CN106515725A - Method and terminal for preventing vehicle collision - Google Patents
Method and terminal for preventing vehicle collision Download PDFInfo
- Publication number
- CN106515725A CN106515725A CN201610915362.2A CN201610915362A CN106515725A CN 106515725 A CN106515725 A CN 106515725A CN 201610915362 A CN201610915362 A CN 201610915362A CN 106515725 A CN106515725 A CN 106515725A
- Authority
- CN
- China
- Prior art keywords
- target vehicle
- relative
- driving information
- terminal
- default barrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000001133 acceleration Effects 0.000 claims abstract description 37
- 230000004888 barrier function Effects 0.000 claims description 94
- 238000001514 detection method Methods 0.000 claims description 16
- 238000012360 testing method Methods 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8073—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle security, e.g. parked vehicle surveillance, burglar detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention provides a method and terminal for preventing vehicle collision. The method comprises the following steps: detecting whether or not a preset obstacle exists within a preset range of a target vehicle when an anti-collision mode of the target vehicle is started; if yes, acquiring the relative driving information between the target vehicle and the preset obstacle, wherein the relative driving information comprises relative velocity, relative acceleration, a relative angle and a relative distance; and controlling the target vehicle to run safely according to the relative driving information. Adopting the method and the terminal for preventing vehicle collision disclosed by the embodiment of the invention, the occurrence probability of the vehicle collision can be reduced, and the safety of vehicle driving can be improved.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of method of vehicle collision avoidance and terminal.
Background technology
With the continuous development and the continuous improvement of living standards of the people of automobile industry, increasing people start to put
Purchase private car, the recoverable amount of current China's private car already exceed 100,000,000, and the popularity rate of Chinese automobile reaches 7%-8%；So
And, with increasing for private car, correspondingly private car owner also rapidly increases, due to new hand's driver driving lack of experience, to vehicle shape
Condition is unfamiliar with, and Jing is often susceptible to collision accident.At present, most of drivers are to come autonomous by oneself driving experience for many years
Judge whether that carrying out car with front crashes, but when also having experience to malfunction, and for the inexperienced new hand department of milli
Easily there is Traffic Collision accident for machine, it is therefore desirable to a kind of scheme of vehicle collision avoidance.
The content of the invention
Embodiment of the present invention technical problem to be solved is, there is provided a kind of method of vehicle collision avoidance and terminal, can
The probability of happening of vehicle collision accident is reduced, the security of vehicle drive is lifted.
On the one hand, the embodiment of the present invention is disclosed there is provided a kind of method of vehicle collision avoidance, and methods described includes：
When the anticollision pattern of target vehicle is opened, detect to whether there is have pre- in the preset range of the target vehicle
If barrier；
If so, the relative driving information between the target vehicle and the default barrier is then obtained, it is described to drive relatively
The information of sailing includes relative velocity, relative acceleration, relative angle and relative distance；
According to the relative driving information, controlling the target vehicle carries out safe driving.
Wherein alternatively, whether there is in the preset range of the detection target vehicle has default barrier specifically to wrap
Include：
The images of environment surrounding including the target vehicle to obtaining is parsed, to detect the pre- of the target vehicle
If whether there is in scope has default barrier；And/or,
Detect to whether there is by sensor have default barrier in the preset range of the target vehicle；
Wherein, the sensor is included in infrared sensor, sonic sensor, laser sensor, vision sensor extremely
Few one kind.
Wherein alternatively, described according to the relative driving information, it is concrete that the control target vehicle carries out safe driving
Including：
According to the relative velocity in the relative driving information, relative acceleration, relative angle and relative distance, calculate
And judge the target vehicle with the presence or absence of there is the possibility collided with the default barrier；
If so, corresponding control instruction is generated according to the relative driving information then, and according to the control instruction indication
Road speed, travel acceleration and the driving angle shown carries out safe driving.
Wherein alternatively, methods described also includes：
When there is collision between the target vehicle and the default barrier, if detecting the target carriage
High-risk impact zone is in, then target vehicle described in brake hard stops the normal driving of the target vehicle.
Wherein alternatively, when the relative velocity between the target vehicle and the default barrier, relative distance or meter
The collision time of calculation is less than corresponding preset threshold range, it is determined that the target vehicle is in high-risk impact zone.
On the other hand, the embodiment of the present invention is also disclosed there is provided a kind of terminal, and the terminal includes：
Detection module, for when the anticollision pattern of target vehicle is opened, detecting the preset range of the target vehicle
It is interior with the presence or absence of there is default barrier；
Acquisition module, if the testing result for the detection module is yes, obtains the target vehicle pre- with described
If the relative driving information between barrier, the relative driving information include relative velocity, relative acceleration, relative angle with
And relative distance；
Control module, for according to the relative driving information, controlling the target vehicle carries out safe driving.
Wherein alternatively,
The detection module, parses specifically for the images of environment surrounding including the target vehicle to obtaining,
There is default barrier whether there is in the preset range of the detection target vehicle；And/or, the mesh is detected by sensor
Whether there is in the preset range of mark vehicle has default barrier；
Wherein, the sensor is included in infrared sensor, sonic sensor, laser sensor, vision sensor extremely
Few one kind.
Wherein alternatively, the control module includes：
Judging unit, for according to the relative velocity in the relative driving information, relative acceleration, relative angle and
Relative distance, calculates and judges the target vehicle with the presence or absence of there is the possibility collided with the default barrier；
Control unit, if the judged result for the judging unit is yes, generates according to the relative driving information
Corresponding control instruction, and carry out according to the road speed indicated by the control instruction, travel acceleration and driving angle
Safe driving.
