken into full account when determining safe distance and has driven
The early warning of the fatigue state of the person of sailing, therefore output is more accurate, improves the accuracy of vehicle early warning.This
Inventive embodiments additionally provide corresponding apparatus and system.It is described in detail individually below.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, it is fully described by it is clear that described embodiment is only a part of embodiment of the present invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those skilled in the art are not making creative labor
The every other embodiment being obtained under the premise of dynamic, broadly falls into the scope of protection of the invention.
Fig. 1 is an embodiment schematic diagram of frontal collisions early warning system in the embodiment of the present invention.
Refering to Fig. 1, frontal collisions early warning system provided in an embodiment of the present invention includes：
Speed data collection device 100, the first image collecting device 200, the second image collecting device 300, central authorities
Processing meanss 400, prior-warning device 500 and human-computer interaction device 600, speed data collection device 100, the first image
Harvester 200, the second image collecting device 300, prior-warning device 500 and human-computer interaction device 600 all with
Centre processing meanss 400 communicate to connect.Speed data collection device 100, the first image collecting device 200, the second figure
As harvester 300, central processor 400, prior-warning device 500 and human-computer interaction device 600 are all arranged on
On this car.Speed data collection device 100 can be sensor or global positioning system Global Positioning
System, GPS), speed data collection device 100 can be collected by directly reading the road speed of instrumental panel
The speed of this car, and the numerical value of the speed of this car is sent to central processor 400, the first image acquisition
Device 200, the second image collecting device 300 can be photographic head, can also be industrial camera or image
The devices such as capture card.First image collecting device 200 be used for gathering described car and described front vehicles away from
From.First image collecting device 200 gathers the road image of this front side, and the video of road image is spread
It is defeated by central processor 400, the second image collecting device 300 gathers the facial feature information of driver,
It is exactly facial image, and the video of facial image is streaming to central processor 400.
Central processor 400 can be central processing unit (CPU, the Central of monokaryon or multinuclear
Processing Unit).The road image that central processor 400 sends to the first image processing apparatus 200 enters
Row Image semantic classification, extract the information of vehicles of this front side, using current comparative maturity based on monocular vision
Vehicle identification method, the system uses the method based on template matching and machine learning it is also possible to adopt
Measure the distance of this car and front vehicles with additive method such as analysis of texture, edge feature analysis etc.
D, and the relative velocity of Ben Che and front vehicles is calculated according to the distance of Ben Che and front vehicles.
Measure this car and front vehicles apart from D generally adopt current comparative maturity based on monocular vision
Range finding model, it is based on pinhole imaging system principle.Vanishing point distance on image is infinity, more on the lower
Point, distance is nearer.It is assumed that camera focus are f in the case of not considering pattern distortion, setting height(from bottom) is
H, the angle of pitch is θ, and image y-axis direction is downward, coordinate range (0 1.0), and its center point coordinate is (uc, vc),
Coordinate on image for the vehicle bottom midpoint is (u, v), then apart from D be：
Obtain after D, by timing measuring it is possible to obtain the relative velocity of Ben Che and front vehicles.
In the embodiment of the present invention, the range finding of monocular vision, pinhole imaging system principle etc. are all prior arts, this place
Differ and explain again and again.
Central processor 400 enters to the face image of the driver that the second image processing apparatus 300 transmission comes
Row feature extraction, information, the mouth information etc. such as main extraction human eye state, to detect the tired shape of driver
State.The condition of driver can be recorded as F, normal, tired two states can be divided into it is also possible to
It is divided into normal, medium fatigue, three kinds of states of major fatigue according to actual needs naturally it is also possible to be divided into many
The state of kind.
This part adopts the technology of current comparative maturity, identifies face first from image, extracts human eye etc. many
Individual characteristic point information, the method identification eye state of Land use models classification is opened or is closed.It is then passed through
Statistical analysiss, typically can judge by PERCLOS method whether driver is tired, or combination is blinked
The indexs such as eye frequency, mouth state carry out comprehensive assessment fatigue strength.
The distance, Ben Che and front vehicles of the speed, Ben Che and front vehicles of this car relative velocity, drive
It is possible to combine the safe distance between vehicles model of driver fatigue F after the fatigue strength of the person of sailing all determines, determine suitable
Close the safe distance between vehicles of the current fatigue strength of driver, that is, the safe distance of Ben Che and described front vehicles.
The first step：Too conservative standard security spacing is calculated using below equation, the standard of corresponding driver is anti-
Ts between seasonable, for example：Assume that Ts=1s.Speed Vs of this car is derived from sensor or GPS, front car
Speed Vq can be tried to achieve with relative speed by the speed of this car.Suddenly brake in view of front truck, this
The situation of emergency brake also wanted by car, the deceleration of Ben Che and front truck is both configured to an empirical, for example：
8m/s2.D0 is minimum range it is assumed that being 2m.D0 is exactly the beeline after two car emergency brakes.
Then standard security spacing model is as follows：
Wherein, Ls be standard security spacing, Vs be the speed of this car, Vq be the speed of front vehicles, ab
For the deceleration of this car, aqFor the deceleration of front vehicles, D0 is the beeline after two car emergency brakes.
It is possible to standard security spacing is calculated by this standard security spacing model after above parameter is all known
Ls.
