CN106585639A - Driving method and system - Google Patents
Driving method and system Download PDFInfo
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- CN106585639A CN106585639A CN201610940036.7A CN201610940036A CN106585639A CN 106585639 A CN106585639 A CN 106585639A CN 201610940036 A CN201610940036 A CN 201610940036A CN 106585639 A CN106585639 A CN 106585639A
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm 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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—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
- B60W2554/00—Input parameters relating 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mathematical Physics (AREA)
- Electromagnetism (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a driving method and system. The driving method comprises the following steps of obtaining first relative distances and first relative speeds of vehicles ahead relative to the current vehicle, which are detected by a vehicle-borne radar of the current vehicle; when detecting an overtaking instruction, calculating second relative distances between the vehicles ahead according to the first relative distances of the vehicles head relative to the current vehicle; judging whether a second vehicle satisfying a preset overtaking distance exists within the second relative distances between the vehicles ahead or not; and if the second vehicle satisfying the preset overtaking distance exists within the second relative distances between the vehicles ahead, calculating a safety overtaking speed of the current vehicle according to a first relative distance corresponding to the second vehicle and a first relative speed corresponding to the second vehicle, and outputting the safety overtaking speed, the second relative distances as well as the first relative distances and the first relative speeds of the current vehicle and the vehicles ahead; and if the second vehicle satisfying the preset overtaking distance does not exist within the second relative distances between the vehicles ahead, outputting first prompting information to prompt a user not to overtake the vehicles ahead. According to the driving method and system, sight blocks of the current vehicle caused by the vehicles ahead can be reduced so that the driving safety is enhanced.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of travelling-crane method and system.
Background technology
There is thousands of people injured or dead in vehicle accident every year at present, it is to cause vehicle accident that sight line hinders
One of the main reasons, especially on tortuous narrow road, during with car, if Current vehicle and front vehicles away from
Close to and the front vehicles are higher, then driver cannot accurately observe vehicle front road conditions, and now driver surpasses rashly
Car, if vehicle occurs suddenly in front, may will occur vehicle accident.
The content of the invention
Present invention is primarily targeted at providing a kind of travelling-crane method and system, it is intended to realize accurate measurements Current vehicle institute
Current road conditions, with reduce Current vehicle sight line hinder, improve traffic safety.
For achieving the above object, a kind of travelling-crane method that the present invention is provided, the travelling-crane method is comprised the following steps:
Obtain first relative spacing and the of the relatively current vehicle of each front vehicles of Current vehicle trailer-mounted radar detection
One relative velocity, wherein, each front vehicles are vehicle of the Current vehicle on the travel residing for current time;
Detect overtake other vehicles instruction when, each front is calculated according to the first relative spacing of the relatively current vehicle of each front vehicles
The second relative spacing between vehicle;
Judge with the presence or absence of the second vehicle for meeting default spacing of overtaking other vehicles in the second relative spacing between each front vehicles,
Wherein, Current vehicle and the second vehicle are in same track;
If so, then according to corresponding first relative spacing of the second vehicle and the corresponding first relative velocity meter of the second vehicle
The safety for calculating Current vehicle is overtaken other vehicles speed, and output safety is overtaken other vehicles speed, the second relative spacing, Current vehicle and each front vehicles
The first relative spacing and the first relative velocity;
If it is not, the first information is then exported, to point out user to overtake other vehicles.
Preferably, it is described obtain trailer-mounted radar detection the relatively current vehicle of each front vehicles the first relative spacing and
Also include after the step of first relative velocity:
Detect instruct with car when, judge the first of Current vehicle and the 3rd vehicle closest in each front vehicles
Whether relative spacing is interval with following distance in presetting, wherein, the 3rd vehicle is in same track with Current vehicle;
When the first relative spacing of the relatively current vehicle of the 3rd vehicle is not at default interval with following distance, obtain current
The road speed of vehicle, and the driving speed of the first relative spacing according to the relatively current vehicle of the 3rd vehicle and Current vehicle
Degree, calculates the safety of Current vehicle with vehicle speed;
Output safety is relatively fast with vehicle speed, the first relative spacing of the relatively current vehicle of each front vehicles and first
Degree.
Preferably, the travelling-crane method also includes:
The first relative velocity of the relatively current vehicle of the 4th vehicle is within the unit interval in each front vehicles are detected
When variable quantity is more than predetermined threshold value, the 4th vehicle deceleration traveling is judged, wherein, Current vehicle and the 4th vehicle are in same car
Road;
When it is determined that the 4th vehicle deceleration is travelled, output alarm signal, to point out user's control Current vehicle Reduced Speed Now.
Preferably, the first relative spacing of the relatively current vehicle of each front vehicles of the output and the first relative velocity
Step includes:
Determine that Current vehicle receives the deflection that each front vehicles return the impulse wave of trailer-mounted radar transmitting, and determination is worked as
The first position information of vehicle in front;
First relative spacing and direction of the first position information, Current vehicle according to Current vehicle with each front vehicles
Angle, determines the second position information of each front vehicles;
By the first position information of Current vehicle, the first relative spacing of each front vehicles, the first relative velocity and
Two positional informationes are displayed on terminal interface according to default displaying ratio.
Preferably, the travelling-crane method includes:
Detecting the default life entity of the corresponding focus satisfaction of infrared signal that Current vehicle mid-infrared sensor is received
During focus, judge there is life entity roadblock in Current vehicle road ahead;
Obtain the of the relatively current vehicle of life entity roadblock present on the road ahead of Current vehicle trailer-mounted radar detection
Two relative spacings and the second relative velocity, and by the third phase of the relatively current vehicle of life entity roadblock to spacing and the second phase
To speed, it is displayed on terminal interface.
Additionally, for achieving the above object, the present invention also provides a kind of driving system, including:
Acquisition module, for obtaining the first phase of the relatively current vehicle of each front vehicles of Current vehicle trailer-mounted radar detection
To spacing and the first relative velocity, wherein, each front vehicles are Current vehicle on the travel residing for current time
Vehicle;
First computing module, for detect overtake other vehicles instruction when, according to the first of the relatively current vehicle of each front vehicles
Relative spacing calculates the second relative spacing between each front vehicles;
First judge module, for judging the second relative spacing between each front vehicles in it is default super with the presence or absence of meeting
Second vehicle of following distance, wherein, Current vehicle and the second vehicle are in same track;
First output module, if meeting default spacing of overtaking other vehicles for existing in the second relative spacing between each front vehicles
The second vehicle, then calculated according to corresponding first relative spacing of the second vehicle and corresponding first relative velocity of the second vehicle
The safety of Current vehicle is overtaken other vehicles speed, and output safety is overtaken other vehicles speed, the second relative spacing, Current vehicle and each front vehicles
First relative spacing and the first relative velocity;
Second output module, if meeting between default overtaking other vehicles for not existing in the second relative spacing between each front vehicles
Away from the second vehicle, then the first information is exported, to point out user to overtake other vehicles.
Preferably, the driving system also includes:
Second judge module, for detect instruct with car when, judge Current vehicle with distance in each front vehicles most
Whether the first relative spacing of the 3rd near vehicle is interval with following distance in presetting, wherein, at the 3rd vehicle and Current vehicle
In same track;
Second computing module, for being not at presetting with workshop when the first relative spacing of the relatively current vehicle of the 3rd vehicle
Away from interval when, obtain Current vehicle road speed, and the first relative spacing according to the relatively current vehicle of the 3rd vehicle and
The road speed of Current vehicle, calculates the safety of Current vehicle with vehicle speed;
3rd output module, for output safety with vehicle speed, the relatively current vehicle of each front vehicles first it is relative between
Away from and the first relative velocity.