Wherein alternatively, the terminal also includes：
Brake module, for when there is a possibility that collision between the target vehicle and the default barrier, if inspection
The target vehicle is measured in high-risk impact zone, then target vehicle described in brake hard, stops the normal of the target vehicle
Drive.
Wherein alternatively, when the relative velocity between the target vehicle and the default barrier, relative distance or meter
The collision time of calculation is less than corresponding preset threshold range, it is determined that the target vehicle is in high-risk impact zone.
The embodiment of the present invention can be by when the anticollision pattern of target vehicle is opened, detecting the default of the target vehicle
In the range of with the presence or absence of there is default barrier, if so, then obtain relative between the target vehicle and the default barrier
Driving information, the relative driving information include relative velocity, relative acceleration, relative angle and relative distance, and according to
The relative driving information, controlling the target vehicle carries out safe driving；So can automatically, intelligently according to vehicle with it is pre-
If the relative driving information in distance range between barrier carries out the driving of correspondence safety to control the vehicle itself, improve
The convenient and swift property of vehicle drive and security.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of vehicle collision avoidance method of the embodiment of the present invention；
Fig. 2 is a kind of schematic flow sheet of vehicle collision avoidance method of another embodiment of the present invention；
Fig. 3 is a kind of structural representation of terminal of the embodiment of the present invention；
Fig. 4 is a kind of structural representation of terminal of another embodiment of the present invention；
Fig. 5 is a kind of structural representation of control module of the embodiment of the present invention；
Fig. 6 is a kind of structural representation of terminal of another embodiment of the present invention.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment obtained under the premise of creative work is not made by member, should all belong to the model of present invention protection
Enclose.
Term " first ", " second " and " the 3rd " in description and claims of this specification and above-mentioned accompanying drawing is (such as
Fruit exist) etc. be for distinguishing different objects, not for description particular order.Additionally, term " including " and they are any
Deformation, it is intended that cover non-exclusive including.The process of series of steps or unit, method, system, product are contained for example
Or equipment is not limited to the step of listing or unit, but alternatively also include the step of not listing or unit, or can
Selection of land also includes other intrinsic for these processes, method, product or equipment step or unit.
Fig. 1 is referred to, is a kind of schematic flow sheet of vehicle collision avoidance method of the embodiment of the present invention, the embodiment of the present invention
Methods described can apply in the band communication such as automobile, bus, smart mobile phone, panel computer, intelligent wearable device
In the terminal of network function, specifically can be realized by the processor of these terminals.The methods described of the embodiment of the present invention also includes
Following steps.
S101, when the anticollision pattern of target vehicle is opened, whether deposits in the preset range for detecting the target vehicle
There iing default barrier.
In the embodiment of the present invention, when terminal is target vehicle, user can carry out such as clicking on to the target vehicle and prevent
Crash mode button etc. is operated, to open the anticollision pattern of the target vehicle；If terminal is not the target vehicle, then
The terminal (such as WiFi, bluetooth, data wire etc.) can set up logical with the target vehicle by way of wire/wireless is communicated
Letter/data cube computation, user by carrying out clicking on the operation such as anticollision mode button to produce corresponding use to the terminal
In the open command for opening anticollision pattern, and then the open command is sent to into the target vehicle, to control the mesh
Mark vehicle opens the anticollision pattern of this target vehicle, realizes terminal remote control target vehicle.When the terminal is detected
When having turned on the anticollision pattern of the target vehicle, the terminal can be detected in the preset range of the target vehicle (such as
Centered on the target vehicle, the distance range of 10 meters of areas of a circle formed by radius) with the presence or absence of having default barrier (such as
Mound, nameplate, bridge, other vehicles etc.).When the terminal has detected the presence of default barrier, then step is continued executing with
Rapid S102；Otherwise, terminate flow process.
Wherein alternatively, whether there is in the preset range of the detection target vehicle has default barrier specifically to wrap
Include：
The images of environment surrounding including the target vehicle to obtaining is parsed, to detect the pre- of the target vehicle
If whether there is in scope has default barrier；And/or,
Detect to whether there is by sensor have default barrier in the preset range of the target vehicle；
Wherein, the sensor is included in infrared sensor, sonic sensor, laser sensor, vision sensor extremely
Few one kind.
The terminal can be obtained from the target vehicle or corresponding drive recorder by network includes the target
The image (images of environment surrounding of i.e. described target vehicle) of the ambient condition information of vehicle, or the terminal can pass through net
Network obtains the image of the ambient condition information for including the target vehicle from server or roadside monitoring device；Further, institute
Stating terminal can carry out graphical analysis to the image, such as binary conversion treatment analysis, image registration analysis come detection/recognition away from
Whether there is in the preset range of the target vehicle has corresponding default barrier.Or, if the terminal and the mesh
The distance of mark vehicle is less than predeterminable range threshold value, such as terminal target vehicle in the target vehicle or as described in being arranged on
On, then the terminal calls the such as infrared sensor of this terminal built-in, sonic sensor, laser sensor, vision sensor
Detect to whether there is Deng for detecting the sensor of default barrier have right in the preset range apart from the target vehicle
The default barrier answered.If the distance between the terminal and the target vehicle is more than predeterminable range threshold value, then it is assumed that the end
End in the remote monitoring target vehicle, now the terminal can call built-in such as infrared sensor in the target vehicle,
Sonic sensor, laser sensor, vision sensor etc. are detected apart from described for detecting the sensor of default barrier
Whether there is in the preset range of target vehicle has corresponding default barrier.
