CN106781691A - Drive pre-warning system and method - Google Patents
Drive pre-warning system and method Download PDFInfo
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- CN106781691A CN106781691A CN201611089555.3A CN201611089555A CN106781691A CN 106781691 A CN106781691 A CN 106781691A CN 201611089555 A CN201611089555 A CN 201611089555A CN 106781691 A CN106781691 A CN 106781691A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
Pre-warning system and method are driven present disclose provides one kind,The system mainly includes collecting device and display device,Collecting device is collecting the first current running data of main car,After the second current running data of other vehicles and 3-D view set up information in addition to main car in preset range,The information of collection is sent to display device,Processor in display device is when it is early warning vehicle that the information sent according to the collecting device determines other vehicles,Generation early warning information,And show the early warning information by presetting the 3-D view of three-dimension modeling using the display in display device,So,Because the processor and the display are all disposed within display device,So as to avoid the communication between equipment in the prior art,It is able to ensure that the early warning information for obtaining is shown to user in time,Ensure that the real-time that the early warning information shows.
Description
Technical field
This disclosure relates to information fusion field, in particular it relates to a kind of drive pre-warning system and method.
Background technology
(car information to external world is exchanged V2X；Vehicle to X) technology be used to carrying out driver in complicated road it is pre-
It is alert, at present, after V2X systems obtain a series of environmental informations such as information of vehicles, real-time road, road information, pedestrian information
It is analyzed, and early warning information is shown to human pilot in the form of word or plane picture.
In existing V2X systems, including collecting device, processing equipment and display device, processing equipment is according to collection
Environmental information that equipment sends etc. obtains early warning information, and the early warning information is sent to display device, so that display device is aobvious
Show the early warning information, but, because the communication between equipment can be disturbed by external environment, the delay of communication information is caused,
So so that early warning information cannot in time be shown to driver, so as to the real-time that early warning information shows cannot be ensured.
The content of the invention
The purpose of the disclosure is to provide a kind of driving pre-warning system and method, to solve in the prior art because of processing equipment
Communicated and display device between and cause in time show the problem of early warning information.
To achieve these goals, the disclosure provide it is a kind of drive pre-warning system, the system include collecting device and
Display device, wherein, the display device includes processor and the display that be connected with the processor, the collecting device and
The processor connection；The collecting device, for gathering in the first current running data of main car and preset range except described
The second current running data of other vehicles outside main car and 3-D view set up information, and by first running data,
Second running data and the 3-D view are set up information and are sent to the processor；The processor, connects for basis
First running data for receiving and second running data determine whether described other vehicles are early warning vehicle, it is determined that
When described other vehicles are early warning vehicle, early warning information is generated, and the early warning information and the 3-D view for receiving are set up
Information is sent to the display；The early warning information is used to indicate the early warning vehicle；The display, for according to described
3-D view sets up information by default three-dimension modeling 3-D view, and the early warning letter is shown in the 3-D view
Breath.
Alternatively, the first traveling packet includes the first current travel speed of the main car and first position coordinate,
Second running data includes the second current travel speed of other vehicles and second place coordinate in the preset range；Institute
State processor, specifically for other vehicles described in being determined according to the first position coordinate and the second place coordinate whether be
The vehicle of the vertical direction traveling of the main car travel direction, is the Vertical Square of the main car travel direction in described other vehicles
During to the vehicle for travelling, the main car and described other cars are obtained according to the first position coordinate and the second place coordinate
The first distance and crossing position coordinates between, when the described first distance is less than or equal to predeterminable range, according to described
First position coordinate and the crossing position coordinates determine that the main car reaches the second distance at the crossing, and according to described the
Two position coordinateses and the crossing position coordinates determine that described other vehicles reach the 3rd distance at the crossing, and according to described
Second distance and first travel speed determine that the main car reaches the very first time at the crossing, according to the 3rd distance
Determine that described other vehicles reach second time at the crossing with second travel speed, in very first time and described
When the difference of the second time is less than or equal to Preset Time, it is determined that described other vehicles are early warning vehicle, generation early warning letter
Breath, and the early warning information and the 3-D view for receiving are set up information and sent to the display.
Alternatively, the processor, is additionally operable to carry out warning level sequence to described other vehicles according to the difference, its
In, the difference is smaller, and the warning level is higher, and by the early warning information comprising the warning level and the three-dimensional that receives
Image is set up information and is sent to the display.