Preferably, the driving system also includes:
First determination module, first for the relatively current vehicle of the 4th vehicle in each front vehicles are detected is relatively fast
When variable quantity of the degree within the unit interval is more than predetermined threshold value, the 4th vehicle deceleration traveling is judged, wherein, Current vehicle and the 4th
Vehicle is in same track;
Alarm module, for it is determined that the 4th vehicle deceleration travel when, output alarm signal, to point out user's control current
Vehicle deceleration is travelled.
Preferably, first output module includes:
First determining unit, for determining that Current vehicle receives the impulse wave that each front vehicles return trailer-mounted radar transmitting
Deflection, and determine the first position information of Current vehicle;
Second determining unit, for according to the first position information of Current vehicle, Current vehicle and the of each front vehicles
One relative spacing and deflection, determine the second position information of each front vehicles;
Display unit, for by the first position information of Current vehicle, the first relative spacing of each front vehicles, the first phase
To speed and second position information according to default displaying ratio, it is displayed on terminal interface.
Preferably, the driving system also includes:
Second determination module, for detecting the corresponding heat of infrared signal that Current vehicle mid-infrared sensor is received
When point meets default life entity focus, judge there is life entity roadblock in Current vehicle road ahead;
Display module is relative for obtaining life entity roadblock present on the road ahead that Current vehicle trailer-mounted radar is detected
Second relative spacing and the second relative velocity of Current vehicle, and by between the third phase pair of the relatively current vehicle of life entity roadblock
Away from and the second relative velocity, be displayed on terminal interface.
The present invention by Current vehicle trailer-mounted radar detect the first relative spacing of the relatively current vehicle of each front vehicles with
And first relative velocity, detect overtake other vehicles instruction when, calculate current according to first relative spacing and the first relative velocity
The safety of vehicle is overtaken other vehicles speed, and is overtaken other vehicles speed by the voice output safety, and output safety overtake other vehicles speed, second it is relative between
Away from first relative spacing and the first relative velocity of, Current vehicle and each front vehicles, enabling accurate in overtaking process
The travel conditions of front vehicles, regard so as to avoid front vehicles to Current vehicle on the road that really monitoring Current vehicle is located
Line hinders, and by calculating and output safety is overtaken other vehicles speed, provides the user reference, to ensure that user can overtake other vehicles safely, from
And improve traffic safety.
Description of the drawings
Fig. 1 is the schematic flow sheet of the first embodiment of travelling-crane method of the present invention;
Fig. 2 is the schematic flow sheet of the second embodiment of travelling-crane method of the present invention;
Fig. 3 is the schematic flow sheet of the 3rd embodiment of travelling-crane method of the present invention;
Fig. 4 is the first relative spacing and first that the relatively current vehicle of each front vehicles is exported in travelling-crane method of the present invention
The schematic flow sheet of the refinement step of relative velocity;
Fig. 5 is the schematic diagram of a scenario that the present invention shows information of vehicles on terminal interface;
Fig. 6 is the schematic flow sheet of the fourth embodiment of travelling-crane method of the present invention;
Fig. 7 is the high-level schematic functional block diagram of the first embodiment of driving system of the present invention;
Fig. 8 is the high-level schematic functional block diagram of the second embodiment of driving system of the present invention;
Fig. 9 is the high-level schematic functional block diagram of the 3rd embodiment of driving system of the present invention;
Figure 10 be driving system of the present invention fourth embodiment in the first output module refinement high-level schematic functional block diagram;
Figure 11 is the high-level schematic functional block diagram of the 5th embodiment of driving system of the present invention.
The realization of the object of the invention, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.
Specific embodiment
It should be appreciated that specific embodiment described herein is not intended to limit the present invention only to explain the present invention.
Based on the problems referred to above, the present invention provides a kind of travelling-crane method.
With reference to Fig. 1, Fig. 1 is the schematic flow sheet of the first embodiment of travelling-crane method of the present invention.
In the present embodiment, the travelling-crane method includes:
Step S01, between the first of the relatively current vehicle of each front vehicles of acquisition Current vehicle trailer-mounted radar detection is relative
Away from and the first relative velocity, wherein, each front vehicles be vehicle of the Current vehicle on the travel residing for current time;
In the present embodiment, the Current vehicle is the vehicle that active user is driving, and the Current vehicle is configured with vehicle-mounted
Radar and car-mounted terminal, when the road condition monitoring for detecting active user's triggering is instructed, open the road conditions prison on car-mounted terminal
The road condition monitoring application surveyed on the mobile terminal that application or opening are associated with the Current vehicle, controls the road condition monitoring application and obtains
The first position information of Current vehicle is taken, the positional information is determined by the GPS positioning system in the Current vehicle, and is obtained
Take first relative spacing and the first relative velocity of the relatively current vehicle of each front vehicles that the trailer-mounted radar is detected.Its
In, each front vehicles are vehicle of the Current vehicle on the travel residing for current time, and each front vehicles are current
The all vehicles in the range of travel front preset residing for moment, but the preset range is not fixed, city street
The preset range of road or arterial highway is less than the preset range of highway or intercity highway, for example, if Current vehicle is multilane, and
Determine that Current vehicle is travelled on avenue by positional information, then each vehicle obtained in the 500m of each track front is relative
First relative spacing and the first relative velocity of Current vehicle;If Current vehicle is multilane, and is determined by positional information
Current vehicle is travelled on a highway, then obtain first of the relatively current vehicle of each vehicle in the 1000m of each track front
Relative spacing and the first relative velocity.
It should be noted that the trailer-mounted radar can be Doppler radar, when Doppler radar launches a fixed frequency
When impulse wave is scanned, moving target (each front vehicles or barrier), the frequency of echo and the frequency of transmitted wave are such as run into
The rate frequency of occurrences is poor, referred to as Doppler frequency, according to the size of Doppler frequency, can measure relative motion speed of the target to radar
Degree, i.e., trailer-mounted radar calculates the first relative velocity of the relatively current vehicle of each front vehicles;According to transmitting pulse and reception
Time difference, can measure the distance between Current vehicle and target, i.e., trailer-mounted radar calculates the relatively current car of each front vehicles
The first relative spacing.Detect the Doppler frequency spectral line of target, the spectrum of filtering interfering clutter with frequency filter method simultaneously
Line, can make radar tell echo signal from strong clutter, so anti-clutter interference performance of the Doppler radar than ordinary radar
By force, hidden moving target in the background can be detected, and being capable of reduces cost by Doppler radar monitoring traffic information.
Step S02, detect overtake other vehicles instruction when, according to the first relative spacing meter of the relatively current vehicle of each front vehicles
Calculate the second relative spacing between each front vehicles;
If Current vehicle be located track traveling ahead a truck, cause sight line to hinder to active user, then when
When active user wants to overtake other vehicles, instruction of overtaking other vehicles is triggered manually, or when Current vehicle lane change to the left is detected, triggering automatically is overtaken other vehicles
Instruction, detect overtake other vehicles instruction when, each front car is calculated according to the first relative spacing of the relatively current vehicle of each front vehicles
The second relative spacing between any two, for example, if there is tetra- cars of A, B, C, D in front of vehicle in front, the of A cars and Current vehicle
One relative spacing is 40m, B cars and the first relative spacing that the first relative spacing of Current vehicle is 100m, C cars and Current vehicle
For 180m, D cars are 250m with the first relative spacing of Current vehicle, then A cars subtract with the second relative spacing before B cars for 100m
40m is gone to be equal to 60m, the second relative spacing between B cars and C cars deducts 100m equal to 80m for 180m, the between C cars and D cars
Two relative spacings deduct 180m equal to 70m for 250m.