The terminal can include automobile, bus, smart mobile phone (such as Android phone, IOS mobile phones etc.), personal electricity
Brain, panel computer, palm PC, mobile internet device (MID, Mobile Internet Devices) or wearable intelligent
The internet devices such as equipment, the embodiment of the present invention are not construed as limiting.
Relative driving information between S102, the acquisition target vehicle and the default barrier, the relative driving
Information includes relative velocity, relative acceleration, relative angle and relative distance.
In the embodiment of the present invention, terminal can be detected by the sensor in step S101 and obtain the target carriage
With the relative driving information between the default barrier；Or, the terminal can according in step S101 to including
The image analysis that the images of environment surrounding of the target vehicle is carried out therefrom obtain the target vehicle and the default barrier it
Between relative driving information.Wherein, the relative driving information can include such as accelerating with respect to road speed, relative driving
Degree, relative driving angle, relative spacing (i.e. relative distance), relative direction of traffic etc. for describe the target vehicle relative to
Information corresponding to the default barrier, the embodiment of the present invention are not construed as limiting.
S103, according to the relative driving information, controlling the target vehicle carries out safe driving.
In the embodiment of the present invention, terminal can be according to the described relative driving information got in step S102 to control
Stating target vehicle carries out corresponding safe driving.
Wherein alternatively, described according to the relative driving information, it is concrete that the control target vehicle carries out safe driving
Including：
According to the relative velocity in the relative driving information, relative acceleration, relative angle and relative distance, calculate
And judge the target vehicle with the presence or absence of there is the possibility collided with the default barrier；
If so, corresponding control instruction is generated according to the relative driving information then, and according to the control instruction indication
Road speed, travel acceleration and the driving angle shown carries out safe driving.
In implementing, the terminal can be to the relative velocity in the relative driving information, relative acceleration, relative
Angle and relative distance are analyzed, and calculate the target vehicle in advance and touch between the default barrier with the presence or absence of having
The possibility hit, if it is present the terminal can add according to the current road speed of the target vehicle for obtaining, driving
Speed etc., and the Current vehicle driving information such as vehicle performance index parameter and the speed relatively in the relative driving information
The comprehensive analysis that degree, relative acceleration, relative angle and relative distance are carried out, generates corresponding control instruction, and the control refers to
Order includes one or more in angled, speed, acceleration, direction control command；And then according to the control instruction indication
The running informations such as the driving angle shown, road speed, travel acceleration, direction of traffic carry out safe driving.Alternatively, the end
End can be with according to current road speed of the target vehicle, travel acceleration for obtaining etc., and vehicle performance index ginseng
Relative velocity, relative acceleration, relative angle and phase in the Current vehicle driving informations such as number and the relative driving information
Adjust the distance the comprehensive analysis for carrying out, when calculate/calculating the collision that the target vehicle is collided with the default barrier in advance
Between.
Wherein alternatively, methods described also includes：
When there is collision between the target vehicle and the default barrier, if detecting the target carriage
High-risk impact zone is in, then target vehicle described in brake hard stops the normal driving of the target vehicle.
Alternatively, when the relative velocity between the target vehicle and the default barrier, relative distance or calculating
Collision time is less than corresponding preset threshold range, it is determined that the target vehicle is in high-risk impact zone.
When the terminal is determined when there is a possibility that collision between the target vehicle and the default barrier, may be used also
To detect whether the target vehicle meets in following condition at least one with the relative driving information between the default barrier
It is individual：Relative velocity between the target vehicle and the default barrier exceedes pre-set velocity threshold value, the target vehicle and institute
State the relative velocity between default barrier and exceed the collision time of pre-set velocity threshold value, calculating less than Preset Time threshold
Value.When the terminal is detected meets at least one of described conditions above, the terminal can consider/determine described
Target vehicle is in high-risk impact zone；Otherwise it is assumed that the target vehicle is not at high-risk impact zone, now can be according to
Above-mentioned control instruction controls the target vehicle and carries out safe driving.When the target vehicle is in high-risk impact zone, institute
State terminal and can control target vehicle described in brake hard, stop the normal driving of the target vehicle.
The embodiment of the present invention can be by when the anticollision pattern of target vehicle is opened, detecting the default of the target vehicle
In the range of with the presence or absence of there is default barrier, if so, then obtain relative between the target vehicle and the default barrier
Driving information, the relative driving information include relative velocity, relative acceleration, relative angle and relative distance, and according to
The relative driving information, controlling the target vehicle carries out safe driving；So can automatically, intelligently according to vehicle with it is pre-
If the relative driving information in distance range between barrier carries out the driving of correspondence safety to control the vehicle itself, improve
The convenient and swift property of vehicle drive and security.
Fig. 2 is referred to, is a kind of schematic flow sheet of vehicle collision avoidance method of another embodiment of the present invention, the present invention is real
The methods described for applying example may include steps of.
S201, when the anticollision pattern of target vehicle is opened, whether deposits in the preset range for detecting the target vehicle
There iing default barrier.
Detecting to whether there is in the preset range of the target vehicle has default barrier to specifically include：By to acquisition
Parsed including the images of environment surrounding of the target vehicle, whether there is in the preset range of the target vehicle with detecting
There is default barrier；And/or, detect to whether there is by sensor have default obstacle in the preset range of the target vehicle
Thing；Wherein, the sensor includes in infrared sensor, sonic sensor, laser sensor, vision sensor at least one
Kind.
When in terminal detects the preset range of the target vehicle with the presence or absence of there is default barrier, the terminal can
To continue executing with step S202；Otherwise, terminate flow process.
Relative driving information between S202, the acquisition target vehicle and the default barrier, the relative driving
Information includes relative velocity, relative acceleration, relative angle and relative distance.
