CN106515726A - Method and device for auxiliary driving - Google Patents
Method and device for auxiliary driving Download PDFInfo
- Publication number
- CN106515726A CN106515726A CN201610938251.3A CN201610938251A CN106515726A CN 106515726 A CN106515726 A CN 106515726A CN 201610938251 A CN201610938251 A CN 201610938251A CN 106515726 A CN106515726 A CN 106515726A
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- vehicle
- driving information
- collision
- dependency
- danger
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Classifications
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
Abstract
The invention discloses a method and device for auxiliary driving. The method for auxiliary driving of a vehicle comprises the following steps: acquiring the running information of the vehicle; sending a share request to a server; receiving the running information of other vehicles sent by the server in response to the share request; judging whether a collision risk of the vehicle exists or not according to the running information of the vehicle and the received running information of other vehicles; and if yes, controlling the vehicle to brake, wherein the running information comprises the vehicle speed, the position, the planned track and the time. In this way, the collision risk can be estimated by taking into account the variable information of the time and the position, so as to more comprehensively and accurately judge the environment in which the current vehicle is located and improve the running safety of the vehicle.
Description
Technical field
It relates to computer realm, in particular it relates to a kind of method and apparatus for aiding in driving.
Background technology
At present, vehicle automatic collision avoidance system is used in increasing intelligent vehicle.Vehicle automatic collision avoidance system, be
Prevent a kind of intelligent apparatus that vehicle collides.It can have found that it is likely that automatically collide with vehicle vehicle, pedestrian or
Other obstructing objects, send alarm or while take braking or the measure such as evade, with the generation of collision free.
In vehicle automatic collision avoidance system, this vehicle speed, front speed are measured using technologies such as radar, laser, sonars generally
Degree and the distance between two cars, after processing to the instantaneous relative velocity of two cars distance and two cars, judge the peace of two cars
Full distance, if two car spacings are less than safe distance, can send alarm, remind brake driver.If driver is not carried out
Instruction, actuator can take measures, and such as close vehicle window, adjustment seat position, locked steering wheel, self-actuating brake etc..
The content of the invention
The purpose of the disclosure is to provide a kind of simple method and apparatus driven for auxiliary.
To achieve these goals, the disclosure provides a kind of method for aiding in driving, and is applied to vehicle.Methods described
Including：Obtain the driving information of the vehicle；Sharing request is sent to server；The server is received in response to described shared
The driving information of other vehicles that request sends；According to the traveling letter of the driving information and other vehicles for being received of the vehicle
Breath, judges whether the vehicle has the danger of collision；When judge the vehicle have collision it is dangerous when, the control vehicle system
It is dynamic, wherein, the driving information includes：Speed, position, planning flight path and time.
Alternatively, after the step of the driving information of the acquisition vehicle, methods described also includes：By the car
Driving information send to server.
Alternatively, the driving information of the driving information according to the vehicle and other vehicles for being received, judges institute
The step whether state vehicle has the danger of collision includes：According to the position and the position of other vehicles of the vehicle, it is determined that
The target vehicle of predetermined distance threshold is less than with the vehicle distances；According to the driving information and the target carriage of the vehicle
Driving information, determine the dependency of the vehicle and each target vehicle with regard to position respectively；It is related according to determined by
Property, judge whether the vehicle has the danger of collision.
Alternatively, the driving information of the driving information and the target vehicle according to the vehicle, determines institute respectively
State vehicle and each target vehicle with regard to position dependency the step of include：According to the driving information and the mesh of the vehicle
The driving information of mark vehicle, using Spearman rank correlation method, determine respectively the vehicle and each target vehicle with regard to
The dependency of position.
Alternatively, dependency determined by the basis, judges that the step whether vehicle has the danger of collision includes
Any one in below：When dependency is more than predetermined relevance threshold determined by, judge that the vehicle has collision
It is dangerous；When the speedup of dependency is more than predetermined speedup threshold value determined by, judge that the vehicle has the danger of collision.
The disclosure also provides a kind of method for aiding in driving, and is applied to server.Methods described includes：Receive first
The driving information that vehicle sends；Receive the sharing request of the second vehicle transmission；In response to the sharing request, to second car
The driving information of first vehicle is sent, so that second vehicle is according to the driving information of first vehicle and described
The driving information of the second vehicle, judges whether second vehicle has the danger of collision, also, when judgement second vehicle has
Collision it is dangerous when, control second vehicle braking, wherein, the driving information includes：Speed, position, planning flight path with
And the time.