It is understood that during Current vehicle traveling, active user need to follow traffic when Current vehicle is driven
Rule, for example, if on the track at Current vehicle place, front truck is just being overtaken other vehicles in turning driving, the traveling that turns around or, then currently
Vehicle must not overtake other vehicles.
Step S03, judges to preset spacing of overtaking other vehicles with the presence or absence of meeting in the second relative spacing between each front vehicles
Second vehicle;
Step S04, if so, then according to corresponding first relative spacing of the second vehicle and corresponding first phase of the second vehicle
The safety of speed calculation Current vehicle is overtaken other vehicles speed, and output safety overtake other vehicles speed, the second relative spacing, Current vehicle with it is each
First relative spacing and the first relative velocity of front vehicles;
After the second relative spacing being calculated between each front vehicles, judge that second between each front vehicles is relative
With the presence or absence of the second vehicle of default spacing of overtaking other vehicles is met in spacing, if existing in the second relative spacing between each front vehicles
Meet the second vehicle of default spacing of overtaking other vehicles, then according to first relative spacing and the second car of the relatively current vehicle of the second vehicle
The relative speed of the first of relatively current vehicle, the safety for calculating Current vehicle is overtaken other vehicles speed, for example, when obtaining default overtaking other vehicles
Between t0, overtaken other vehicles speed calculation formula according to default safety:
(V0-V1)*t0≤S1
Wherein, V0Safety for Current vehicle is overtaken other vehicles speed, V1For the relatively current vehicle of the second vehicle first is relatively fast
Degree, S1For the first relative spacing of the relatively current vehicle of the second vehicle, so as to calculate the peace that Current vehicle surmounts the second vehicle
Overtake other vehicles full speed V0, the safety overtakes other vehicles speed more than the first of the relatively current vehicle of the second vehicle the relative speed, and this is default super
Car time t0It is optimal passing time that inventor is obtained by repetition test, the default passing time t0Include so that working as
Front user has overtaking other vehicles buffer time for relative science when overtaking other vehicles.Wherein, if depositing in the second relative spacing between front vehicles
It is in the second vehicle of the default spacing of overtaking other vehicles of multiple satisfactions, then the minimum vehicle of the first relative spacing of relatively current vehicle is true
It is set to the second vehicle;The default spacing of overtaking other vehicles not is changeless, but the road area travelled according to Current vehicle
The change of (road area can be avenue, arterial highway, highway, intercity highway etc.) and change, such as Current vehicle traveling exist
Avenue, then default the overtaking other vehicles is smaller than Current vehicle traveling default spacing of overtaking other vehicles on a highway.
Overtaken other vehicles safely speed by voice output, to point out user to be overtaken other vehicles according to safety speed of overtaking other vehicles, and currently
During vehicle cut-ins during close second vehicle, information of voice prompt can be also exported, to point out user to carry out doubling (lane change)
Preparation, so as to ensure safety of overtaking other vehicles, and by the first relative spacing of the relatively current vehicle of each front vehicles, each front vehicles phase
The second relative spacing between first relative velocity and each front vehicles of Current vehicle is displayed on terminal interface, for
User checks, so as to the sight line for reducing Current vehicle hinders, so as to ensure traffic safety.Wherein, the Current vehicle can be by indigo plant
Tooth, Wi-Fi or wireless network card and the mobile terminal are associated.
Step S05, if it is not, the first information is then exported, to point out user to overtake other vehicles.
It is defeated if there is no the second vehicle for meeting default spacing of overtaking other vehicles in the second relative spacing between each front vehicles
Go out information, point out user to overtake other vehicles.
The present embodiment detects the first relative spacing of the relatively current vehicle of each front vehicles by Current vehicle trailer-mounted radar
And first relative velocity, detect overtake other vehicles instruction when, calculated according to first relative spacing and the first relative velocity and worked as
The safety of vehicle in front is overtaken other vehicles speed, and is overtaken other vehicles speed by the voice output safety, and output safety is overtaken other vehicles speed, second relative
First relative spacing and the first relative velocity of spacing, Current vehicle and each front vehicles, enabling in overtaking process
The travel conditions of front vehicles on the road that accurate measurements Current vehicle is located, so as to avoid front vehicles to Current vehicle
Sight line hinders, and by calculating and output safety is overtaken other vehicles speed, provides the user reference, to ensure that user can overtake other vehicles safely,
So as to improve traffic safety.
Further, based on the first embodiment, Fig. 2 is refer to, is that the second of travelling-crane method proposed by the present invention is real
The schematic flow sheet of example is applied, in this second embodiment, after step S01, the travelling-crane method also includes:
Step S06, detect instruct with car when, judge Current vehicle with the 3rd car closest in each front vehicles
The first relative spacing whether in default interval with following distance, wherein, the 3rd vehicle is in same track with Current vehicle;
Step S07, when the first relative spacing of the relatively current vehicle of the 3rd vehicle is not at default interval with following distance,
Obtain the road speed of Current vehicle, and the first relative spacing according to the relatively current vehicle of the 3rd vehicle and Current vehicle
Road speed, calculates the safety of Current vehicle with vehicle speed;
Step S08, output safety is with vehicle speed, first relative spacing and first of the relatively current vehicle of each front vehicles
Relative velocity.
In the present embodiment, if the track traveling ahead that Current vehicle is located oversize vehicle, such as heavy truck, to current
User causes sight line to hinder, and active user can be triggered with car instruction, is detecting when instructing with car of active user's triggering, sentences
It is default with following distance whether disconnected Current vehicle is in the first relative spacing of the 3rd vehicle closest in each front vehicles
It is interval.Wherein, the 3rd vehicle is in same track with Current vehicle;It is default with following distance in the default interval with following distance
Fixed, but travelled according to Current vehicle road area (road area can for avenue, arterial highway, highway,
Intercity highway etc.) change and change, such as Current vehicle is travelled in avenue, then this is default to be less than current vehicle with following distance
Traveling on a highway default with following distance.
When the first relative spacing is not at default interval with following distance, the road speed of acquisition Current vehicle, and according to
First relative spacing of the relatively current vehicle of the 3rd vehicle and the road speed of Current vehicle, calculate Current vehicle safety with
Vehicle speed, for example, according to default safety with vehicle speed computing formula:
V2*t1≤S1
Wherein, V2For the safe with vehicle speed, t of Current vehicle1For default follow-up time, S1Work as the 3rd vehicle is relative
First relative spacing of vehicle in front, so as to calculate the safety of Current vehicle with vehicle speed V2, the default follow-up time t1It is to send out
The optimal follow-up time that a person of good sense is obtained by repetition test, the default follow-up time t1Include so that active user is overtaking other vehicles
When have emergency brake buffer time of relative science.By voice output safety with vehicle speed, and by the relatively current car of each front vehicles
The first relative spacing and the first relative velocity be displayed on terminal interface.