S203, the relative velocity according in the relative driving information, relative acceleration, relative angle and it is relative away from
From calculating and judge the target vehicle with the presence or absence of there is the possibility collided with the default barrier.
In the embodiment of the present invention, collide with the default barrier when terminal judges to the target vehicle there are
Possibility when, the terminal continues executing with step S204；Otherwise, terminate flow process.
S204, corresponding control instruction is generated according to the relative driving information, and according to indicated by the control instruction
Road speed, travel acceleration and driving angle carry out safe driving.
S205, when there is collision between the target vehicle and the default barrier, if detecting described
Target vehicle is in high-risk impact zone, then target vehicle described in brake hard, stops the normal driving of the target vehicle.
Wherein, touching when the relative velocity between the target vehicle and the default barrier, relative distance or calculating
The time is hit less than corresponding preset threshold range, it is determined that the target vehicle is in high-risk impact zone.
The embodiment of the present invention can be by when the anticollision pattern of target vehicle is opened, detecting the default of the target vehicle
In the range of with the presence or absence of there is default barrier, if so, then obtain relative between the target vehicle and the default barrier
Driving information, the relative driving information include relative velocity, relative acceleration, relative angle and relative distance, and according to
The relative driving information, controlling the target vehicle carries out safe driving；So can automatically, intelligently according to vehicle with it is pre-
If the relative driving information in distance range between barrier carries out the driving of correspondence safety to control the vehicle itself, improve
The convenient and swift property of vehicle drive and security.
Fig. 3 is referred to, is a kind of structural representation of terminal of the embodiment of the present invention, the terminal of the embodiment of the present invention
3 include：
Detection module 30, for when the anticollision pattern of target vehicle is opened, detecting the default model of the target vehicle
Whether there is in enclosing has default barrier；
Acquisition module 31, if the testing result for the detection module 30 is yes, obtains the target vehicle and institute
The relative driving information between default barrier is stated, the relative driving information includes relative velocity, relative acceleration, relative angle
Degree and relative distance；
Control module 32, for according to the relative driving information, controlling the target vehicle carries out safe driving.
Implementing for the modules being related in the embodiment of the present invention refers to correlation in Fig. 1 to Fig. 2 correspondence embodiments
The description of functional module or implementation steps, will not be described here.
The embodiment of the present invention can be by when the anticollision pattern of target vehicle is opened, detecting the default of the target vehicle
In the range of with the presence or absence of there is default barrier, if so, then obtain relative between the target vehicle and the default barrier
Driving information, the relative driving information include relative velocity, relative acceleration, relative angle and relative distance, and according to
The relative driving information, controlling the target vehicle carries out safe driving；So can automatically, intelligently according to vehicle with it is pre-
If the relative driving information in distance range between barrier carries out the driving of correspondence safety to control the vehicle itself, improve
The convenient and swift property of vehicle drive and security.
Please also refer to Fig. 4, it is a kind of structural representation of terminal of another embodiment of the present invention, the embodiment of the present invention
The terminal 4 can include：Detection module 30, acquisition module 31, control module 32 as described in above-mentioned Fig. 3, wherein,
The detection module 30, solves specifically for the images of environment surrounding including the target vehicle to obtaining
Analysis, to detect in the preset range of the target vehicle with the presence or absence of there is default barrier；And/or, institute is detected by sensor
State to whether there is in the preset range of target vehicle and have default barrier；
Wherein, the sensor is included in infrared sensor, sonic sensor, laser sensor, vision sensor extremely
Few one kind.
Wherein alternatively, referring to a kind of structural representation of control module of the embodiment of the present invention for being given as shown in Figure 5,
Wherein, the control module 32 includes：
Judging unit 320, for according to the relative velocity in the relative driving information, relative acceleration, relative angle
And relative distance, calculate and judge the target vehicle with the presence or absence of there is the possibility collided with the default barrier
Property；
Control unit 321, if the judged result for the judging unit 320 is yes, believes according to relative the driving
Breath generates corresponding control instruction, and according to the road speed indicated by the control instruction, travel acceleration and driving angle
Degree carries out safe driving.
Wherein alternatively, the terminal also includes：
Brake module 33, for when there is collision between the target vehicle and the default barrier, if
The target vehicle is detected in high-risk impact zone, then target vehicle described in brake hard, is just stopping the target vehicle
Often drive.
Wherein alternatively,
When the collision time of relative velocity, relative distance or calculating between the target vehicle and the default barrier
Less than corresponding preset threshold range, it is determined that the target vehicle is in high-risk impact zone.
Implementing for the modules being related in the embodiment of the present invention refers to correlation in Fig. 1 to Fig. 3 correspondence embodiments
The description of functional module or implementation steps, will not be described here.
The embodiment of the present invention can be by when the anticollision pattern of target vehicle is opened, detecting the default of the target vehicle
In the range of with the presence or absence of there is default barrier, if so, then obtain relative between the target vehicle and the default barrier
Driving information, the relative driving information include relative velocity, relative acceleration, relative angle and relative distance, and according to
The relative driving information, controlling the target vehicle carries out safe driving；So can automatically, intelligently according to vehicle with it is pre-
If the relative driving information in distance range between barrier carries out the driving of correspondence safety to control the vehicle itself, improve
The convenient and swift property of vehicle drive and security.
Fig. 6 is referred to again, is a kind of structural representation of terminal of another embodiment of the present invention.The terminal can be intelligence
The equipment with communications network functionality such as energy mobile phone, panel computer, intelligent wearable device, as shown in fig. 6, the embodiment of the present invention
The terminal can include the module such as display screen, button, loudspeaker, sound pick-up, and also including：At least one bus 501, and
At least one processor 502 and at least one memory 503 being connected with bus 501 that bus 501 is connected, realize communication work(
The communicator 505 of energy, is the supply unit 504 of each power consumption module for power supply of terminal.