Second step：Response time in order to adapt to different drivers is different, cognitive different to safe distance between vehicles,
When allowing sensitivity S (0 1.0) or the reaction that user passes through human-computer interaction device 600 setting in Fig. 1 oneself
Between T0, T0 be generally 0.4s 1.5s, give tacit consent to 1.0s, can adjust according to actual needs.Response time gets over
Long driver, sensitivity is higher, in use, sensitivity or response time can be converted into sensitive system
Number X.
3rd step：According to driver fatigue F, calculate actual sensitivity coefficient X.
If F==" normal ", X=T0/Ts；
If F==" moderate fatigue ", X=(T0+T1)/Ts, T1 are typically set to 0.2s, can be according to reality
Situation is adjusted, and wherein, T1 can be arranged naturally it is also possible to be user setup for system.
If F==" major fatigue ", X=(T0+T2)/Ts, T2 are typically set to 0.5s, can be according to reality
Situation is adjusted, and wherein, T2 can be arranged naturally it is also possible to be user setup for system.
The corresponding relation of simply a kind of fatigue strength and sensitivity coefficient described herein, in fact, fatigue strength
Can also be represented with other forms with the corresponding relation of sensitivity coefficient, especially sensitivity coefficient is in number of times
Calculated with the response time, in fact, sensitivity coefficient can also be according to the sensitivity S of user input
To calculate, to be certainly also not necessarily limited to the calculation that other are contemplated that.
4th step：Calculate alarm security spacing L1=Ls*X used in reality, remind safe distance between vehicles L2=
Ls* (X+ preset value).This preset value can be 1.0, alarm security spacing L1=Ls*X, reminds spacing
L2=Ls* (X+1.0) is fatigue safety spacing model.
Safe distance between vehicles as described herein is not also limited with the corresponding relation of standard security spacing and sensitivity coefficient
In both, for example：Can also be L1=Ls*X+1, L2=Ls*X+5, wherein, 1 and 5 are
Illustrate, can also be other numerical value, excessive restriction is not done at this place.
And judge whether front vehicles are dangerous, export front truck alert status FCW_State.
If spacing D>=L2, FCW_State=" safety ", extinguish display lamp, do not report to the police；Spacing D
Actual range for Ben Che and front vehicles.
If spacing D>=L1, FCW_State=" careful ", light display lamp, remind driver to note
Front truck；
If spacing D<L1, FCW_State=" dangerous ", display lamp flashes, and sends serious chimes of doom
Sound.
As needed sound can be controlled in more detail.The sound reported to the police and volume can be according to fatigues
Degree F is adjusted, and when driver is not tired, only sends the sound milder prompt tone of less ratio, this
When without interference with driver；Loud chimes of doom is sent, when seriously reporting to the police, sound is maximum, plays when tired
Best warning function.
From above example, compared with fixing safe distance in prior art, the embodiment of the present invention provides
Frontal collisions early warning system, taken into full account the fatigue state of driver when determining safe distance, therefore
The early warning of output is more accurate, improves the accuracy of vehicle early warning.
Refering to Fig. 2, an embodiment of the method for vehicle early warning provided in an embodiment of the present invention includes：
101st, the distance of speed, described car and front vehicles, the speed of described front vehicles of this car are obtained
Degree and the fatigue strength of described car driver, described front vehicles are the vehicle positioned at described front side.
The speed of this car can be arrived by sensor or GPS gathers, the distance of described car and front vehicles
Can be obtained by the road conditions of photographic head or other this front sides of image acquisition device, described car
The fatigue of driver can gather driver's facial image by photographic head, and carry out feature to facial image and divide
Obtain after analysis.
102nd, according to the speed of described car, the speed of described front vehicles, described car driver tired
Lao Du and safe distance between vehicles model, determine the safe distance of described car and described front vehicles.
103rd, when the distance of described car and described front vehicles is less than described safe distance, export early warning
Information.
In the embodiment of the present invention, obtain the distance of speed, described car and front vehicles of this car, described before
The speed of square vehicle and the fatigue strength of described car driver, described front vehicles are positioned at described front side
Vehicle；According to the speed of described car, the speed of described front vehicles, described car driver fatigue
Degree and safe distance between vehicles model, determine the safe distance of described car and described front vehicles；When described car with
When the distance of described front vehicles is less than described safe distance, export early warning information.In prior art
Fixing safe distance is compared, the method for vehicle early warning provided in an embodiment of the present invention, is determining safe distance
When taken into full account the fatigue state of driver, the early warning of therefore output is more accurate, improves vehicle pre-
Alert accuracy.
Alternatively, on the basis of the corresponding embodiment of above-mentioned Fig. 2, vehicle provided in an embodiment of the present invention is pre-
In alert first alternative embodiment of method, the described speed obtaining this car, described car and front vehicles
Distance, the speed of described front vehicles and described car driver fatigue strength, can include：
Gather the facial feature information of the speed of this car, the image of front vehicles and described driver, described before
The image of square vehicle is used for determining the distance of described car and described front vehicles；
According to the distance of described car and described front vehicles, determine the phase of described car and described front vehicles
To speed, and the speed according to described car and described relative velocity determine the speed of described front vehicles；
According to the facial feature information of described driver, determine the fatigue strength of described driver.