Alternatively, the first traveling packet includes the current the third line of the main car and sails speed, the 3rd position coordinates, institute
Stating the second running data includes that the current fourth line of described other vehicles sails speed and the 4th position coordinates；The processor, tool
Body is used to obtain the default reaction time, presets the brake coordination time, presets deceleration rise time and predetermined maximum acceleration,
According to the 3rd position coordinates and the 4th position coordinates determine other vehicles whether be the main front side car
, when described other vehicles are the vehicles of the main front side, sat according to the 3rd position coordinates and the 4th position
Mark obtains the 4th distance between the main car and described other vehicles, default less than or equal to described in the described 4th distance
Apart from when, speed is sailed according to described the third line, it is the default reaction time, the default brake coordination time, described default to subtract
Speed rise time, the predetermined maximum acceleration, it is described 4th distance and the fourth line sail speed get the 5th away from
From, when the described 4th distance less than or equal to the described 5th apart from when, it is determined that described other vehicles be early warning vehicle, generation
Early warning information, and the early warning information and the 3-D view for receiving are set up information and sent to the display.
Alternatively, the processor, is additionally operable to obtain default coefficient of road adhesion and default acceleration of gravity, according to described
The third line sails speed and the fourth line sails the relative velocity that speed is obtained between the main car and described other vehicles, according to institute
State relative velocity, the 4th distance and the default coefficient of road adhesion and the default acceleration of gravity obtains risk factor
Described other vehicles are carried out warning level sequence by coefficient according to the risk factor, wherein, the risk factor is got over
Greatly, the warning level is higher, and the early warning information comprising the warning level and the 3-D view for receiving are set up into information
Send to the display.
Alternatively, the first traveling packet includes the 5th current position coordinates of the main car, the second traveling number
According to including the 6th current position coordinates of described other vehicles；The processor, specifically for according to the 5th position coordinates
With the 6th position coordinates determine described other vehicles whether be the main car left back direction or right back to vehicle,
The left back direction or right back that described other vehicles are the main car to vehicle when, according to the 5th position coordinates and
6th position coordinates obtains the 6th distance between the main car and described other vehicles, it is determined that the described 6th apart from small
When predeterminable range, it is determined that whether described other vehicles are in predeterminable area, in described other vehicles described pre-
If when in region, it is determined that described other vehicles are early warning vehicle, early warning information is generated, and by the early warning information and receive
3-D view set up information and send to the display.
Alternatively, the processor, is additionally operable to set up image and sets up between message sample and the default threedimensional model
Corresponding relation, wherein, described image sets up message sample includes environmental information sample and information of vehicles sample.
Alternatively, the display, specifically for setting up information by pre- according to the 3-D view using WebGL technologies
If three-dimension modeling 3-D view, and the early warning information is shown in the 3-D view.
Alternatively, the display, the early warning information for being additionally operable to be sent according to the processor shows prompt message, described
Prompt message is used to point out the early warning information.
Disclosure second aspect also provides a kind of method for driving early warning, is applied to display device, and methods described includes：Connect
Other vehicles received in current the first running data of main car and preset range that collecting device sends in addition to the main car are current
The second running data and 3-D view set up information；Determined according to first running data and second running data
Whether described other vehicles are early warning vehicle, when it is determined that described other vehicles are early warning vehicle, generate early warning information；It is described pre-
Alert information is used to indicate the early warning vehicle；3-D view according to receiving sets up information by presetting three-dimension modeling three
Dimension image, and the early warning information is shown in the 3-D view.
Alternatively, the first traveling packet includes the first current travel speed of the main car and first position coordinate,
Second running data includes the second current travel speed of other vehicles and second place coordinate, institute in the preset range
State whether other vehicles according to first running data and second running data determine are early warning vehicle, it is determined that
When described other vehicles are early warning vehicle, generation early warning information includes：According to the first position coordinate and the second place
Coordinate determine described other vehicles whether be the main car travel direction vertical direction traveling vehicle；In described other vehicles
When being the vehicle of vertical direction traveling of the main car travel direction, sat according to the first position coordinate and the second place
Mark obtains the first distance and crossing position coordinates between the main car and described other vehicles；Described first distance be less than or
When person is equal to predeterminable range, determine that the main car reaches the road according to the first position coordinate and the crossing position coordinates
The second distance of mouth, and described in other vehicles arrival according to the second place coordinate and the crossing position coordinates determine
3rd distance at crossing；Determine that the main car reaches the of the crossing according to the second distance and first travel speed
One time, when other vehicles according to the 3rd distance and second travel speed determine reach the second of the crossing
Between；When the difference of the very first time and second time is less than or equal to Preset Time, it is determined that described other cars
Be early warning vehicle, generate early warning information；The early warning information and the 3-D view that receives are set up into information to send to described
Display.