The present embodiment detect instruct with car when, by judging Current vehicle closest with each front vehicles
Whether the first relative spacing of three vehicles is interval with following distance in presetting, and first when the relatively current vehicle of the 3rd vehicle is relative
When spacing is not at the default interval with following distance, the road speed of Current vehicle is obtained, and according to the relatively current car of the 3rd vehicle
The first relative spacing and Current vehicle road speed, calculate the safety of Current vehicle with vehicle speed, output safety with
Vehicle speed, the first relative spacing of the relatively current vehicle of each front vehicles and the first relative velocity.Due to by output it is each before
First relative spacing and the first relative velocity of the relatively current vehicle of square vehicle, enabling the accurate measurements during with car
The travel conditions of front vehicles on the road that Current vehicle is located, hinder the sight line of Current vehicle so as to avoid front vehicles
Hinder, and by calculating and output safety is with vehicle speed, provide the user reference, with ensure user with car safety, rather than only
Only controlled by the experience of user Current vehicle with vehicle speed, so as to improve traffic safety.
Further, based on the second embodiment, Fig. 3 is refer to, is that the 3rd of travelling-crane method proposed by the present invention is real
The schematic flow sheet of example is applied, in the 3rd embodiment, after step S08, the travelling-crane method also includes:
Step S09, the first relative velocity of the relatively current vehicle of the 4th vehicle is in unit in each front vehicles are detected
When variable quantity in time is more than predetermined threshold value, the 4th vehicle deceleration traveling is judged, wherein, Current vehicle is in the 4th vehicle
Same track;
Step S10, when it is determined that the 4th vehicle deceleration is travelled, output alarm signal, to point out user's control Current vehicle
Reduced Speed Now.
In the present embodiment, the 4th vehicle is the arbitrary vehicle in each front vehicles.During Current vehicle is with car,
Whether variable quantity of the first relative velocity of the relatively current vehicle of the 4th vehicle within the unit interval is judged more than predetermined threshold value, if
Determine that variable quantity of the first relative velocity of the relatively current vehicle of the 4th vehicle within the unit interval, more than predetermined threshold value, shows this
The deceleration suddenly of 4th vehicle stops suddenly traveling, then output alarm signal, is gone with pointing out user's control Current vehicle to slow down
Sail.
The present embodiment is existed by the first relative velocity of the relatively current vehicle of the 4th vehicle in each front vehicles are detected
When variable quantity in unit interval is more than predetermined threshold value, the 4th vehicle deceleration traveling is judged, it is determined that the 4th vehicle deceleration traveling
When, output alarm signal, to point out user's control Current vehicle Reduced Speed Now.During with car, if the front truck of Current vehicle
It is oversize vehicle, then to Current vehicle sight line can be caused to hinder, if the transport condition of front vehicles changes, Current vehicle
Because sight line hinders, and cannot know in time, therefore the present embodiment is relative by the 4th vehicle in each front vehicles of real-time detection
Whether variable quantity of the first relative velocity of Current vehicle within the unit interval is more than predetermined threshold value, whether to judge the 4th vehicle
Reduced Speed Now, when it is determined that the 4th vehicle deceleration is travelled, output alarm signal, to remind user's control Current vehicle to slow down in time
Traveling, it is to avoid vehicle accident occurs.
Further, Fig. 4 is referred to, is the schematic flow sheet of the refinement step of step S04 in first embodiment of the invention,
First relative spacing and the first relative velocity of the relatively current vehicle of each front vehicles of the output includes:
Step S041, determines that Current vehicle receives the direction that each front vehicles return the impulse wave of trailer-mounted radar transmitting
Angle, and determine the first position information of Current vehicle;
In the present embodiment, when the impulse wave that Doppler radar launches a fixed frequency is scanned, activity is such as run into
During target (each front vehicles or barrier), the moving target can deserve vehicle in front and return a pulse based on the pulse wave direction
Ripple, with Current vehicle as zero, does a plane coordinate system, and the travel direction of Current vehicle is y-axis direction, and calculating is returned each
Front vehicles return to the impulse wave of Current vehicle and the angle of y-axis, so that it is determined that Current vehicle receives each front vehicles returning
Carriage return carries the deflection of radar transmitted pulse ripple.And determine the first position information of Current vehicle.
Step S042, between the first position information, Current vehicle according to Current vehicle is relative with the first of each front vehicles
Away from and deflection, determine the second position information of each front vehicles;
Step S043, by the first position information of Current vehicle, the first relative spacing of each front vehicles, first relatively fast
Degree and second position information are displayed on terminal interface according to default displaying ratio.
First relative spacing and direction of the first position information, Current vehicle according to Current vehicle with each front vehicles
Angle, determines the second position information of each front vehicles, for example, the first position information of Current vehicle A for (10,20), current vehicle
It is 50m with the first relative spacing of front vehicles B, Current vehicle is 45 ° with the angle of front vehicles B, then before can calculating
Square vehicle B second position information (45,55);First relative distance of Current vehicle and front vehicles C is 20m, Current vehicle
Be 0 ° with the angle of front vehicles C, then can calculate the second position information of front vehicles C for (10,40);Current vehicle with it is front
First relative distance of square vehicle D is 50m, and Current vehicle is 0 ° with the angle of front vehicles D, then can calculate front vehicles D
Second position information for (10,60).
By the first position information of Current vehicle, the first relative spacing of the relatively current vehicle of each front vehicles, it is each before
The second relative spacing and second position information between first relative velocity, each front vehicles of the relatively current vehicle of square vehicle
According to default displaying ratio (such as 1:1) reduced, be displayed on the interface of mobile terminal associated with Current vehicle, or shown
On car-mounted terminal interface, for example, with reference to Fig. 5, Current vehicle A, each front vehicles B, C, D are shown in the form of red origin
On interface of mobile terminal, and corresponding first relative spacing and the first relative velocity are all labeled with each red origin, with
And corresponding second relative spacing is shown on interface of mobile terminal between each red origin.
The present embodiment receives the side that each front vehicles return the impulse wave of trailer-mounted radar transmitting by determining Current vehicle
To angle, and determine the first position information of Current vehicle, the first position information, Current vehicle and each front according to Current vehicle
First relative spacing of vehicle and deflection, determine the second position information of each front vehicles, by first of Current vehicle
Confidence breath, the first relative spacing of each front vehicles, the first relative velocity and second position information according to default displaying ratio,
It is displayed on terminal interface, facilitates user to check, avoids front vehicles from hindering the sight line of Current vehicle.
Further, based on above-mentioned first or second embodiments, Fig. 6 is refer to, is travelling-crane method proposed by the present invention
The schematic flow sheet of fourth embodiment, in the fourth embodiment, after step S10, the travelling-crane method also includes:
Step S20, meets pre- the corresponding focus of infrared signal that Current vehicle mid-infrared sensor receives is detected
If during life entity focus, judging there is life entity roadblock in Current vehicle road ahead;
Step S30, obtains life entity roadblock present on the road ahead of Current vehicle trailer-mounted radar detection relatively current
Second relative spacing and the second relative velocity of vehicle, and by the third phase of the relatively current vehicle of life entity roadblock to spacing with
And second relative velocity, it is displayed on terminal interface.