In the embodiment of the present invention, the distance of Ben Che and described front vehicles, state the speed of front vehicles and drive
The associated description that the fatigue strength of the person of sailing can refer to Fig. 1 part is understood, this place does not do and excessively repeats.
Alternatively, on the basis of first alternative embodiment of the method for above-mentioned vehicle early warning, the present invention is real
Apply in second alternative embodiment of the method for vehicle early warning of example offer, the described speed according to described car
Degree, the speed of described front vehicles, the fatigue strength of described car driver and safe distance between vehicles model, determine institute
State the safe distance of Ben Che and described front vehicles, can include：
In speed according to described car and the speed of described front vehicles, and described safe distance between vehicles model
Standard security spacing model, determines the standard security distance of described car and described front vehicles；
Fatigue strength according to described driver and described standard security distance, determine described car and described front
The safe distance of vehicle.
In the embodiment of the present invention, fatigue strength and safe distance are positively related, that is, when driver fatigue,
Safe distance is just big, is that safe distance is just little when fatigue strength is little, because when fatigue strength is big, the reaction of driver
Time is just long, needs bigger safe distance.
In the embodiment of the present invention, standard security spacing model, standard security distance, Ben Che and described front car
Safe distance can be understood, this place is not refering to the associated description to the 4th step for the above-mentioned first step
Do and excessively repeat.
The safe distance that have expressed Ben Che in the embodiment of the present invention with front vehicles is not changeless, but
The dynamic adjustment of fatigue strength according to driver, so, when driver fatigue, safe distance is just big, increases
Big safety.
Alternatively, on the basis of second alternative embodiment of the method for above-mentioned vehicle early warning, the present invention is real
Apply in the 3rd alternative embodiment of the method for vehicle early warning of example offer,
The described fatigue strength according to described driver and described standard security distance, determine described car with described
The safe distance of front vehicles, can include：
According to the fatigue strength of described driver, fatigue strength and the corresponding relation of reaction sensitivity coefficient, determine institute
State the corresponding current reaction sensitivity coefficient of fatigue strength of driver, described reaction sensitivity coefficient is according to user
The reaction sensitive parameter of input determines；
According to described current reaction sensitivity coefficient and described standard security distance, and distance correspondence,
Determine the safe distance of described car and described front vehicles, described distance correspondence is safe distance and mark
Quasi- safe distance and the corresponding relation of reaction sensitivity coefficient.
In the embodiment of the present invention, fatigue strength is associated with reaction sensitivity coefficient, and fatigue strength is big, reacts sensitivity
Coefficient is just big, and sensitivity coefficient can by interactive interface, the parameter inputting and system be jointly true by user for reaction
Fixed, for example：User can input response time or reaction sensitivity by interactive interface, and system can be tied
Close the response time of user input or reaction sensitivity calculates corresponding reaction sensitivity coefficient, for example：
When reaction sensitivity coefficient is calculated by the response time, can be managed refering to the description in above-mentioned 3rd step
Solution.Described reaction sensitivity coefficient can be different fatigue degree corresponding response time and standard reaction time
Ratio.
Alternatively, on the basis of the 3rd alternative embodiment of the method for above-mentioned vehicle early warning, the present invention is real
Apply in the 4th alternative embodiment of the method for vehicle early warning of example offer, described quick according to described current reaction
Sensitivity coefficient and described standard security distance, and distance correspondence, determine described car and described front
The safe distance of vehicle, can include：
According to described current reaction sensitivity coefficient and described standard security distance, and the corresponding pass of described distance
The first corresponding relation in system, determines alarm security distance；
According to described current reaction sensitivity coefficient and described standard security distance, and the corresponding pass of described distance
The second corresponding relation in system, determines and reminds safe distance.
In the embodiment of the present invention, the first corresponding relation can be L1=Ls*X or L1 in above-mentioned 4th step
=Ls*X+1, the second corresponding relation can be L2=Ls* (X+ preset value) or L2 in above-mentioned 4th step
=Ls*X+5.
Wherein, a kind of implementation can be：
The product of described standard security distance and described reaction sensitivity coefficient is defined as described car and institute
State the alarm security distance of front vehicles；
Described standard security distance is defined as described car and described front with the described product reminding coefficient
The prompting safe distance of vehicle, described prompting coefficient be described reaction sensitivity coefficient and pre-set factory value it
With described pre-set factory value is more than 0.
Alternatively, on the basis of the 4th alternative embodiment of the method for above-mentioned vehicle early warning, the present invention is real
Apply example offer the 5th alternative embodiment of the method for vehicle early warning in, described when described car with described before
When the distance of square vehicle is less than described safe distance, exports early warning information, can include：
When the distance of described car and described front vehicles be less than described alarm security apart from when, output warning carries
Show information；
When the distance of described car and described front vehicles is less than described prompting safe distance, and it is more than described report
During alert safe distance, output safety prompting message.
The embodiment of the present invention can be understood, this place does not do and excessively goes to live in the household of one's in-laws on getting married refering to the description in above-mentioned 4th step
State.
Alternatively, on the basis of the embodiment or arbitrary alternative embodiment of the method for above-mentioned vehicle early warning, this
In the 6th alternative embodiment of the method for vehicle early warning that inventive embodiments provide, described output early warning
Information can include：
According to the fatigue strength of described driver, export different mode corresponding with the fatigue strength of described driver
Early warning information, the early warning information of described different mode include different volumes auditory tone cueses information and
/ or different colours light prompt information.