The processor 502 can by bus 501, the code stored in calling memory 503 to perform the function of correlation,
Wherein, memory 503 includes operating system, data transmission applications program.
The processor 502, is used for：
When the anticollision pattern of target vehicle is opened, detect to whether there is have pre- in the preset range of the target vehicle
If barrier；
If so, the relative driving information between the target vehicle and the default barrier is then obtained, it is described to drive relatively
The information of sailing includes relative velocity, relative acceleration, relative angle and relative distance；
According to the relative driving information, controlling the target vehicle carries out safe driving.
Alternatively, whether there is in the preset range of the detection target vehicle has default barrier to specifically include：
The images of environment surrounding including the target vehicle to obtaining is parsed, to detect the pre- of the target vehicle
If whether there is in scope has default barrier；And/or,
Detect to whether there is by sensor have default barrier in the preset range of the target vehicle；
Wherein, the sensor is included in infrared sensor, sonic sensor, laser sensor, vision sensor extremely
Few one kind.
Alternatively, described according to the relative driving information, the control target vehicle carries out safe driving and specifically includes：
According to the relative velocity in the relative driving information, relative acceleration, relative angle and relative distance, calculate
And judge the target vehicle with the presence or absence of there is the possibility collided with the default barrier；
If so, corresponding control instruction is generated according to the relative driving information then, and according to the control instruction indication
Road speed, travel acceleration and the driving angle shown carries out safe driving.
Still optionally further, the processor 502 is additionally operable to：
When there is collision between the target vehicle and the default barrier, if detecting the target carriage
High-risk impact zone is in, then target vehicle described in brake hard stops the normal driving of the target vehicle.
Alternatively, when the relative velocity between the target vehicle and the default barrier, relative distance or calculating
Collision time is less than corresponding preset threshold range, it is determined that the target vehicle is in high-risk impact zone.
The embodiment of the present invention can be by when the anticollision pattern of target vehicle is opened, detecting the default of the target vehicle
In the range of with the presence or absence of there is default barrier, if so, then obtain relative between the target vehicle and the default barrier
Driving information, the relative driving information include relative velocity, relative acceleration, relative angle and relative distance, and according to
The relative driving information, controlling the target vehicle carries out safe driving；So can automatically, intelligently according to vehicle with it is pre-
If the relative driving information in distance range between barrier carries out the driving of correspondence safety to control the vehicle itself, improve
The convenient and swift property of vehicle drive and security.
The embodiment of the present invention also provides a kind of computer-readable storage medium, and wherein, the computer-readable storage medium can be stored with journey
Sequence, includes the part or all of step of the vehicle collision avoidance method described in said method embodiment during the program performing.
It should be noted that for aforesaid each method embodiment, in order to be briefly described, therefore which is all expressed as a series of
Combination of actions, but those skilled in the art should know, the present invention do not limited by described sequence of movement because
According to the present invention, some steps can adopt other orders or while carry out.Secondly, those skilled in the art should also know
Know, embodiment described in this description belongs to preferred embodiment, involved action and module are not necessarily of the invention
It is necessary.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion described in detail in certain embodiment
Point, may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed device, can be by another way
Realize.For example, device embodiment described above is only schematic, such as division of described unit, is only one kind
Division of logic function, can have when actually realizing other dividing mode, such as multiple units or component can with reference to or can
To be integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or discussed each other
Coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication connection by some interfaces, device or unit,
Can be electrical or other forms.
The unit as separating component explanation can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can local to be located at one, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, also may be used
Being that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.It is above-mentioned integrated
Unit both can be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized and as independent production marketing or use using in the form of SFU software functional unit
When, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part for contributing to prior art in other words or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, use so that a computer including some instructions
Equipment (can for personal computer, server or network equipment etc.) perform the whole of each embodiment methods described of the invention or
Part steps.And aforesaid storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), portable hard drive, magnetic disc or CD etc. are various can be with store program codes
Medium.
The above, above example only to illustrate technical scheme, rather than a limitation；Although with reference to front
State embodiment to be described in detail the present invention, it will be understood by those within the art that：Which still can be to front
State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic；And these
Modification is replaced, and does not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a kind of method of vehicle collision avoidance, it is characterised in that methods described includes：
When the anticollision pattern of target vehicle is opened, detect to whether there is have pre- placing obstacles in the preset range of the target vehicle
Hinder thing；
If so, the relative driving information between the target vehicle and the default barrier is then obtained, the relative driving is believed
Breath includes relative velocity, relative acceleration, relative angle and relative distance；
According to the relative driving information, controlling the target vehicle carries out safe driving.
2. the method for claim 1, it is characterised in that whether deposit in the preset range of the detection target vehicle
Specifically include there is default barrier：
The images of environment surrounding including the target vehicle to obtaining is parsed, to detect the default model of the target vehicle
Whether there is in enclosing has default barrier；And/or,
Detect to whether there is by sensor have default barrier in the preset range of the target vehicle；
Wherein, the sensor includes in infrared sensor, sonic sensor, laser sensor, vision sensor at least one
Kind.
3. the method for claim 1, it is characterised in that described according to the relative driving information, controls the target
Vehicle carries out safe driving and specifically includes：
According to the relative velocity in the relative driving information, relative acceleration, relative angle and relative distance, calculate and sentence
The target vehicle that breaks whether there is the possibility collided with the default barrier；
If so, corresponding control instruction is generated according to the relative driving information then, and according to indicated by the control instruction
Road speed, travel acceleration and driving angle carry out safe driving.