In the present embodiment, the life entity roadblock includes row humans and animals.Road condition monitoring on car-mounted terminal is opened should
With or open on the mobile terminal that associates with the Current vehicle road condition monitoring application after, control road condition monitoring application acquisition
The infrared signal that Current vehicle mid-infrared sensor is received, analyzing to whether there is in the corresponding focus of each infrared signal has satisfaction
The infrared signal of default life entity focus, when it is determined that there is the infrared signal for meeting default life entity focus, judges Current vehicle
There is life entity roadblock in road ahead, obtain life entity roadblock present on the road ahead of Current vehicle trailer-mounted radar detection
Second relative spacing and the second relative velocity of relatively current vehicle, and determine that Current vehicle mid-infrared sensor is received respectively
The deflection of the infrared signal of life entity roadblock transmitting, the first position information, each life entity roadblock according to Current vehicle is relative
Second relative spacing and Current vehicle of Current vehicle and the deflection of each life entity roadblock, determine the of each life entity roadblock
Three positional informationes, by the first position information of Current vehicle, the 3rd positional information of each life entity roadblock, each life entity roadblock phase
Second relative spacing and the second relative velocity of Current vehicle are reduced according to default displaying ratio, terminal is displayed in
On interface.For example, by life entity roadblock in the form of green origin (being easy to be made a distinction with the red origin of each front vehicles)
Show on mobile terminals, and the third phase of the relatively current vehicle of life entity roadblock is marked to spacing and the second relative velocity
On green origin.
The present embodiment is by expiring detecting the corresponding focus of infrared signal that Current vehicle mid-infrared sensor receives
When foot presets life entity focus, judge there is life entity roadblock in Current vehicle road ahead, obtain Current vehicle trailer-mounted radar
Second relative spacing and the second relative velocity of the relatively current vehicle of life entity roadblock present on the road ahead of detection, and
By the third phase of the relatively current vehicle of life entity roadblock to spacing and the second relative velocity, it is displayed on terminal interface, for
User checks, enabling the road conditions on road that real-time monitoring Current vehicle is located, the sight line for reducing Current vehicle hinders, and carries
High traffic safety.
The present invention further provides a kind of driving system.
With reference to Fig. 7, Fig. 7 is the high-level schematic functional block diagram of the first embodiment of driving system of the present invention.
In the present embodiment, the driving system includes:Acquisition module 01, the first computing module 02, the first judge module
03rd, the first output module 04 and the second output module 05.
The acquisition module 01, for obtaining the relatively current vehicle of each front vehicles that Current vehicle trailer-mounted radar is detected
First relative spacing and the first relative velocity, wherein, each front vehicles are Current vehicle in the travel road residing for current time
Vehicle on road;
In the present embodiment, the Current vehicle is the vehicle that active user is driving, and the Current vehicle is configured with vehicle-mounted
Radar and car-mounted terminal, when the road condition monitoring for detecting active user's triggering is instructed, open the road conditions prison on car-mounted terminal
The road condition monitoring application surveyed on the mobile terminal that application or opening are associated with the Current vehicle, controls the road condition monitoring application and obtains
The first position information of Current vehicle is taken, the positional information is determined by the GPS positioning system in the Current vehicle, is obtained
Module 01 obtains the first relative spacing of the relatively current vehicle of each front vehicles that the trailer-mounted radar detects and first relative
Speed.Wherein, each front vehicles are vehicle of the Current vehicle on the travel residing for current time, and each front vehicles
The all vehicles in the range of travel front preset residing for current time, but the preset range is not fixation,
The preset range of avenue or arterial highway is less than the preset range of highway or intercity highway, for example, if Current vehicle is many
Track, and determine that Current vehicle is travelled on avenue by positional information, then obtain each in the 500m of each track front
First relative spacing and the first relative velocity of the relatively current vehicle of vehicle;If Current vehicle is multilane, and by position
Information determines that Current vehicle is travelled on a highway, then obtain the relatively current car of each vehicle in the 1000m of each track front
The first relative spacing and the first relative velocity.
It should be noted that the trailer-mounted radar can be Doppler radar, when Doppler radar launches a fixed frequency
When impulse wave is scanned, moving target (each front vehicles or barrier), the frequency of echo and the frequency of transmitted wave are such as run into
The rate frequency of occurrences is poor, referred to as Doppler frequency, according to the size of Doppler frequency, can measure relative motion speed of the target to radar
Degree, i.e., trailer-mounted radar calculates the first relative velocity of the relatively current vehicle of each front vehicles;According to transmitting pulse and reception
Time difference, can measure the distance between Current vehicle and target, i.e., trailer-mounted radar calculates the relatively current car of each front vehicles
The first relative spacing.Detect the Doppler frequency spectral line of target, the spectrum of filtering interfering clutter with frequency filter method simultaneously
Line, can make radar tell echo signal from strong clutter, so anti-clutter interference performance of the Doppler radar than ordinary radar
By force, hidden moving target in the background can be detected, and being capable of reduces cost by Doppler radar monitoring traffic information.
First computing module 02, for detect overtake other vehicles instruction when, according to the relatively current vehicle of each front vehicles
The first relative spacing calculate the second relative spacing between each front vehicles;
If Current vehicle be located track traveling ahead a truck, cause sight line to hinder to active user, then when
When active user wants to overtake other vehicles, instruction of overtaking other vehicles is triggered manually, or when Current vehicle lane change to the left is detected, triggering automatically is overtaken other vehicles
Instruction, detect overtake other vehicles instruction when, the first computing module 02 according to the first of the relatively current vehicle of each front vehicles it is relative between
Away from each front vehicles the second relative spacing between any two is calculated, for example, if having tetra- cars of A, B, C, D, A cars in front of vehicle in front
It is 40m with the first relative spacing of Current vehicle, B cars are 100m, C cars and Current vehicle with the first relative spacing of Current vehicle
The first relative spacing be 180m, the first relative spacing of D cars and Current vehicle is 250m, then the second phase before A cars and B cars
40m is deducted equal to 60m for 100m to spacing, the second relative spacing between B cars and C cars deducts 100m equal to 80m, C for 180m
The second relative spacing between car and D cars deducts 180m equal to 70m for 250m.
It is understood that during Current vehicle traveling, active user need to follow traffic when Current vehicle is driven
Rule, for example, if on the track at Current vehicle place, front truck is just being overtaken other vehicles in turning driving, the traveling that turns around or, then currently
Vehicle must not overtake other vehicles.
First judge module 03, for judging the second relative spacing between each front vehicles in the presence or absence of meet
Second vehicle of default spacing of overtaking other vehicles;
First output module 04, if meeting default super for existing in the second relative spacing between each front vehicles
Second vehicle of following distance, then it is corresponding first relatively fast according to corresponding first relative spacing of the second vehicle and the second vehicle
Degree calculates the safety of Current vehicle and overtakes other vehicles speed, and output safety is overtaken other vehicles speed, the second relative spacing, Current vehicle and each front
First relative spacing and the first relative velocity of vehicle;
After the second relative spacing being calculated between each front vehicles, the first judge module 03 judges each front vehicles
Between the second relative spacing in the presence or absence of the second vehicle for meeting default spacing of overtaking other vehicles, if second between each front vehicles
There is the second vehicle for meeting default spacing of overtaking other vehicles in relative spacing, then the first output module 04 is relatively current according to the second vehicle
First relative spacing of vehicle and the first of the relatively current vehicle of the second vehicle the relative speed, the safety for calculating Current vehicle surpasses
Vehicle speed, for example, obtains default passing time t0, overtaken other vehicles speed calculation formula according to default safety:
(V0-V1)*t0≤S1
Wherein, V0Safety for Current vehicle is overtaken other vehicles speed, V1For the relatively current vehicle of the second vehicle first is relatively fast
Degree, S1For the first relative spacing of the relatively current vehicle of the second vehicle, so as to calculate the peace that Current vehicle surmounts the second vehicle
Overtake other vehicles full speed V0, the safety overtakes other vehicles speed more than the first of the relatively current vehicle of the second vehicle the relative speed, and this is default super
Car time t0It is optimal passing time that inventor is obtained by repetition test, the default passing time t0Include so that working as
Front user has overtaking other vehicles buffer time for relative science when overtaking other vehicles.Wherein, if depositing in the second relative spacing between front vehicles
It is in the second vehicle of the default spacing of overtaking other vehicles of multiple satisfactions, then the minimum vehicle of the first relative spacing of relatively current vehicle is true
It is set to the second vehicle;The default spacing of overtaking other vehicles not is changeless, but the road area travelled according to Current vehicle
The change of (road area can be avenue, arterial highway, highway, intercity highway etc.) and change, such as Current vehicle traveling exist
Avenue, then default the overtaking other vehicles is smaller than Current vehicle traveling default spacing of overtaking other vehicles on a highway.