In the embodiment of the present invention, the early warning of different mode can include the light prompt of different colours, volume
Different auditory tone cueses, for example：When fatigue strength is larger, the volume of warning is also big, or is dodged by light
Bright redness is pointed out, and when fatigue strength hour, can be pointed out with less volume, or be flashed by green light
Naturally it is also possible to light and sound are pointed out simultaneously, the color of light is also not specifically limited for prompting.Certainly originally
It is not limited to light and auditory tone cueses in inventive embodiments, alarm can also be carried out by other means.
The embodiment of the present invention can be understood, this place does not do and excessively goes to live in the household of one's in-laws on getting married refering to the description in above-mentioned 4th step
State.
The device of vehicle early warning provided in an embodiment of the present invention can be have preposition and post-positioned pick-up head road precious,
The vehicle-mounted products or have preposition and post-positioned pick-up head user equipment, for example such as navigation：Terminal.
Fig. 3 is an embodiment schematic diagram of the device of vehicle early warning in the embodiment of the present invention, refering to Fig. 3, this
One embodiment of the device 20 of vehicle early warning that bright embodiment provides includes：
Acquisition module 201, for obtaining the distance of the speed, described car and front vehicles of this car, described
The speed of front vehicles and the fatigue strength of described car driver, described front vehicles are positioned at described Herba Plantaginis
The vehicle of side；
Determining module 202, the speed of the described car for being obtained according to described acquisition module 201, described before
The speed of square vehicle, the fatigue strength of described car driver and safe distance between vehicles model, determine described car and institute
State the safe distance of front vehicles；
Output module 203, for described car obtaining when described acquisition module and described front vehicles away from
From the described safe distance determining less than described determining module when, export early warning information.
In the embodiment of the present invention, acquisition module 201 obtains speed, described car and the front vehicles of this car
Distance, the fatigue strength of the speed of described front vehicles and described car driver, described front vehicles be positioned at
The vehicle of described front side；The speed of the described car that determining module 202 obtains according to described acquisition module 201
Degree, the speed of described front vehicles, the fatigue strength of described car driver and safe distance between vehicles model, determine institute
State the safe distance of Ben Che and described front vehicles；The described of described acquisition module acquisition worked as by output module 203
When the distance of this car and described front vehicles is less than the described safe distance that described determining module determines, output is pre-
Alert information.Compared with fixing safe distance in prior art, vehicle provided in an embodiment of the present invention is pre-
Alert device, has taken into full account the fatigue state of driver, the therefore early warning of output when determining safe distance
Prompting is more accurate, improves the accuracy of vehicle early warning.
Alternatively, on the basis of the corresponding embodiment of above-mentioned Fig. 3, refering to Fig. 4, the embodiment of the present invention provides
First alternative embodiment of the device 20 of vehicle early warning in, described acquisition module 201 includes：
Collecting unit 2011, for gathering the face of the speed of this car, the image of front vehicles and described driver
Portion's characteristic information, the image of described front vehicles is used for determining the distance of described car and described front vehicles；
First determining unit 2012, for described car being gathered according to described collecting unit 2011 with described before
The distance of square vehicle, determines the relative velocity of described car and described front vehicles, and according to described car
Speed and described relative velocity determine the speed of described front vehicles；
Second determining unit 2013, the face of the described driver for being gathered according to described collecting unit 2011
Characteristic information, determines the fatigue strength of described driver.
Alternatively, on the basis of the corresponding embodiment of above-mentioned Fig. 4, refering to Fig. 5, the embodiment of the present invention provides
Second alternative embodiment of the device 20 of vehicle early warning in, described determining module 202 includes：
3rd determining unit 2021, for the speed according to the speed of described car, described front vehicles, with
And the standard security spacing model in described safe distance between vehicles model, determine described car and described front vehicles
Standard security distance；
4th determining unit 2022, for the fatigue strength according to described driver and described 3rd determining unit
The described standard security distance of 2021 determinations, determines the safe distance of described car and described front vehicles.
Alternatively, on the basis of the corresponding embodiment of above-mentioned Fig. 5, refering to Fig. 6, the embodiment of the present invention provides
The 3rd alternative embodiment of the device 20 of vehicle early warning in, described 4th determining unit 2022 includes：
First determination subelement 20221, for the fatigue strength according to described driver, fatigue strength is quick with reaction
The corresponding relation of sensitivity coefficient, determines the corresponding current reaction sensitivity coefficient of fatigue strength of described driver,
Described reaction sensitivity coefficient determines according to the reaction sensitive parameter of user input；
Second determination subelement 20222, for working as according to the determination of described first determination subelement 20221
Front reaction sensitivity coefficient and described standard security distance, and distance correspondence, determine described car with
The safe distance of described front vehicles, described distance correspondence is safe distance and standard security distance and instead
Answer the corresponding relation of sensitivity coefficient.
Alternatively, on the basis of the corresponding embodiment of above-mentioned Fig. 6, vehicle provided in an embodiment of the present invention is pre-
In alert the 4th alternative embodiment of device 20,
Second determination subelement 20222 is used for：
According to described current reaction sensitivity coefficient and described standard security distance, and the corresponding pass of described distance
The first corresponding relation in system, determines alarm security distance；
According to described current reaction sensitivity coefficient and described standard security distance, and the corresponding pass of described distance
The second corresponding relation in system, determines and reminds safe distance.