Alternatively, the early warning information and the 3-D view for receiving are set up information and is sent to the display described
Before, methods described also includes：Warning level sequence is carried out to described other vehicles according to the difference, wherein, the difference
Smaller, the warning level is higher；It is described the early warning information and the 3-D view that receives are set up into information to send to described
Display includes：The early warning information comprising the warning level and the 3-D view for receiving are set up information and sent to institute
State display.
Alternatively, the first traveling packet includes the current the third line of the main car and sails speed, the 3rd position coordinates, institute
Stating the second running data includes that the current fourth line of described other vehicles sails speed and the 4th position coordinates, described according to described the
One running data and second running data determine whether described other vehicles are early warning vehicle, it is determined that described other vehicles
During for early warning vehicle, generation early warning information includes：The default reaction time is obtained, the brake coordination time is preset, deceleration is preset and is increased
Long-time and predetermined maximum acceleration；Other cars according to the 3rd position coordinates and the 4th position coordinates determine
Whether be the main front side vehicle；When described other vehicles are the vehicles of the main front side, according to the described 3rd
Position coordinates and the 4th position coordinates obtain the 4th distance between the main car and described other vehicles；The described 4th
When distance is less than or equal to the predeterminable range, speed is sailed according to described the third line, it is the default reaction time, described default
Brake coordination time, the default deceleration rise time, the predetermined maximum acceleration, the 4th distance and described the
Four travel speeds get the 5th distance；When the described 4th distance less than or equal to the described 5th apart from when, it is determined that it is described
Other vehicles are early warning vehicle, generate early warning information；The early warning information and the 3-D view for receiving are set up into information to send
To the display.
Alternatively, the early warning information and the 3-D view for receiving are set up information and is sent to the display described
Before, methods described also includes：Obtain default coefficient of road adhesion and default acceleration of gravity；Speed is sailed according to described the third line
And the fourth line sails the relative velocity that speed is obtained between the main car and described other vehicles；According to the relative velocity,
4th distance and the default coefficient of road adhesion and the default acceleration of gravity obtain risk factor；According to institute
State risk factor carries out warning level sequence to described other vehicles, wherein, the risk factor is bigger, the early warning level
It is not higher；It is described that the early warning information and the 3-D view for receiving are set up information and sent to the display and included：Will bag
Early warning information containing the warning level is set up information and is sent to the display with the 3-D view for receiving.
Alternatively, the first traveling packet includes the 5th current position coordinates of the main car, the second traveling number
It is described according to first running data and the second traveling number according to including the 6th current position coordinates of described other vehicles
According to determining whether described other vehicles are early warning vehicle, when it is determined that described other vehicles are early warning vehicle, early warning information is generated
Including：According to the 5th position coordinates and the 6th position coordinates determine other vehicles whether be the main car a left side
Rear direction or right back to vehicle；The left back direction or right back that described other vehicles are the main car to vehicle
When, the 6th between the main car and described other vehicles is obtained according to the 5th position coordinates and the 6th position coordinates
Distance；When it is determined that the 6th distance is less than or equal to predeterminable range, it is determined that whether described other vehicles are in predeterminable area
In；When described other vehicles are in the predeterminable area, it is determined that described other vehicles are early warning vehicle, generation early warning letter
Breath；The early warning information and the 3-D view for receiving are set up information and sent to the display.
Alternatively, institute is removed in the first current running data of the main car of the reception collecting device transmission and preset range
State the second current running data of other vehicles outside main car and before 3-D view sets up information, methods described also includes：
The corresponding relation that image is set up between message sample and the default threedimensional model is set up, wherein, described image sets up information sample
This includes environmental information sample and information of vehicles sample.
Alternatively, the 3-D view that the basis is received sets up information by default three-dimension modeling 3-D view,
And show that the early warning information includes in the 3-D view：Information is set up according to the 3-D view using WebGL technologies
By default three-dimension modeling 3-D view, and the early warning information is shown in the 3-D view.
Alternatively, methods described also includes：Early warning information according to generation shows prompt message, and the prompt message is used for
Point out the early warning information.
The disclosure third aspect also provides a kind of driving early warning vehicle, and the driving early warning vehicle is included described in first aspect
Driving pre-warning system.