First output module 04 is overtaken other vehicles safely speed by voice output, to point out user to enter according to safety speed of overtaking other vehicles
Row is overtaken other vehicles, and in Current vehicle overtaking process during close second vehicle, can also export information of voice prompt, to point out user to do
The preparation of good doubling (lane change), so as to ensure safety of overtaking other vehicles, and by the first relative spacing of the relatively current vehicle of each front vehicles,
The second relative spacing between first relative velocity and each front vehicles of the relatively current vehicle of each front vehicles is displayed in end
On the interface of end, so that user checks, so as to the sight line for reducing Current vehicle hinders, so as to ensure traffic safety.Wherein, this is current
Vehicle can be associated by bluetooth, Wi-Fi or wireless network card and the mobile terminal.
Second output module 05, if meeting default for not existing in the second relative spacing between each front vehicles
Second vehicle of spacing of overtaking other vehicles, then export the first information, to point out user to overtake other vehicles.
If there is no the second vehicle for meeting default spacing of overtaking other vehicles in the second relative spacing between each front vehicles, the
Two output module 05 exports information, points out user to overtake other vehicles.
The present embodiment detects the first relative spacing of the relatively current vehicle of each front vehicles by Current vehicle trailer-mounted radar
And first relative velocity, detect overtake other vehicles instruction when, calculated according to first relative spacing and the first relative velocity and worked as
The safety of vehicle in front is overtaken other vehicles speed, and is overtaken other vehicles speed by the voice output safety, and output safety is overtaken other vehicles speed, second relative
First relative spacing and the first relative velocity of spacing, Current vehicle and each front vehicles, enabling in overtaking process
The travel conditions of front vehicles on the road that accurate measurements Current vehicle is located, so as to avoid front vehicles to Current vehicle
Sight line hinders, and by calculating and output safety is overtaken other vehicles speed, provides the user reference, to ensure that user can overtake other vehicles safely,
So as to improve traffic safety.
Further, based on above-mentioned first embodiment, the second embodiment of driving system of the present invention is proposed, in the present embodiment
In, with reference to Fig. 8, the driving system also includes:Second judge module 06, the second computing module 07 and the 3rd output module 08.
Second judge module 06, for detect instruct with car when, in judging Current vehicle and each front vehicles
First relative spacing of the 3rd closest vehicle whether in default interval with following distance, wherein, the 3rd vehicle with it is current
Vehicle is in same track;
Second computing module 07, is not at presetting for the first relative spacing when the relatively current vehicle of the 3rd vehicle
With following distance it is interval when, obtain the road speed of Current vehicle, and according to the first of the relatively current vehicle of the 3rd vehicle it is relative between
Away from and Current vehicle road speed, calculate Current vehicle safety with vehicle speed;
3rd output module 08, for output safety with vehicle speed, the relatively current vehicle of each front vehicles first
Relative spacing and the first relative velocity.
In the present embodiment, if the track traveling ahead that Current vehicle is located oversize vehicle, such as heavy truck, to current
User causes sight line to hinder, and active user can be triggered with car instruction, is detecting when instructing with car of active user's triggering, and the
Two judge modules 06 judge whether Current vehicle is located with the first relative spacing of the 3rd vehicle closest in each front vehicles
In default interval with following distance.Wherein, the 3rd vehicle is in same track with Current vehicle;In the default interval with following distance
It is default be not fixed with following distance, but travelled according to Current vehicle road area (road area can for avenue,
Arterial highway, highway, intercity highway etc.) change and change, such as Current vehicle is travelled in avenue, then this is default with car
It is smaller than Current vehicle traveling on a highway default with following distance.
When the first relative spacing is not at default interval with following distance, the second computing module 07 obtains the row of Current vehicle
Vehicle speed, and the road speed of the first relative spacing according to the relatively current vehicle of the 3rd vehicle and Current vehicle, calculate and work as
Vehicle in front safety with vehicle speed, for example, according to default safety with vehicle speed computing formula:
V2*t1≤S1
Wherein, V2For the safe with vehicle speed, t of Current vehicle1For default follow-up time, S1Work as the 3rd vehicle is relative
First relative spacing of vehicle in front, so as to calculate the safety of Current vehicle with vehicle speed V2, the default follow-up time t1It is to send out
The optimal follow-up time that a person of good sense is obtained by repetition test, the default follow-up time t1Include so that active user is overtaking other vehicles
When have emergency brake buffer time of relative science.And the 3rd output module 08 by voice output safety with vehicle speed, and will be each before
First relative spacing and the first relative velocity of the relatively current vehicle of square vehicle is displayed on terminal interface.
The present embodiment detect instruct with car when, by judging Current vehicle closest with each front vehicles
Whether the first relative spacing of three vehicles is interval with following distance in presetting, and first when the relatively current vehicle of the 3rd vehicle is relative
When spacing is not at the default interval with following distance, the road speed of Current vehicle is obtained, and according to the relatively current car of the 3rd vehicle
The first relative spacing and Current vehicle road speed, calculate the safety of Current vehicle with vehicle speed, output safety with
Vehicle speed, the first relative spacing of the relatively current vehicle of each front vehicles and the first relative velocity.Due to by output it is each before
First relative spacing and the first relative velocity of the relatively current vehicle of square vehicle, enabling the accurate measurements during with car
The travel conditions of front vehicles on the road that Current vehicle is located, hinder the sight line of Current vehicle so as to avoid front vehicles
Hinder, and by calculating and output safety is with vehicle speed, provide the user reference, with ensure user with car safety, rather than only
Only controlled by the experience of user Current vehicle with vehicle speed, so as to improve traffic safety.
Further, based on above-mentioned second embodiment, the 3rd embodiment of driving system of the present invention is proposed, in the present embodiment
In, with reference to Fig. 9, the driving system also includes:First determination module 09, alarm module 10.
First determination module 09, for first of the relatively current vehicle of the 4th vehicle in each front vehicles are detected
When variable quantity of the relative velocity within the unit interval is more than predetermined threshold value, the 4th vehicle deceleration traveling is judged, wherein, Current vehicle
Same track is in the 4th vehicle;
The alarm module 10, for it is determined that the 4th vehicle deceleration travel when, output alarm signal, to point out user to control
Current vehicle Reduced Speed Now processed.
In the present embodiment, the 4th vehicle is the arbitrary vehicle in each front vehicles.During Current vehicle is with car,
Whether first determination module 09 judges variable quantity of the first relative velocity of the relatively current vehicle of the 4th vehicle within the unit interval
More than predetermined threshold value, however, it is determined that variable quantity of the first relative velocity of the relatively current vehicle of the 4th vehicle within the unit interval is more than
Predetermined threshold value, shows that the 4th vehicle slows down suddenly or stops traveling suddenly, then the output alarm signal of alarm module 10, to carry
Show user's control Current vehicle Reduced Speed Now.