Alternatively, on the basis of the 4th alternative embodiment of the device of above-mentioned vehicle early warning, the present invention is real
Apply in the 5th alternative embodiment of the device 20 of vehicle early warning of example offer,
Described output module 203, for being less than described warning when the distance of described car and described front vehicles
During safe distance, export prompt messages；When the distance of described car and described front vehicles is less than described
Remind safe distance, and more than described alarm security apart from when, output safety prompting message.
Alternatively, on the basis of any embodiment of the device of above-mentioned vehicle early warning, the embodiment of the present invention carries
For vehicle early warning device 20 the 6th alternative embodiment in,
Described output module 203, for the fatigue strength according to described driver, output is with described driver's
The early warning information of the corresponding different mode of fatigue strength, the early warning information of described different mode is included not
With the auditory tone cueses information of volume and/or the light prompt information of different colours.
Each embodiment of the device of vehicle early warning provided in an embodiment of the present invention can refer to Fig. 1 and Fig. 2 part
Associated description understood, this place does not do and excessively repeats.
Present embodiments provide a kind of hardware configuration of the device of vehicle early warning, shown in Figure 7, Yi Zhongche
The hardware configuration of the device of early warning can include：
Transceiving device, software components and hardware device three part；
Transceiving device is the hardware circuit for completing pack receiving and transmitting；
Hardware device also can claim " hardware processing module ", or simpler, can be also simply referred to as " hardware ",
Hardware device mainly includes (also to coordinate other supporting devices based on FPGA, ASIC etc special hardware circuit
Part, such as memorizer) realizing the hardware circuit of some specific functions, its processing speed compares general processor
Often a lot of soon, but function one is customized, is just difficult to change, therefore, implements and dumb, leads to
It is commonly used to process some fixing functions.It should be noted that hardware device in actual applications it is also possible to
Including processors such as MCU (microprocessor, such as single-chip microcomputer) or CPU, but these processors is main
Function is not to complete the process of big data, and is mainly used in carrying out some controls, under this application scenarios,
It is hardware device by the system that these devices are arranged in pairs or groups.
Software components (or also simple " software ") are main include general processor (such as CPU) and
The supporting device of some of (as storage devices such as internal memory, hard disks), can allow process utensil by programming
Standby corresponding processing function, during with software to realize, can be according to business flexible configuration, but often speed phase
Slower than for hardware device.After software processes are complete, by hardware device, the data having processed can be passed through
Transceiving device is transmitted it is also possible to pass through an interface being connected with transceiving device at transceiving device transmission
The data managed.
In the present embodiment, transceiving device be used for gather the image of front vehicles, the facial image of driver and
The output of early warning information.
The other functions of hardware device and software components have been discussed in detail in the aforementioned embodiment, here no longer
Repeat.
Can be can be by speaker, be referred to by photographic head, output module with regard to collecting unit below in conjunction with the accompanying drawings
Show lamp to realize, determining module can be realized by the program in computing device memorizer or instruction
Technical scheme doing detailed introduction：
The embodiment of the present invention additionally provides the device of another kind of vehicle early warning, and the device of this vehicle early warning can be
Connect a subsidiary engine by a main frame to realize, main frame can be：The such as band such as drive recorder, mobile phone
There is the terminal of photographic head and CPU.Subsidiary engine can be a photographic head, and main and auxiliaries connect,
Realize the function of the vehicle early warning in the embodiment of the present invention.As shown in figure 8, for convenience of description, only illustrate
The part related to the embodiment of the present invention, particular technique details does not disclose, refer to the embodiment of the present invention
Method part.This terminal can be including mobile phone, panel computer, PDA (Personal Digital Assistant,
Personal digital assistant), vehicle-mounted computer, Lu Bao, the arbitrarily terminal unit such as navigation terminal.
Fig. 8 is illustrated that the block diagram with the part-structure of terminal 800 provided in an embodiment of the present invention.With reference to figure
8, terminal includes：First photographic head 810, memorizer 820, input block 830, display unit 840,
The parts such as sensor 850, voicefrequency circuit 860, processor 880 and power supply 890.Terminal 800 with
Second camera 900 communicates to connect.It will be understood by those skilled in the art that the terminal structure shown in Fig. 8
The not restriction of structure paired terminal, can include ratio and illustrate more or less of part, or combine some portions
Part, or different part arrangements.
With reference to Fig. 8, each component parts of terminal are specifically introduced：
First photographic head 810 can be used for gathering the image of front vehicles；
Memorizer 820 can be used for storing software program and module, and processor 880 is stored in by operation
The software program of reservoir 820 and module, thus execute various function application and the data processing of terminal.
Memorizer 820 can mainly include storing program area and storage data field, and wherein, storing program area can store behaviour
Make the application program (such as sound-playing function, image player function etc.) needed for system, at least one function
Deng；Storage data field can store according to terminal using data (the such as voice data, phone directory being created
Deng) etc..Additionally, memorizer 820 can include high-speed random access memory, can also include non-volatile
Property memorizer, for example, at least one disk memory, flush memory device or other volatile solid-state
Part.