4. method as claimed in claim 3, it is characterised in that methods described also includes：
When there is collision between the target vehicle and the default barrier, if detecting at the target vehicle
In high-risk impact zone, then target vehicle described in brake hard, stops the normal driving of the target vehicle.
5. method as claimed in claim 4, it is characterised in that when relative between the target vehicle and the default barrier
The collision time of speed, relative distance or calculating is less than corresponding preset threshold range, it is determined that the target vehicle is in
High-risk impact zone.
6. a kind of terminal, it is characterised in that the terminal includes：
Detection module, for when the anticollision pattern of target vehicle is opened, in the preset range for detecting the target vehicle being
It is no to there are default barrier；
Acquisition module, if the testing result for the detection module is yes, is obtained the target vehicle and pre- is placed obstacles with described
The relative driving information between thing, the relative driving information is hindered to include relative velocity, relative acceleration, relative angle and phase
Adjust the distance；
Control module, for according to the relative driving information, controlling the target vehicle carries out safe driving.
7. terminal as claimed in claim 6, it is characterised in that
The detection module, parses specifically for the images of environment surrounding including the target vehicle to obtaining, to examine
Survey to whether there is in the preset range of the target vehicle and have default barrier；And/or, the target carriage is detected by sensor
Preset range in the presence or absence of there is default barrier；
Wherein, the sensor includes in infrared sensor, sonic sensor, laser sensor, vision sensor at least one
Kind.
8. terminal as claimed in claim 6, it is characterised in that the control module includes：
Judging unit, for according to the relative velocity in the relative driving information, relative acceleration, relative angle and relative
Distance, calculates and judges the target vehicle with the presence or absence of there is the possibility collided with the default barrier；
Control unit, if the judged result for the judging unit is yes, generates correspondence according to the relative driving information
Control instruction, and according to the road speed indicated by the control instruction, travel acceleration and driving angle carry out safety
Drive.
9. terminal as claimed in claim 8, it is characterised in that the terminal also includes：
Brake module, for when there is a possibility that collision between the target vehicle and the default barrier, if detect
The target vehicle is in high-risk impact zone, then target vehicle described in brake hard, stops the normal driving of the target vehicle.
10. terminal as claimed in claim 9, it is characterised in that the phase when between the target vehicle and the default barrier
Corresponding preset threshold range is less than to the collision time of speed, relative distance or calculating, it is determined that at the target vehicle
In high-risk impact zone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610915362.2A CN106515725A (en) | 2016-10-20 | 2016-10-20 | Method and terminal for preventing vehicle collision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610915362.2A CN106515725A (en) | 2016-10-20 | 2016-10-20 | Method and terminal for preventing vehicle collision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106515725A true CN106515725A (en) | 2017-03-22 |
Family
ID=58332831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610915362.2A Pending CN106515725A (en) | 2016-10-20 | 2016-10-20 | Method and terminal for preventing vehicle collision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106515725A (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139920A (en) * | 2017-05-04 | 2017-09-08 | 深圳市元征科技股份有限公司 | A kind of control method for vehicle and device |
| CN107914707A (en) * | 2017-11-17 | 2018-04-17 | 出门问问信息科技有限公司 | Anti-collision warning method, system, vehicular rear mirror and storage medium |
| CN107933568A (en) * | 2017-11-15 | 2018-04-20 | 中国联合网络通信集团有限公司 | Anti-collision control method, apparatus and system |
| CN108725319A (en) * | 2017-10-31 | 2018-11-02 | 无锡职业技术学院 | A kind of image-type reversing guidance method |
| CN108839653A (en) * | 2018-08-09 | 2018-11-20 | 华东交通大学 | A kind of control method and device of automatic emergency brake system |
| CN109720352A (en) * | 2018-12-25 | 2019-05-07 | 斑马网络技术有限公司 | Vehicle drive auxiliary control method and equipment |
| CN109808686A (en) * | 2019-04-02 | 2019-05-28 | 上海快仓智能科技有限公司 | Vehicle obstacle-avoidance method, apparatus and vehicle |
| CN109808492A (en) * | 2019-02-15 | 2019-05-28 | 辽宁工业大学 | A kind of trailer-mounted radar prior-warning device and method for early warning |
| CN110466513A (en) * | 2019-08-30 | 2019-11-19 | 北京小马慧行科技有限公司 | Control method for vehicle and device |
| CN110466514A (en) * | 2019-08-30 | 2019-11-19 | 北京小马慧行科技有限公司 | Control method for vehicle and device |
| CN110608287A (en) * | 2018-06-14 | 2019-12-24 | 本田技研工业株式会社 | Vehicle control device |