The present embodiment is existed by the first relative velocity of the relatively current vehicle of the 4th vehicle in each front vehicles are detected
When variable quantity in unit interval is more than predetermined threshold value, the 4th vehicle deceleration traveling is judged, it is determined that the 4th vehicle deceleration traveling
When, output alarm signal, to point out user's control Current vehicle Reduced Speed Now.During with car, if the front truck of Current vehicle
It is oversize vehicle, then to Current vehicle sight line can be caused to hinder, if the transport condition of front vehicles changes, Current vehicle
Because sight line hinders, and cannot know in time, therefore the present embodiment is relative by the 4th vehicle in each front vehicles of real-time detection
Whether variable quantity of the first relative velocity of Current vehicle within the unit interval is more than predetermined threshold value, whether to judge the 4th vehicle
Reduced Speed Now, when it is determined that the 4th vehicle deceleration is travelled, output alarm signal, to remind user's control Current vehicle to slow down in time
Traveling, it is to avoid vehicle accident occurs.
Further, based on above-mentioned first or second embodiments, the fourth embodiment of driving system of the present invention is proposed, at this
In embodiment, with reference to Figure 10, first output module 04 includes the first determining unit 041, the second determining unit 042 and shows
Unit 043.
First determining unit 041, for determining that Current vehicle receives each front vehicles trailer-mounted radar transmitting is returned
Impulse wave deflection, and determine the first position information of Current vehicle;
In the present embodiment, when the impulse wave that Doppler radar launches a fixed frequency is scanned, activity is such as run into
During target (each front vehicles or barrier), the moving target can deserve vehicle in front and return a pulse based on the pulse wave direction
Ripple, with Current vehicle as zero, does a plane coordinate system, and the travel direction of Current vehicle is y-axis direction, and first determines
The calculating of unit 041 returns each front vehicles and returns to the impulse wave of Current vehicle and the angle of y-axis, so that it is determined that Current vehicle is received
The deflection of the impulse wave of trailer-mounted radar transmitting is returned to each front vehicles.And determine the first position information of Current vehicle.
Second determining unit 042, for according to the first position information of Current vehicle, Current vehicle and each front car
The first relative spacing and deflection, determine the second position information of each front vehicles;
The display unit 043, for by the first position information of Current vehicle, each front vehicles first it is relative between
Away from, the first relative velocity and second position information according to default displaying ratio, it is displayed on terminal interface.
First position information, Current vehicle and the first of each front vehicles of second determining unit 042 according to Current vehicle
Relative spacing and deflection, determine the second position information of each front vehicles, for example, the first position information of Current vehicle A
For (10,20), Current vehicle is 50m with the first relative spacing of front vehicles B, and Current vehicle is with the angle of front vehicles B
45 °, then can calculate front vehicles B second position information (45,55);Current vehicle it is relative with the first of front vehicles C away from
From for 20m, Current vehicle is 0 ° with the angle of front vehicles C, then can calculate the second position information of front vehicles C for (10,
40);Current vehicle is 50m with the first relative distance of front vehicles D, and Current vehicle is 0 ° with the angle of front vehicles D, then may be used
Calculate the second position information of front vehicles D for (10,60).
Display unit 043 is by the first position information of Current vehicle, the first phase of the relatively current vehicle of each front vehicles
To the second relative spacing between spacing, the first relative velocity of the relatively current vehicle of each front vehicles, each front vehicles and
Second position information is according to default displaying ratio (such as 1:1) reduced, be displayed in mobile terminal circle associated with Current vehicle
On face, or it is displayed on car-mounted terminal interface, for example, with reference to Fig. 5, by Current vehicle A, each front vehicles B, C, D with redness
The form of origin is displayed on interface of mobile terminal, and corresponding first relative spacing and are all labeled with each red origin
Corresponding second relative spacing is shown on interface of mobile terminal between one relative velocity, and each red origin.
The present embodiment receives the side that each front vehicles return the impulse wave of trailer-mounted radar transmitting by determining Current vehicle
To angle, and determine the first position information of Current vehicle, the first position information, Current vehicle and each front according to Current vehicle
First relative spacing of vehicle and deflection, determine the second position information of each front vehicles, by first of Current vehicle
Confidence breath, the first relative spacing of each front vehicles, the first relative velocity and second position information according to default displaying ratio,
It is displayed on terminal interface, facilitates user to check, avoids front vehicles from hindering the sight line of Current vehicle.
Further, based on above-mentioned first or second embodiments, the 5th embodiment of driving system of the present invention is proposed, at this
In embodiment, with reference to Figure 11, the driving system also includes:Second determination module 20 and display module 30.
Second determination module 20, for detecting the infrared signal pair that Current vehicle mid-infrared sensor is received
When the focus answered meets default life entity focus, judge there is life entity roadblock in Current vehicle road ahead;
The display module 30, for obtaining life entity road present on the road ahead that Current vehicle trailer-mounted radar is detected
Hinder second relative spacing and the second relative velocity of relatively current vehicle, and by the 3rd of the relatively current vehicle of life entity roadblock the
Relative spacing and the second relative velocity, are displayed on terminal interface.
In the present embodiment, the life entity roadblock includes row humans and animals.Road condition monitoring on car-mounted terminal is opened should
With or open on the mobile terminal that associates with the Current vehicle road condition monitoring application after, control road condition monitoring application acquisition
The infrared signal that Current vehicle mid-infrared sensor is received, analyzing to whether there is in the corresponding focus of each infrared signal has satisfaction
The infrared signal of default life entity focus, when it is determined that there is the infrared signal for meeting default life entity focus, the second determination module
There is life entity roadblock in 20 judgement Current vehicle road aheads, display module 30 is obtained before the detection of Current vehicle trailer-mounted radar
Second relative spacing and the second relative velocity of the relatively current vehicle of life entity roadblock present on Fang Daolu, and determine current
Vehicle mid-infrared sensor receives the deflection of the infrared signal of each life entity roadblock transmitting, according to first of Current vehicle
The direction of confidence breath, the second relative spacing of the relatively current vehicle of each life entity roadblock and Current vehicle and each life entity roadblock
Angle, determines the 3rd positional information of each life entity roadblock, by the first position information of Current vehicle, each life entity roadblock the 3rd
Positional information, the second relative spacing of the relatively current vehicle of each life entity roadblock and the second relative velocity are according to default display
Ratio is reduced, and is displayed on terminal interface.For example, life entity roadblock (is easy to and each front vehicles with green origin
Red origin makes a distinction) form show on mobile terminals, and by the third phase pair of the relatively current vehicle of life entity roadblock
Spacing and the second relative velocity are labeled on green origin.
The present embodiment is by expiring detecting the corresponding focus of infrared signal that Current vehicle mid-infrared sensor receives
When foot presets life entity focus, judge there is life entity roadblock in Current vehicle road ahead, obtain Current vehicle trailer-mounted radar
Second relative spacing and the second relative velocity of the relatively current vehicle of life entity roadblock present on the road ahead of detection, and
By the third phase of the relatively current vehicle of life entity roadblock to spacing and the second relative velocity, it is displayed on terminal interface, for
User checks, enabling the road conditions on road that real-time monitoring Current vehicle is located, the sight line for reducing Current vehicle hinders, and carries
High traffic safety.