The disclosure also provides a kind of device for aiding in driving, and is applied to vehicle.Described device includes：Acquisition module,
For obtaining the driving information of the vehicle；First sending module, for sending sharing request to server；First receives mould
Block, for receiving the driving information of other vehicles that the server is sent in response to the sharing request；Judge module, is used for
According to the driving information of the driving information and other vehicles for being received of the vehicle, judge whether the vehicle has the danger of collision
Danger；Control module, for when judge the vehicle have collision it is dangerous when, control the vehicle braking, wherein, the traveling is believed
Breath includes：Speed, position, planning flight path and time.
The disclosure also provides a kind of device for aiding in driving, and is applied to server.Described device includes：Second receives
Module, for receiving the driving information that the first vehicle sends；3rd receiver module, please for receiving the shared of the second vehicle transmission
Ask；3rd sending module, in response to the sharing request, sending the traveling letter of first vehicle to second vehicle
Breath, so that second vehicle judges institute according to the driving information of the driving information and second vehicle of first vehicle
Whether state the second vehicle has the danger of collision, also, when judge second vehicle have collision it is dangerous when, control described second
Vehicle is braked, wherein, the driving information includes：Speed, position, planning flight path and time.
By above-mentioned technical proposal, according to vehicle itself, and other vehicles for downloading from server speed, position
Put, plan flight path and time, judge whether vehicle has the danger of collision, and take brake measure when being necessary, with
Prevent the collision of vehicle.In such manner, it is possible to consider the variable information of time, position, the danger for colliding is estimated, so as to
More comprehensively, the environment residing for Current vehicle is accurately determined, the safety of vehicle traveling is improve.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Description of the drawings
Accompanying drawing is, for providing further understanding of the disclosure, and to constitute the part of description, with following tool
Body embodiment is used for explaining the disclosure together, but does not constitute restriction of this disclosure.In the accompanying drawings：
Fig. 1 is the scene graph for aiding in the method for driving that an exemplary embodiment is provided；
Fig. 2 is the flow chart for aiding in the method for driving that an exemplary embodiment is provided；
Fig. 3 is the flow chart for aiding in the method for driving that another exemplary embodiment is provided；
Fig. 4 be an exemplary embodiment provide judge flow chart that whether vehicle has the danger of collision；
Fig. 5 is the flow chart for aiding in the method for driving that an exemplary embodiment is provided；
Fig. 6 is the block diagram for aiding in the device for driving that an exemplary embodiment is provided；And
Fig. 7 is the block diagram for aiding in the device for driving that an exemplary embodiment is provided.
Specific embodiment
It is described in detail below in conjunction with accompanying drawing specific embodiment of this disclosure.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explains the disclosure, is not limited to the disclosure.
Fig. 1 is the scene graph for aiding in the method for driving that an exemplary embodiment is provided.As shown in figure 1, server
110 can mutually transmit message by wireless network with each vehicle 120 respectively.
Fig. 2 is the flow chart for aiding in the method for driving that an exemplary embodiment is provided, and methods described is applied to car
.As shown in Fig. 2 methods described may comprise steps of.
In step s 11, obtain the driving information of the vehicle.
In step s 12, sharing request is sent to server.
In step s 13, receive the driving information of other vehicles that the server is sent in response to the sharing request.
In step S14, according to the driving information of the driving information and other vehicles for being received of the vehicle, institute is judged
State whether vehicle has the danger of collision.
In step S15, when judge the vehicle have collision it is dangerous when, control the vehicle and brake, wherein, the row
The information of sailing includes：Speed, position, planning flight path and time.
It is, server can receive the driving information of multiple vehicles transmissions and store.When some vehicles are to clothes
Business device request download other vehicles driving information when, server can by the driving information of other vehicles for being stored send to
The vehicle, so that the vehicle implements Anticollision Measures according to the driving information of vehicle that is itself and being downloaded.
Wherein, in planning the driving path that flight path for example can be pre-set for user, after removing walks path
Residual paths.Speed, position, the data of planning flight path can be vehicle real-time update.The time is speed, position, rule
Draw the time corresponding to flight path, and the time arranged in server.In the disclosure, by speed, position, planning flight path and
Time carries out data processing, takes brake measure to provide foundation, and support vehicles do not collide.