| CN111169381A (en) * | 2019-10-10 | 2020-05-19 | 中国第一汽车股份有限公司 | Vehicle image display method and device, vehicle and storage medium |
| CN111816179A (en) * | 2020-07-09 | 2020-10-23 | 安徽芯智科技有限公司 | Driving recording system based on intelligent voice control |
| CN112242069A (en) * | 2019-07-17 | 2021-01-19 | 华为技术有限公司 | Method and device for determining vehicle speed |
| CN112406856A (en) * | 2019-08-22 | 2021-02-26 | 广州汽车集团股份有限公司 | Vehicle braking method, device, computer equipment and storage medium |
| CN112622893A (en) * | 2020-12-25 | 2021-04-09 | 北京理工大学前沿技术研究院 | Multi-sensor fusion target vehicle automatic driving obstacle avoidance method and system |
| CN113119946A (en) * | 2019-12-26 | 2021-07-16 | 北京宝沃汽车股份有限公司 | Control method and device for safe running of vehicle and vehicle |
| CN113128272A (en) * | 2019-12-30 | 2021-07-16 | 中移智行网络科技有限公司 | Collision prediction method and device, storage medium and server |
| CN113459951A (en) * | 2021-08-12 | 2021-10-01 | 集度汽车有限公司 | Vehicle exterior environment display method and device, vehicle, equipment and storage medium |
| CN113500993A (en) * | 2021-06-21 | 2021-10-15 | 上汽通用五菱汽车股份有限公司 | Anti-collision function parameter calibration method, vehicle and readable storage medium |
| CN113561971A (en) * | 2021-08-19 | 2021-10-29 | 深圳市豪恩汽车电子装备股份有限公司 | Emergency braking auxiliary method and device for motor vehicle and computer readable storage medium |
| CN113753033A (en) * | 2020-06-03 | 2021-12-07 | 上海汽车集团股份有限公司 | Vehicle, and vehicle driving task selection method and device |
| CN114248794A (en) * | 2020-09-23 | 2022-03-29 | 华为技术有限公司 | Vehicle control method and device and vehicle |
| CN114360292A (en) * | 2021-12-27 | 2022-04-15 | 中煤科工集团信息技术有限公司 | Anti-collision method, system and medium for unmanned vehicles in strip mines |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120101701A1 (en) * | 2010-10-20 | 2012-04-26 | Gm Global Technology Operations, Inc. | Vehicle collision avoidance and warning system |
| CN102685516A (en) * | 2011-03-07 | 2012-09-19 | 李慧盈 | Active safety type assistant driving method based on stereoscopic vision |
| CN103072575A (en) * | 2013-01-18 | 2013-05-01 | 浙江吉利汽车研究院有限公司杭州分公司 | Initiative anti-collision method of vehicle |
| KR20140060107A (en) * | 2012-11-09 | 2014-05-19 | 현대모비스 주식회사 | Control method for collision avoidance of vehicle and apparatus for collision avoidance of vehicle implementing the same |
| CN103909926A (en) * | 2014-03-31 | 2014-07-09 | 长城汽车股份有限公司 | Vehicle lateral collision prevention method, device and system |
| CN103935364A (en) * | 2014-05-08 | 2014-07-23 | 吉林大学 | Automobile active anti-collision early warning system based on millimeter-wave radars |
| JP2016151828A (en) * | 2015-02-16 | 2016-08-22 | トヨタ自動車株式会社 | Collision avoidance system |
-
2016
- 2016-10-20 CN CN201610915362.2A patent/CN106515725A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120101701A1 (en) * | 2010-10-20 | 2012-04-26 | Gm Global Technology Operations, Inc. | Vehicle collision avoidance and warning system |
| CN102685516A (en) * | 2011-03-07 | 2012-09-19 | 李慧盈 | Active safety type assistant driving method based on stereoscopic vision |
| KR20140060107A (en) * | 2012-11-09 | 2014-05-19 | 현대모비스 주식회사 | Control method for collision avoidance of vehicle and apparatus for collision avoidance of vehicle implementing the same |
| CN103072575A (en) * | 2013-01-18 | 2013-05-01 | 浙江吉利汽车研究院有限公司杭州分公司 | Initiative anti-collision method of vehicle |
| CN103909926A (en) * | 2014-03-31 | 2014-07-09 | 长城汽车股份有限公司 | Vehicle lateral collision prevention method, device and system |
| CN103935364A (en) * | 2014-05-08 | 2014-07-23 | 吉林大学 | Automobile active anti-collision early warning system based on millimeter-wave radars |
| JP2016151828A (en) * | 2015-02-16 | 2016-08-22 | トヨタ自動車株式会社 | Collision avoidance system |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139920A (en) * | 2017-05-04 | 2017-09-08 | 深圳市元征科技股份有限公司 | A kind of control method for vehicle and device |
| CN108725319A (en) * | 2017-10-31 | 2018-11-02 | 无锡职业技术学院 | A kind of image-type reversing guidance method |
| CN108725319B (en) * | 2017-10-31 | 2021-05-04 | 无锡职业技术学院 | Image type car backing guidance method |
| CN107933568A (en) * | 2017-11-15 | 2018-04-20 | 中国联合网络通信集团有限公司 | Anti-collision control method, apparatus and system |
| CN107914707A (en) * | 2017-11-17 | 2018-04-17 | 出门问问信息科技有限公司 | Anti-collision warning method, system, vehicular rear mirror and storage medium |
| CN110608287A (en) * | 2018-06-14 | 2019-12-24 | 本田技研工业株式会社 | Vehicle control device |
| CN108839653A (en) * | 2018-08-09 | 2018-11-20 | 华东交通大学 | A kind of control method and device of automatic emergency brake system |
| CN109720352A (en) * | 2018-12-25 | 2019-05-07 | 斑马网络技术有限公司 | Vehicle drive auxiliary control method and equipment |
| CN109808492A (en) * | 2019-02-15 | 2019-05-28 | 辽宁工业大学 | A kind of trailer-mounted radar prior-warning device and method for early warning |
| US11912303B2 (en) | 2019-04-02 | 2024-02-27 | Shanghai Quicktron Intelligent Technology Co., Ltd | Vehicle obstacle-avoidance method, apparatus and vehicle |
| CN109808686A (en) * | 2019-04-02 | 2019-05-28 | 上海快仓智能科技有限公司 | Vehicle obstacle-avoidance method, apparatus and vehicle |