The preferred embodiments of the present invention are these are only, the scope of the claims of the present invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that bright description and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of travelling-crane method, it is characterised in that the travelling-crane method is comprised the following steps:
Obtain first relative spacing and the first phase of the relatively current vehicle of each front vehicles of Current vehicle trailer-mounted radar detection
To speed, wherein, each front vehicles are vehicle of the Current vehicle on the travel residing for current time;
Detect overtake other vehicles instruction when, each front vehicles are calculated according to the first relative spacing of the relatively current vehicle of each front vehicles
Between the second relative spacing;
Judge with the presence or absence of the second vehicle for meeting default spacing of overtaking other vehicles in the second relative spacing between each front vehicles, its
In, Current vehicle and the second vehicle are in same track;
If so, then being calculated according to corresponding first relative spacing of the second vehicle and corresponding first relative velocity of the second vehicle ought
The safety of vehicle in front is overtaken other vehicles speed, and output safety is overtaken other vehicles speed, the second relative spacing, Current vehicle and the of each front vehicles
One relative spacing and the first relative velocity;
If it is not, the first information is then exported, to point out user to overtake other vehicles.
2. travelling-crane method as claimed in claim 1, it is characterised in that the acquisition Current vehicle trailer-mounted radar detection it is each before
Also include after the step of first relative spacing and the first relative velocity of square vehicle relatively current vehicle:
Detect instruct with car when, judge that Current vehicle is relative with the first of the 3rd vehicle closest in each front vehicles
Whether spacing is interval with following distance in presetting, wherein, the 3rd vehicle is in same track with Current vehicle;
When the first relative spacing of the relatively current vehicle of the 3rd vehicle is not at default interval with following distance, Current vehicle is obtained
Road speed, and the road speed of the first relative spacing according to the relatively current vehicle of the 3rd vehicle and Current vehicle, meter
The safety of Current vehicle is calculated with vehicle speed;
Output safety is with vehicle speed, the first relative spacing of the relatively current vehicle of each front vehicles and the first relative velocity.
3. travelling-crane method as claimed in claim 2, it is characterised in that the travelling-crane method also includes:
Change of the first relative velocity of the relatively current vehicle of the 4th vehicle within the unit interval in each front vehicles are detected
When amount is more than predetermined threshold value, the 4th vehicle deceleration traveling is judged, wherein, Current vehicle and the 4th vehicle are in same track;
When it is determined that the 4th vehicle deceleration is travelled, output alarm signal, to point out user's control Current vehicle Reduced Speed Now.
4. travelling-crane method as claimed in claim 1 or 2, it is characterised in that the relatively current vehicle of each front vehicles of the output
The first relative spacing and include the step of the first relative velocity:
Determine that Current vehicle receives the deflection that each front vehicles return the impulse wave of trailer-mounted radar transmitting, and determine current vehicle
First position information;
First relative spacing and deflection of the first position information, Current vehicle according to Current vehicle and each front vehicles,
Determine the second position information of each front vehicles;
By the first position information of Current vehicle, the first relative spacing of each front vehicles, the first relative velocity and second
Confidence is ceased according to default displaying ratio, is displayed on terminal interface.
5. travelling-crane method as claimed in claim 1 or 2, it is characterised in that the travelling-crane method includes:
Detecting the default life entity focus of the corresponding focus satisfaction of infrared signal that Current vehicle mid-infrared sensor is received
When, judge there is life entity roadblock in Current vehicle road ahead;
Obtain the second phase of the relatively current vehicle of life entity roadblock present on the road ahead of Current vehicle trailer-mounted radar detection
It is to spacing and the second relative velocity and the third phase of the relatively current vehicle of life entity roadblock is relatively fast to spacing and second
Degree, is displayed on terminal interface.
6. a kind of driving system, it is characterised in that the driving system includes:
Acquisition module, between first for obtaining the relatively current vehicle of each front vehicles that Current vehicle trailer-mounted radar is detected is relative
Away from and the first relative velocity, wherein, each front vehicles be vehicle of the Current vehicle on the travel residing for current time;
First computing module, for detect overtake other vehicles instruction when, first according to the relatively current vehicle of each front vehicles is relative
The second relative spacing between each front vehicles of distance computation;
First judge module, for judging the second relative spacing between each front vehicles in the presence or absence of meeting between default overtaking other vehicles
Away from the second vehicle, wherein, Current vehicle and the second vehicle are in same track;
First output module, if meeting the of default spacing of overtaking other vehicles for existing in the second relative spacing between each front vehicles
Two vehicles, then calculate current according to corresponding first relative spacing of the second vehicle and corresponding first relative velocity of the second vehicle
The safety of vehicle is overtaken other vehicles speed, and output safety is overtaken other vehicles speed, the second relative spacing, Current vehicle and the first of each front vehicles
Relative spacing and the first relative velocity;
Second output module, if meeting default spacing of overtaking other vehicles for not existing in the second relative spacing between each front vehicles
Second vehicle, then export the first information, to point out user to overtake other vehicles.
7. driving system as claimed in claim 6, it is characterised in that the driving system also includes:
Second judge module, for detect instruct with car when, judge that Current vehicle is closest with each front vehicles
Whether the first relative spacing of the 3rd vehicle is interval with following distance in presetting, wherein, the 3rd vehicle is with Current vehicle in same
One track;
Second computing module, for being not at presetting with following distance area when the first relative spacing of the relatively current vehicle of the 3rd vehicle
Between when, obtain the road speed of Current vehicle, and the first relative spacing according to the relatively current vehicle of the 3rd vehicle and current
The road speed of vehicle, calculates the safety of Current vehicle with vehicle speed;
3rd output module, for output safety with vehicle speed, the relatively current vehicle of each front vehicles the first relative spacing with
And first relative velocity.
8. driving system as claimed in claim 7, it is characterised in that the driving system also includes:
First determination module, the first relative velocity for the relatively current vehicle of the 4th vehicle in each front vehicles are detected exists
When variable quantity in unit interval is more than predetermined threshold value, the 4th vehicle deceleration traveling is judged, wherein, Current vehicle and the 4th vehicle
In same track;
Alarm module, for it is determined that the 4th vehicle deceleration travel when, output alarm signal, to point out user's control Current vehicle
Reduced Speed Now.
9. driving system as claimed in claims 6 or 7, it is characterised in that first output module includes:
First determining unit, for determining that Current vehicle receives the side that each front vehicles return the impulse wave of trailer-mounted radar transmitting
To angle, and determine the first position information of Current vehicle;
Second determining unit, for according to the first position information of Current vehicle, the first phase of Current vehicle and each front vehicles
To spacing and deflection, the second position information of each front vehicles is determined;
Display unit, for by the first position information of Current vehicle, the first relative spacing of each front vehicles, first relatively fast
Degree and second position information are displayed on terminal interface according to default displaying ratio.
10. driving system as claimed in claims 6 or 7, it is characterised in that the driving system also includes:
Second determination module, for expiring detecting the corresponding focus of infrared signal that Current vehicle mid-infrared sensor receives
When foot presets life entity focus, judge there is life entity roadblock in Current vehicle road ahead;
Display module, it is relatively current for obtaining life entity roadblock present on the road ahead that Current vehicle trailer-mounted radar is detected
Second relative spacing and the second relative velocity of vehicle, and by the third phase of the relatively current vehicle of life entity roadblock to spacing with
And second relative velocity, it is displayed on terminal interface.
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CN201610940036.7A CN106585639A (en) | 2016-10-24 | 2016-10-24 | Driving method and system |
PCT/CN2017/071868 WO2018076558A1 (en) | 2016-10-24 | 2017-01-20 | Driving method and system |
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CN201610940036.7A CN106585639A (en) | 2016-10-24 | 2016-10-24 | Driving method and system |
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