Although step S11 and step S12 are sequentially shown in Fig. 2, but it is understood that, step S11 and
Step S12 can also be implemented in other orders.
By above-mentioned technical proposal, according to vehicle itself, and other vehicles for downloading from server speed, position
Put, plan flight path and time, judge whether vehicle has the danger of collision, and take brake measure when being necessary, with
Prevent the collision of vehicle.In such manner, it is possible to consider the variable information of time, position, the danger for colliding is estimated, so as to
More comprehensively, the environment residing for Current vehicle is accurately determined, the safety of vehicle traveling is improve.
In the above-described embodiments, vehicle can download the driving information of other vehicles from server.In another embodiment,
The driving information of itself can also be uploaded onto the server by vehicle, in order to other vehicles as itself local environment ginseng
Examine.
Fig. 3 is the flow chart for aiding in the method for driving that another exemplary embodiment is provided.As shown in figure 3, in Fig. 2
On the basis of, the step of the driving information of the vehicle is obtained（Step S11）Afterwards, methods described can also include step
S16。
In step s 16, the driving information of the vehicle is sent to server.
It is, in the embodiment, vehicle can will upload the driving information of itself and download the traveling letter of other vehicles
Both breaths are carried out simultaneously.Or, could be arranged in server, vehicle only uploads the driving information of itself, can
Have permission from server and download the driving information of other vehicles, can so enrich the quantity of information stored in server.Or, when
After vehicle uploads the driving information of itself, server is only by the driving information of the vehicle in the vehicle periphery preset range
Send to the vehicle.Vehicle only downloads the driving information of the vehicle near which from server, reduces and is led to server
The data volume of letter, accelerates the speed of communication, saves vehicle internal memory.
Though it is shown that step S16 is before step S12 in Fig. 3, but it is understood that, step S16 can also set
Put other positions after step s 11.
Fig. 4 be an exemplary embodiment provide judge flow chart that whether vehicle has the danger of collision.As shown in figure 4,
According to the driving information of the driving information and other vehicles for being received of vehicle, judge whether vehicle has the step of danger of collision
（Step S14）May comprise steps of.
In step s 141, the position and the position of other vehicles according to the vehicle, it is determined that little with the vehicle distances
In the target vehicle of predetermined distance threshold.
It is, the position of vehicle itself is compared with the position of other vehicles downloaded from server, will be apart from little
In the vehicle of predetermined distance threshold, it is defined as target vehicle.Wherein, predetermined distance threshold can be that distance is pre- less than this
The vehicle of fixed distance threshold has the larger probability for colliding, and needs to be tracked.The predetermined distance threshold can be with
Rule of thumb obtain, for example, 5 kilometers.
In step S142, according to the driving information of the driving information and target vehicle of the vehicle, determine respectively described
The dependency of vehicle and each target vehicle with regard to position.
Wherein, vehicle position at a time can be obtained by the speed of vehicle and planning flight path.Determine two variables
Between dependency, can be using various computational methods realizing.In an embodiment of the disclosure, step S142 can be wrapped
Include：
According to the driving information of the driving information and target vehicle of the vehicle, using Spearman rank correlation method,
The dependency of the vehicle and each target vehicle with regard to position is determined respectively.It is, using Spearman rank correlation coefficient
To represent dependency.For example, Spearman rank correlation coefficient can be calculated according to below equation.
di=xi-yi(i=1,2 ..., N)
Wherein, R represents Spearman rank correlation coefficient, N sample sizes or number of levels, and x, y represent two cars respectively
Position（Variable）Grade, d represents the difference of the grade of each pair variable in same sample.The span of R for example can be
Between [- 1 ,+1].The absolute value of R is bigger, and the rank correlation degree between variable is bigger.
Specifically, position sample corresponding with multiple times can be chosen at predetermined intervals（For example, can wrap
Include corresponding position sample of past time and the corresponding position sample of future time）.In the corresponding position of future time
In sample, the position of vehicle can be estimated and be obtained by the speed before vehicle and planning flight path.
In step S143, the dependency according to determined by judges whether the vehicle has the danger of collision.