Input block 830 can be used for numeral or the character information of receives input, and produces and terminal 800
User setup and function control relevant key signals input.Specifically, input block 830 may include tactile
Control panel 831 and other input equipments 832.Contact panel 831, also referred to as touch screen, can collect use
Family thereon or neighbouring touch operation (such as user uses any suitable object or attached such as finger, stylus
Part on contact panel 831 or the operation near contact panel 831), and according to formula set in advance
Drive corresponding attachment means.Optionally, contact panel 831 may include touch detecting apparatus and touch control
Two parts of device.Wherein, touch detecting apparatus detect the touch orientation of user, and detect that touch operation brings
Signal, transmit a signal to touch controller；Touch controller receives touch letter from touch detecting apparatus
Breath, and is converted into contact coordinate, then give processor 880, and can receiving processor 880 send
Order is simultaneously executed.Furthermore, it is possible to it is many using resistance-type, condenser type, infrared ray and surface acoustic wave etc.
Type realizes contact panel 831.Except contact panel 831, input block 830 can also include other
Input equipment 832.Specifically, other input equipments 832 can include but is not limited to physical keyboard, function
One of key (such as volume control button, switch key etc.), trace ball, mouse, action bars etc. or
Multiple.
Input block 830 is used for user input reflecting time or sensitivity coefficient etc. in embodiments of the present invention.
Display unit 840 can be used for showing by the information of user input or the information and the end that are supplied to user
The various menus at end.Display unit 840 may include display lamp 841, optionally, can adopt liquid crystal display
Device (Liquid Crystal Display, LCD), Organic Light Emitting Diode (Organic Light-Emitting
Diode, OLED) etc. form configuring display lamp 841.Further, contact panel 831 can cover and refer to
Show lamp 841, when contact panel 831 detects thereon or after neighbouring touch operation, send processor to
880 to determine the type of touch event, with preprocessor 880 according to the type of touch event in display lamp 841
The corresponding visual output of upper offer.Although in fig. 8, contact panel 831 and display lamp 841 are as two
Individual independent part is realizing input and the input function of terminal, but in some embodiments it is possible to will touch
Control panel 831 is integrated with display lamp 841 and realizes terminal input and output function.
Display lamp 841 is used for exporting early warning information in embodiments of the present invention.
Terminal 800 may also include at least one sensor 850, and sensor 850 is used in embodiments of the present invention
In the speed gathering this car, for example, it may be GPS, but it is not limited to GPS.
Voicefrequency circuit 860, speaker 861, microphone 862 can provide the audio frequency between user and terminal to connect
Mouthful.The signal of telecommunication after the voice data receiving conversion can be transferred to speaker 861 by voicefrequency circuit 860,
Acoustical signal output is converted to by speaker 861；On the other hand, the acoustical signal that microphone 862 will be collected
Be converted to the signal of telecommunication, after being received by voicefrequency circuit 860, be converted to voice data, then by voice data at output
After reason device 880 is processed, through the first photographic head 810 being sent to such as another terminal, or by voice data
Export to memorizer 820 to process further.
Speaker 861 is used for exporting early warning information in embodiments of the present invention.
Second camera 900 is used for gathering the facial image of driver.
Processor 880 is the control centre of terminal, using various interfaces and the whole terminal of connection each
Part, by running or executing software program and/or the module being stored in memorizer 820, and calls
It is stored in the data in memorizer 820, the various functions of execution terminal and processing data, thus entering to terminal
Row integral monitoring.Optionally, processor 880 may include one or more processing units；Preferably, process
Device 880 can integrated application processor and modem processor, wherein, application processor mainly processes operation
System, user interface and application program etc., modem processor mainly processes radio communication.It is appreciated that
, above-mentioned modem processor can not also be integrated in processor 880.
Processor 880 is used for determining the safety of described car and described front vehicles in embodiments of the present invention
Distance.
Terminal 800 also includes the power supply 890 (such as battery) powered to all parts it is preferred that power supply
Can be logically contiguous with processor 880 by power-supply management system, thus pipe is realized by power-supply management system
The functions such as reason charging, electric discharge and power managed.
Although not shown, terminal 800 can also include radio frequency (Radio Frequency, RF) circuit, no
Line fidelity (wireless fidelity, WiFi) module, bluetooth module etc., will not be described here.
In embodiments of the present invention, the processor 880 included by this terminal also has following functions：
Obtain the distance of speed, described car and front vehicles, the speed of described front vehicles and the institute of this car
State the fatigue strength of this car driver, described front vehicles are the vehicle positioned at described front side；
According to the speed of described car, the speed of described front vehicles, the fatigue strength of described car driver and
Safe distance between vehicles model, determines the safe distance of described car and described front vehicles；
When the distance of described car and described front vehicles is less than described safe distance, output early warning letter
Breath.
Above example, compared with fixing safe distance in prior art, end provided in an embodiment of the present invention
End, has taken into full account the fatigue state of driver, the therefore early warning of output more when determining safe distance
Accurately, improve the accuracy of vehicle early warning.
Alternatively, the described distance of speed, described car and front vehicles obtaining this car, described front car
Speed and described car driver fatigue strength, can include：
Gather the facial feature information of the speed of this car, the image of front vehicles and described driver, described before
The image of square vehicle is used for determining the distance of described car and described front vehicles；
According to the distance of described car and described front vehicles, determine the phase of described car and described front vehicles
To speed, and the speed according to described car and described relative velocity determine the speed of described front vehicles；
According to the facial feature information of described driver, determine the fatigue strength of described driver.