| CN112242069A (en) * | 2019-07-17 | 2021-01-19 | 华为技术有限公司 | Method and device for determining vehicle speed |
| CN112242069B (en) * | 2019-07-17 | 2021-10-01 | 华为技术有限公司 | Method and device for determining vehicle speed |
| US11273838B2 (en) | 2019-07-17 | 2022-03-15 | Huawei Technologies Co., Ltd. | Method and apparatus for determining vehicle speed |
| CN112406856A (en) * | 2019-08-22 | 2021-02-26 | 广州汽车集团股份有限公司 | Vehicle braking method, device, computer equipment and storage medium |
| CN112406856B (en) * | 2019-08-22 | 2022-04-19 | 广州汽车集团股份有限公司 | Vehicle braking method, device, computer equipment and storage medium |
| CN110466514B (en) * | 2019-08-30 | 2020-10-27 | 北京小马慧行科技有限公司 | Vehicle control method and device |
| CN110466513A (en) * | 2019-08-30 | 2019-11-19 | 北京小马慧行科技有限公司 | Control method for vehicle and device |
| CN110466514A (en) * | 2019-08-30 | 2019-11-19 | 北京小马慧行科技有限公司 | Control method for vehicle and device |
| CN111169381A (en) * | 2019-10-10 | 2020-05-19 | 中国第一汽车股份有限公司 | Vehicle image display method and device, vehicle and storage medium |
| CN113119946A (en) * | 2019-12-26 | 2021-07-16 | 北京宝沃汽车股份有限公司 | Control method and device for safe running of vehicle and vehicle |
| CN113128272B (en) * | 2019-12-30 | 2024-05-28 | 中移智行网络科技有限公司 | Collision prediction method, device, storage medium and server |
| CN113128272A (en) * | 2019-12-30 | 2021-07-16 | 中移智行网络科技有限公司 | Collision prediction method and device, storage medium and server |
| CN113753033A (en) * | 2020-06-03 | 2021-12-07 | 上海汽车集团股份有限公司 | Vehicle, and vehicle driving task selection method and device |
| CN111816179A (en) * | 2020-07-09 | 2020-10-23 | 安徽芯智科技有限公司 | Driving recording system based on intelligent voice control |
| CN114248794A (en) * | 2020-09-23 | 2022-03-29 | 华为技术有限公司 | Vehicle control method and device and vehicle |
| CN112622893A (en) * | 2020-12-25 | 2021-04-09 | 北京理工大学前沿技术研究院 | Multi-sensor fusion target vehicle automatic driving obstacle avoidance method and system |
| CN113500993A (en) * | 2021-06-21 | 2021-10-15 | 上汽通用五菱汽车股份有限公司 | Anti-collision function parameter calibration method, vehicle and readable storage medium |
| CN113459951A (en) * | 2021-08-12 | 2021-10-01 | 集度汽车有限公司 | Vehicle exterior environment display method and device, vehicle, equipment and storage medium |
| CN113561971A (en) * | 2021-08-19 | 2021-10-29 | 深圳市豪恩汽车电子装备股份有限公司 | Emergency braking auxiliary method and device for motor vehicle and computer readable storage medium |
| CN114360292A (en) * | 2021-12-27 | 2022-04-15 | 中煤科工集团信息技术有限公司 | Anti-collision method, system and medium for unmanned vehicles in strip mines |
| CN114360292B (en) * | 2021-12-27 | 2023-02-24 | 中煤科工集团信息技术有限公司 | Anti-collision method, system and medium for unmanned vehicles in strip mines |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106515725A (en) | Method and terminal for preventing vehicle collision | |
| CN106476805A (en) | A kind of control method of safe driving of vehicle and terminal | |
| CN106515724B (en) | Traffic control method and terminal in a kind of tunnel | |
| CN108725440A (en) | Forward direction collision control method and device, electronic equipment, program and medium | |
| CN107072867A (en) | A kind of blind safety trip implementation method, system and wearable device | |
| CN111846046B (en) | System, method and device for detecting safety of bicycle | |
| CN107031553A (en) | A kind of tailgating-proof system and method for vehicle | |
| CN109878512A (en) | Automatic Pilot control method, device, equipment and computer readable storage medium | |
| CN106494349A (en) | A kind of seat belt system alarm method and device | |
| Lv et al. | Qualitative action recognition by wireless radio signals in human–machine systems | |
| US11651599B2 (en) | Systems and methods for identifying distracted driver behavior from video | |
| CN106427840A (en) | Method of self-adaptive vehicle driving mode and terminal | |
| CN107139918A (en) | A kind of vehicle collision reminding method and vehicle | |
| CN109598174A (en) | The detection method and its device and system of driver status | |
| CN106476697A (en) | A kind of driving indicating means and device | |
| US20230206652A1 (en) | Systems and methods for utilizing models to detect dangerous tracks for vehicles | |
| CN108839615A (en) | A kind of driving warning method, device and electronic equipment | |
| CN107117099A (en) | A kind of vehicle collision reminding method and vehicle | |
| CN117022323A (en) | Intelligent driving vehicle behavior analysis and prediction system and method | |
| CN108898795B (en) | Pedestrian state real-time analysis method and system based on mobile device | |
| Rafiei et al. | Pedestrian collision avoidance using deep reinforcement learning | |
| CN106585379A (en) | Vehicle pre-warning method and device | |
| CN109808600A (en) | The method for visualizing and device of the perception information of automatic driving vehicle | |
| CN106781510A (en) | A kind of method of the event that collided in use mobile phone automatic detection driving procedure | |
| CN108407717A (en) | Vehicle early warning method, system and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170322 |