As described previously for each vehicle of surrounding, the corresponding dependency of the vehicle can be determined.Vehicle
Position the more high then mutual collision of dependency probability it is bigger.Therefore, it can the dependency according to determined by, judge described
Whether vehicle has the danger of collision.
Specifically, it may be determined that go out whether to have a foundation for quantifying of risk of collision.In embodiment of the disclosure, step
Rapid S143 include it is following in any one：
When dependency is more than predetermined relevance threshold determined by, judge that the vehicle has the danger of collision；Work as institute
It is determined that the speedup of dependency when being more than predetermined speedup threshold value, judge that the vehicle has the danger of collision.
Above-mentioned two situations, consider the concrete numerical value and pace of change of dependency respectively, determine whether to be necessary to take
Brake measure is ensureing the safety of vehicle.It is understood that the two can also be combined considering.For example, work as phase
When closing property is more than 0.9, it is braked；Or, when the speedup of dependency is more than 0.2/s, it is also carried out braking；Or, work as correlation
Property more than 0.7, and the speedup of dependency more than 0.15/s when, be also carried out braking.Those skilled in the art can become accordingly and dissolve
It is various to judge that vehicle has the foundation of the danger of collision.
In embodiment shown in Fig. 4, target vehicle is filtered out, reduce the scope of monitoring.Also, pass through time, position
Dependency come the probability that judges to collide so that judge more accurately, the safety of vehicle traveling is higher.
The disclosure also provides a kind of method for aiding in driving, and is applied to server.Fig. 5 is that an exemplary embodiment is carried
For for aid in drive method flow chart.As shown in figure 5, methods described may comprise steps of.
In the step s 21, receive the driving information that the first vehicle sends.Wherein, the first vehicle can include multiple vehicles.
In step S22, the sharing request that the second vehicle sends is received.
In step S23, in response to sharing request, the driving information of the first vehicle is sent to the second vehicle, so that second
According to the driving information of the driving information and the second vehicle of the first vehicle, vehicle judges whether the second vehicle has the danger of collision,
Also, when judge the second vehicle have collision it is dangerous when, control the second vehicle brake.Wherein, driving information includes：Speed, position
Put, plan flight path and time.
As described above, server can by the driving information of other vehicles outside stored, the second vehicle send to
Second vehicle, screens vehicle to be tracked by the second vehicle.Or, server can also receive the driving information of the second vehicle,
A part of vehicle is filtered out according to the position of the second vehicle, the driving information of the vehicle for filtering out is sent to the second vehicle.Close
In the danger how the second vehicle determines whether to collide, then can be implemented according to above-mentioned various embodiments, it is no longer detailed herein
It is thin to describe.
By above-mentioned technical proposal, according to vehicle itself, and other vehicles for downloading from server speed, position
Put, plan flight path and time, judge whether vehicle has the danger of collision, and take brake measure when being necessary, with
Prevent the collision of vehicle.In such manner, it is possible to consider the variable information of time, position, the danger for colliding is estimated, so as to
More comprehensively, the environment residing for Current vehicle is accurately determined, the safety of vehicle traveling is improve.
The disclosure also provides a kind of device for aiding in driving, and is applied to vehicle.Fig. 6 is that an exemplary embodiment is provided
For aid in drive device block diagram.As shown in fig. 6, the device 10 for aiding in driving can include acquisition module
11st, the first sending module 12, the first receiver module 13, judge module 14, control module 15.
Acquisition module 11 is used for the driving information for obtaining the vehicle.
First sending module 12 is for server transmission sharing request.
First receiver module 13 is used to receive the row of other vehicles that the server is sent in response to the sharing request
Sail information.
Judge module 14 is judged for the driving information according to the driving information of the vehicle and other vehicles for being received
Whether the vehicle has the danger of collision.
Control module 15 for when judge the vehicle have collision it is dangerous when, control the vehicle and brake, wherein, it is described
Driving information includes：Speed, position, planning flight path and time.
Alternatively, described device 10 can also include the second sending module.
Second sending module is for the driving information of the vehicle is sent to server.
Alternatively, the judge module 14 can include target vehicle determination sub-module, dependency determination sub-module and sentence
Disconnected submodule.
Target vehicle determination sub-module is for the position according to the vehicle and the position of other vehicles, it is determined that and institute
State target vehicle of the vehicle distances less than predetermined distance threshold.