Alternatively, described speed according to described car, the speed of described front vehicles, described car are driven
The fatigue strength of member and safe distance between vehicles model, determine the safe distance of described car and described front vehicles, permissible
Including：
In speed according to described car and the speed of described front vehicles, and described safe distance between vehicles model
Standard security spacing model, determines the standard security distance of described car and described front vehicles；
Fatigue strength according to described driver and described standard security distance, determine described car and described front
The safe distance of vehicle.
Alternatively, the described fatigue strength according to described driver and described standard security distance, determine described
Car and the safe distance of described front vehicles, including：
According to the fatigue strength of described driver, fatigue strength and the corresponding relation of reaction sensitivity coefficient, determine institute
State the corresponding current reaction sensitivity coefficient of fatigue strength of driver, described reaction sensitivity coefficient is according to user
The reaction sensitive parameter of input determines；
According to described current reaction sensitivity coefficient and described standard security distance, and distance correspondence,
Determine the safe distance of described car and described front vehicles, described distance correspondence is safe distance and mark
Quasi- safe distance and the corresponding relation of reaction sensitivity coefficient.
Alternatively, described according to described current reaction sensitivity coefficient and described standard security distance, and away from
From corresponding relation, determine the safe distance of described car and described front vehicles, including：
According to described current reaction sensitivity coefficient and described standard security distance, and the corresponding pass of described distance
The first corresponding relation in system, determines alarm security distance；
According to described current reaction sensitivity coefficient and described standard security distance, and the corresponding pass of described distance
The second corresponding relation in system, determines and reminds safe distance.
Alternatively, when the described distance when described car and described front vehicles is less than described safe distance, defeated
Go out early warning information, including：
When the distance of described car and described front vehicles be less than described alarm security apart from when, output warning carries
Show information；
When the distance of described car and described front vehicles is less than described prompting safe distance, and it is more than described report
During alert safe distance, output safety prompting message.
Alternatively, described output early warning information can include：
According to the fatigue strength of described driver, export different mode corresponding with the fatigue strength of described driver
Early warning information.
The associated description that the partly described scheme of Fig. 8 can refer to Fig. 1 to Fig. 7 part is understood, this place
Do not do and excessively repeat.
One of ordinary skill in the art will appreciate that all or part step in the various methods of above-described embodiment
Suddenly the program that can be by complete come the hardware to instruct correlation, and this program can be stored in a computer-readable
In storage medium, storage medium can include：ROM, RAM, disk or CD etc..
The method of the vehicle early warning above embodiment of the present invention being provided, device and system have been carried out in detail
Introduce, specific case used herein is set forth to the principle of the present invention and embodiment, above reality
The explanation applying example is only intended to help and understands the method for the present invention and its core concept；Simultaneously for this area
Those skilled in the art, according to the present invention thought, all have in specific embodiments and applications and change
In place of change, in sum, this specification content should not be construed as limitation of the present invention.
Claims (15)
1. a kind of method of vehicle early warning is it is characterised in that include：
Obtain the distance of speed, described car and front vehicles, the speed of described front vehicles and the institute of this car
State the fatigue strength of this car driver, described front vehicles are the vehicle positioned at described front side；
According to the speed of described car, the speed of described front vehicles, the fatigue strength of described car driver and
Safe distance between vehicles model, determines the safe distance of described car and described front vehicles；
When the distance of described car and described front vehicles is less than described safe distance, output early warning letter
Breath.
2. method according to claim 1 is it is characterised in that the speed of described this car of acquisition, described
This car and the fatigue strength of the distance, the speed of described front vehicles and described car driver of front vehicles, wrap
Include：
Gather the facial feature information of the speed of this car, the image of front vehicles and described driver, described before
The image of square vehicle is used for determining the distance of described car and described front vehicles；
According to the distance of described car and described front vehicles, determine the phase of described car and described front vehicles
To speed, and the speed according to described car and described relative velocity determine the speed of described front vehicles；
According to the facial feature information of described driver, determine the fatigue strength of described driver.
3. method according to claim 2 it is characterised in that described speed according to described car,
The speed of described front vehicles, the fatigue strength of described car driver and safe distance between vehicles model, determine described
Car and the safe distance of described front vehicles, including：
In speed according to described car and the speed of described front vehicles, and described safe distance between vehicles model
Standard security spacing model, determines the standard security distance of described car and described front vehicles；
Fatigue strength according to described driver and described standard security distance, determine described car and described front
The safe distance of vehicle.
4. method according to claim 3 is it is characterised in that the described fatigue according to described driver
Degree and described standard security distance, determine the safe distance of described car and described front vehicles, including：
According to the fatigue strength of described driver, fatigue strength and the corresponding relation of reaction sensitivity coefficient, determine institute
State the corresponding current reaction sensitivity coefficient of fatigue strength of driver, described reaction sensitivity coefficient is according to user
The reaction sensitive parameter of input determines；
According to described current reaction sensitivity coefficient and described standard security distance, and distance correspondence,
Determine the safe distance of described car and described front vehicles, described distance correspondence is safe distance and mark
Quasi- safe distance and the corresponding relation of reaction sensitivity coefficient.