By above-mentioned technical proposal, collecting device collecting the first current running data of main car, and in preset range
After the second current running data of other vehicles and 3-D view set up information in addition to main car, the information of collection is sent to display
Equipment, processor in display device when it is early warning vehicle that the information sent according to the collecting device determines other vehicles,
Generation early warning information, and show the early warning by presetting the 3-D view of three-dimension modeling using the display in display device
Information, so, because the processor and the display are all disposed within display device, so as to avoid in the prior art equipment it
Between communication, it can be ensured that the early warning information for obtaining is shown to user in time, it is ensured that the real-time that the early warning information shows.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing further understanding of the disclosure, and to constitute the part of specification, with following tool
Body implementation method is used to explain the disclosure together, but does not constitute limitation of this disclosure.In the accompanying drawings：
Fig. 1 is a kind of structural representation of the driving pre-warning system according to an exemplary embodiment；
Fig. 2 is a kind of scene graph of the driving pre-warning system according to an exemplary embodiment；
Fig. 3 is the scene graph of another the driving pre-warning system according to an exemplary embodiment；
Fig. 4 is the scene graph of another the driving pre-warning system according to an exemplary embodiment；
Fig. 5 is a kind of flow chart of the method for the driving early warning according to an exemplary embodiment；
Fig. 6 is a kind of structural representation of the driving early warning vehicle according to an exemplary embodiment.
Specific embodiment
Specific embodiment of this disclosure is described in detail below.It should be appreciated that described herein specific
Implementation method is merely to illustrate and explains the disclosure, is not limited to the disclosure.
The disclosure can apply to the scene of V2X, and V2X is the application oriented realization of Internet of Things, refers to vehicle and vehicle
Between and vehicle and infrastructure between etc. communication system, car networking using communication module on vehicle is loaded in, such as
RFID (English full name：Radio Frequency Identification；Chinese full name：Radio frequency identification), sensor, camera
The travel situations and peripheral path environmental information of vehicle are obtained, and is analyzed and is processed by the information for collecting, and
When road conditions report and warning are carried out to driver, with collision free.
The disclosure provides a kind of driving pre-warning system 10, as shown in figure 1, the control loop includes the He of collecting device 101
Display device 102, wherein, the display device includes processor 1021 and the display 1022 being connected with the processor 1021, should
Collecting device 101 and the processor 1021 are connected.
The collecting device 101, for gathering in the first current running data of main car and preset range in addition to the main car
The second current running data of other vehicles and 3-D view set up information, and by first running data, second traveling
Data and the 3-D view are set up information and are sent to the processor 1021；
Wherein, the main car and other vehicles and road and means of transportation are provided with communication module, and the collecting device 101 can
The main car is gathered with by the communication module, the data of other vehicles and the road and the means of transportation.In the present invention,
The main car can be provided with driving pre-warning system, and need the vehicle of driving pre-warning system prompting.Need explanation
It is that the 3-D view sets up information can include environmental information (such as road information：The information such as greenbelt and road shape；Traffic
Facilities information：The information such as guardrail, traffic sign disk, traffic lights, direction board) and information of vehicles (such as type of vehicle, the face of vehicle
Color etc.), the disclosure is not construed as limiting to this.Illustratively, the collecting device 101 of the main car can be by the communication mould installed in main car
Block periodicity ground obtains the first running data, and periodically obtains the second row by the communication module installed in other vehicles
Data and information of vehicles are sailed, and the environment periodically obtained by the communication module installed in road and means of transportation is believed
Breath, for example, the collecting device 101 can obtain second running data every 1s, the disclosure is not construed as limiting to this.
The processor 1021, for determining this other according to first running data that receives and second running data
Whether vehicle is early warning vehicle, when it is determined that other vehicles are early warning vehicle, generates early warning information, and by the early warning information and
The 3-D view for receiving is set up information and is sent to the display；The early warning information is used to indicate the early warning vehicle；
The display 1022, for setting up information by default three-dimension modeling 3-D view according to the 3-D view,
And the early warning information is shown in the 3-D view.
Specifically, in the present invention, using WebGL (web page graphics storehouse, Web Graphics Library) technologies according to
The 3-D view sets up information by the default three-dimension modeling 3-D view, and shows that the early warning is believed in the 3-D view
Breath.