Dependency determination sub-module is divided for the driving information according to the vehicle and the driving information of the target vehicle
Do not determine the dependency of the vehicle and each target vehicle with regard to position.
Judging submodule is used for the dependency according to determined by, judges whether the vehicle has the danger of collision.
Alternatively, the dependency determination sub-module can include Spearman rank correlation determination sub-module.
Spearman rank correlation determination sub-module is for the driving information according to the vehicle and the target vehicle
Driving information, using Spearman rank correlation method, determines the phase of the vehicle and each target vehicle with regard to position respectively
Guan Xing.
Alternatively, the judging submodule can include it is following in any one：First judging submodule and second is sentenced
Disconnected submodule.
When first judging submodule is more than predetermined relevance threshold for the dependency determined by, the vehicle is judged
There is the danger of collision.
When second judging submodule is more than predetermined speedup threshold value for the speedup of the dependency determined by, judge described
Vehicle has the danger of collision.
The disclosure also provides a kind of device for aiding in driving, and is applied to server.Fig. 7 is that an exemplary embodiment is carried
For for aid in drive device block diagram.As shown in fig. 7, the device 20 for aiding in driving can be connect including second
Receive module 21, the 3rd receiver module 22 and the 3rd sending module 23.
Second receiver module 21 is used to receive the driving information that the first vehicle sends.
3rd receiver module 22 is used to receive the sharing request that the second vehicle sends.
3rd sending module 23 is in response to the sharing request, sending first vehicle to second vehicle
Driving information, so that driving information of second vehicle according to the driving information and second vehicle of first vehicle,
Judge whether second vehicle has the danger of collision, also, when judge second vehicle have collision it is dangerous when, control institute
The braking of the second vehicle is stated, wherein, the driving information includes：Speed, position, planning flight path and time.
With regard to the device in above-described embodiment, wherein modules perform the concrete mode of operation in relevant the method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
By above-mentioned technical proposal, according to vehicle itself, and other vehicles for downloading from server speed, position
Put, plan flight path and time, judge whether vehicle has the danger of collision, and take brake measure when being necessary, with
Prevent the collision of vehicle.In such manner, it is possible to consider the variable information of time, position, the danger for colliding is estimated, so as to
More comprehensively, the environment residing for Current vehicle is accurately determined, the safety of vehicle traveling is improve.
The preferred implementation of the disclosure is described in detail above in association with accompanying drawing, but, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, various letters can be carried out with technical scheme of this disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned specific embodiment, in not lance
In the case of shield, can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can
The compound mode of energy is no longer separately illustrated.
Additionally, combination in any between a variety of embodiments of the disclosure, can also be carried out, as long as which is without prejudice to this
Disclosed thought, which should equally be considered as disclosure disclosure of that.
Claims (12)
1. a kind of method for aiding in driving, is applied to vehicle, it is characterised in that methods described includes：
Obtain the driving information of the vehicle；
Sharing request is sent to server；
Receive the driving information of other vehicles that the server is sent in response to the sharing request；
According to the driving information of the driving information and other vehicles for being received of the vehicle, judge whether the vehicle has collision
Danger；
When judge the vehicle have collision it is dangerous when, control the vehicle and brake, wherein, the driving information includes：Speed,
Position, planning flight path and time.
2. method according to claim 1, it is characterised in that the step of the driving information for obtaining the vehicle described it
Afterwards, methods described also includes：
The driving information of the vehicle is sent to server.
3. method according to claim 1, it is characterised in that the driving information according to the vehicle and received
The driving information of other vehicles, judges that the step whether vehicle has the danger of collision includes：
According to the position and the position of other vehicles of the vehicle, it is determined that with the vehicle distances less than predetermined apart from threshold
The target vehicle of value；
According to the driving information of the driving information and the target vehicle of the vehicle, the vehicle and each target are determined respectively
Dependency of the vehicle with regard to position；
The dependency according to determined by, judges whether the vehicle has the danger of collision.
4. method according to claim 3, it is characterised in that the driving information and the target according to the vehicle
The driving information of vehicle, determine respectively the vehicle and each target vehicle with regard to position dependency the step of include：
According to the driving information of the driving information and the target vehicle of the vehicle, using Spearman rank correlation method,
The dependency of the vehicle and each target vehicle with regard to position is determined respectively.