5. method according to claim 4 is it is characterised in that described sensitive according to described current reaction
Degree coefficient and described standard security distance, and distance correspondence, determine described car and described front car
Safe distance, including：
According to described current reaction sensitivity coefficient and described standard security distance, and the corresponding pass of described distance
The first corresponding relation in system, determines alarm security distance；
According to described current reaction sensitivity coefficient and described standard security distance, and the corresponding pass of described distance
The second corresponding relation in system, determines and reminds safe distance.
6. method according to claim 5 it is characterised in that described when described car and described front
When the distance of vehicle is less than described safe distance, export early warning information, including：
When the distance of described car and described front vehicles be less than described alarm security apart from when, output warning carries
Show information；
When the distance of described car and described front vehicles is less than described prompting safe distance, and it is more than described report
During alert safe distance, output safety prompting message.
7. according to the arbitrary described method of claim 1-6 it is characterised in that described output early warning is believed
Breath includes：
According to the fatigue strength of described driver, export different mode corresponding with the fatigue strength of described driver
Early warning information, the early warning information of described different mode include different volumes auditory tone cueses information and
/ or different colours light prompt information.
8. a kind of device of vehicle early warning is it is characterised in that include：
Acquisition module, for obtaining the distance of the speed, described car and front vehicles of this car, described front
The speed of vehicle and the fatigue strength of described car driver, described front vehicles are positioned at described front side
Vehicle；
Determining module, the speed of the described car for being obtained according to described acquisition module, described front vehicles
Speed, the fatigue strength of described car driver and safe distance between vehicles model, determine described car and described front
The safe distance of vehicle；
Output module, the described car for obtaining when described acquisition module is little with the distance of described front vehicles
When the described safe distance that described determining module determines, export early warning information.
9. device according to claim 8 is it is characterised in that described acquisition module includes：
Collecting unit, the face for gathering the speed of this car, the image of front vehicles and described driver is special
Reference ceases, and the image of described front vehicles is used for determining the distance of described car and described front vehicles；
First determining unit, for the described car and the described front vehicles that are gathered according to described collecting unit
Distance, determines the relative velocity of described car and described front vehicles, and the speed according to described car and institute
State the speed that relative velocity determines described front vehicles；
Second determining unit, the face feature letter of the described driver for being gathered according to described collecting unit
Breath, determines the fatigue strength of described driver.
10. device according to claim 9 is it is characterised in that described determining module includes：
3rd determining unit, for the speed according to the speed of described car, described front vehicles, Yi Jisuo
State the standard security spacing model in safe distance between vehicles model, determine the standard of described car and described front vehicles
Safe distance；
4th determining unit, determines for the fatigue strength according to described driver and described 3rd determining unit
Described standard security distance, determines the safe distance of described car and described front vehicles.
11. devices according to claim 10 are it is characterised in that described 4th determining unit includes：
First determination subelement, for the fatigue strength according to described driver, fatigue strength and reaction sensitivity system
The corresponding relation of number, determines the corresponding current reaction sensitivity coefficient of fatigue strength of described driver, described anti-
Sensitivity coefficient is answered to be determined according to the reaction sensitive parameter of user input；
Second determination subelement, the described current reaction for being determined according to described first determination subelement is sensitive
Degree coefficient and described standard security distance, and distance correspondence, determine described car and described front car
Safe distance, described distance correspondence is safe distance and standard security distance and reacts sensitivity system
The corresponding relation of number.
12. devices according to claim 11 it is characterised in that
Second determination subelement is used for：
According to described current reaction sensitivity coefficient and described standard security distance, and the corresponding pass of described distance
The first corresponding relation in system, determines alarm security distance；
According to described current reaction sensitivity coefficient and described standard security distance, and the corresponding pass of described distance
The second corresponding relation in system, determines and reminds safe distance.
13. devices according to claim 12 it is characterised in that
Described output module, for being less than described alarm security when the distance of described car and described front vehicles
Apart from when, export prompt messages；When the distance of described car and described front vehicles is less than described prompting
Safe distance, and more than described alarm security apart from when, output safety prompting message.
14. according to Claim 8-13 arbitrary described devices it is characterised in that
Described output module, for the fatigue strength according to described driver, the fatigue of output and described driver
Spend the early warning information of corresponding different mode, the early warning information of described different mode includes not unisonance
The auditory tone cueses information of amount and/or the light prompt information of different colours.
A kind of 15. frontal collisions early warning systems are it is characterised in that include：Speed data collection device, the first figure
As harvester, the second image collecting device, central processor and prior-warning device；
Described speed data collection device is used for gathering the speed of this car；
Described first image harvester is used for gathering the image of front vehicles, and the image of described front vehicles is used
In the distance determining described car and described front vehicles, described front vehicles are positioned at described front side
Vehicle；
Described second image collecting device is used for gathering the facial feature information of driver；
Described central processor is used for：
According to the distance of described car and described front vehicles, determine the phase of described car and described front vehicles
To speed, and the speed according to described car and described relative velocity determine the speed of described front vehicles；
According to the facial feature information of described driver, determine the fatigue strength of described driver；
According to the speed of described car, the speed of described front vehicles, the fatigue strength of described car driver and
Safe distance between vehicles model, determines the safe distance of described car and described front vehicles；
Described prior-warning device is used for being less than described safe distance when the distance of described car and described front vehicles
When, export early warning information.
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