5. method according to claim 3, it is characterised in that dependency determined by the basis, judges the vehicle
Whether have the danger of collision step include it is following in any one：
When dependency is more than predetermined relevance threshold determined by, judge that the vehicle has the danger of collision；
When the speedup of dependency is more than predetermined speedup threshold value determined by, judge that the vehicle has the danger of collision.
6. a kind of method for aiding in driving, is applied to server, it is characterised in that methods described includes：
Receive the driving information of the first vehicle transmission；
Receive the sharing request of the second vehicle transmission；
In response to the sharing request, the driving information of first vehicle is sent to second vehicle, so that described second
According to the driving information of the driving information and second vehicle of first vehicle, vehicle judges whether second vehicle has
The danger of collision, also, when judge second vehicle have collision it is dangerous when, control second vehicle and brake, wherein, institute
Stating driving information includes：Speed, position, planning flight path and time.
7. a kind of device for aiding in driving, is applied to vehicle, it is characterised in that described device includes：
Acquisition module, for obtaining the driving information of the vehicle；
First sending module, for sending sharing request to server；
First receiver module, the traveling for receiving other vehicles that the server is sent in response to the sharing request are believed
Breath；
Judge module, for the driving information according to the driving information of the vehicle and other vehicles for being received, judges described
Whether vehicle has the danger of collision；
Control module, for when judge the vehicle have collision it is dangerous when, control the vehicle and brake, wherein, the traveling
Information includes：Speed, position, planning flight path and time.
8. device according to claim 7, it is characterised in that described device also includes：
Second sending module, for the driving information of the vehicle is sent to server.
9. device according to claim 7, it is characterised in that the judge module includes：
Target vehicle determination sub-module, for the position according to the vehicle and the position of other vehicles, it is determined that with it is described
Target vehicle of the vehicle distances less than predetermined distance threshold；
Dependency determination sub-module, for the driving information according to the vehicle and the driving information of the target vehicle, difference
Determine the dependency of the vehicle and each target vehicle with regard to position；
Judging submodule, for dependency determined by basis, judges whether the vehicle has the danger of collision.
10. device according to claim 9, it is characterised in that the dependency determination sub-module includes：
Spearman rank correlation determination sub-module, for the driving information according to the vehicle and the traveling of the target vehicle
Information, using Spearman rank correlation method, determines the dependency of the vehicle and each target vehicle with regard to position respectively.
11. devices according to claim 9, it is characterised in that the judging submodule include it is following in any one：
First judging submodule, when being more than predetermined relevance threshold for the dependency determined by, judges that the vehicle has
The danger of collision；
Second judging submodule, when being more than predetermined speedup threshold value for the speedup of the dependency determined by, judges the car
There is the danger of collision.
A kind of 12. devices for aiding in driving, are applied to server, it is characterised in that described device includes：
Second receiver module, for receiving the driving information that the first vehicle sends；
3rd receiver module, for receiving the sharing request that the second vehicle sends；
3rd sending module, in response to the sharing request, sending the traveling of first vehicle to second vehicle
Information, so that driving information of second vehicle according to the driving information and second vehicle of first vehicle, judges
Whether second vehicle has the danger of collision, also, when judge second vehicle have collision it is dangerous when, control described the
Two vehicles are braked, wherein, the driving information includes：Speed, position, planning flight path and time.
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| CN201610938251.3A CN106515726B (en) | 2016-10-25 | 2016-10-25 | Method and apparatus for assisting driving |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610938251.3A CN106515726B (en) | 2016-10-25 | 2016-10-25 | Method and apparatus for assisting driving |
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| CN106515726B CN106515726B (en) | 2019-07-19 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108806018A (en) * | 2017-04-28 | 2018-11-13 | 华为技术有限公司 | A kind of data processing method, data processing equipment and intelligent automobile |
| CN109448434A (en) * | 2018-10-16 | 2019-03-08 | 张亮 | Automatic driving vehicle group decision-making method |
| CN109501794A (en) * | 2017-09-15 | 2019-03-22 | 通用汽车环球科技运作有限责任公司 | For determining the method and system of lane health from autonomous vehicle |
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| CN110893850A (en) * | 2018-09-12 | 2020-03-20 | 广州汽车集团股份有限公司 | Vehicle longitudinal speed planning method and longitudinal speed planning device |
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