In the disclosure, mainly by following three kinds of scenes illustrate processor 1021 how to determine other vehicles whether be
Early warning vehicle：
Scene one：As shown in figure 1, when the first traveling packet includes the first current travel speed of the main car and first
Coordinate is put, second running data includes the second current travel speed of other vehicles and second place coordinate in the preset range
When, the processor 1021, specifically for whether determining other vehicles according to the first position coordinate and the second place coordinate
It is the vertical direction row of the main car travel direction in other vehicles for the vehicle that the vertical direction of the main car travel direction is travelled
During the vehicle sailed, first between the main car and other vehicles is obtained according to the first position coordinate and the second place coordinate
Distance and crossing position coordinates, this first distance less than or equal to predeterminable range when, according to the first position coordinate and should
Crossing position coordinates determines that the main car reaches the second distance at the crossing, and is sat according to the second place coordinate and the crossing position
Mark determines that other vehicles reach the 3rd distance at the crossing, and determines the master according to the second distance and first travel speed
Car reaches the very first time at the crossing, determines that other vehicles reach the crossing according to the 3rd distance and second travel speed
The second time, when the difference of the very first time and second time is less than or equal to Preset Time, it is determined that this other
Vehicle is early warning vehicle, generates early warning information, and the early warning information and the 3-D view for receiving are set up information and sent to this
Display 1022.
In the present embodiment, the predeterminable range is the default safe distance between the main car and other vehicles, for example,
The predeterminable range can be 300m for the distance between the main car and other vehicles, and the disclosure is not construed as limiting to this.Wherein, should
The travel direction of the travel direction and this of main car other vehicles is mutually perpendicular to, can be by the travel direction of the main car and other cars
Travel direction regard x-axis and y-axis in plane coordinate system as, so, can be obtained by the first position coordinate of the main car
The straight line parallel with the main car, it is possible to other vehicles with this are obtained by the second place coordinate of other vehicles parallel
Straight line, the intersecting point coordinate of this two straight lines is the crossing position coordinates.The very first time is expressed as the main car and reaches
The time at the crossing, the very first time is worth to by the ratio for calculating the second distance and first travel speed, equally, this
Two times were expressed as the time that other vehicles reach the crossing, by the ratio for calculating the 3rd distance and second travel speed
Second time is worth to, so can determine that whether other vehicles can according to the difference of the very first time and second time
Danger is caused to the main car, in the mode of alternatively possible realization, can be come by the second distance for obtaining and the 3rd distance
Determine whether other vehicles can cause danger to the main car, for example, when the difference of the second distance and the 3rd distance is less than
Or during equal to predetermined threshold value, determine that other vehicles can cause danger to the main car, therefore other vehicles are early warning vehicle.
In addition, the processor 1021, it is additionally operable to according to the difference that other vehicles carry out warning level sequence to this, wherein,
The difference is smaller, and the warning level is higher, and the early warning information comprising the warning level and the 3-D view for receiving are set up
Information is sent to the display 1022, and so, display 1022 can be by the early warning information of the different warning levels with different
Form is shown to the driver of the main car, is easy to the early warning information of driver's priority treatment warning level higher.Can in one kind
In the mode that can be realized, according to the early warning information comprising the warning level that the processor 1021 sends, the display 1022 can
Color setting is carried out to the early warning information of the different warning levels with according to default color, for example, can be by the 4th early warning level
Not corresponding vehicle is set to red, and the corresponding vehicle of the first warning level is set into green, so that driver can be with
According to the vehicle of the warning level of different colours priority treatment the 4th for setting；In the mode of alternatively possible realization, can be with
The warning level of the early warning information is shown to driver by setting one section of frequency height of drop drop sound, for example, the drop drop sound
Frequency it is higher, the warning level is higher, and above-mentioned example is merely illustrative, and the disclosure is not construed as limiting to this.
Scene two：As shown in Fig. 2 the first traveling packet includes the current the third line of the main car and sails speed and the 3rd position
Coordinate, second running data includes that the current fourth line of other vehicles sails speed and the 4th position coordinates；The processor, tool
Body is used to obtain the default reaction time, presets the brake coordination time, presets deceleration rise time and predetermined maximum acceleration,
According to the 3rd position coordinates and the 4th position coordinates determine other vehicles whether be the main front side vehicle, this its
When his vehicle is the vehicle of the main front side, the main car and this its is obtained according to the 3rd position coordinates and the 4th position coordinates
The 4th distance between his vehicle, when the 4th distance is less than or equal to the predeterminable range, speed is sailed according to the third line,
The default reaction time, the default brake coordination time, the default deceleration rise time, the predetermined maximum acceleration, this
Four distance and the fourth line sail speed and get the 5th distance, when the 4th distance less than or equal to the 5th apart from when,
Other vehicles are then determined for early warning vehicle, generate early warning information, and the early warning information and the 3-D view for receiving are set up
Information is sent to the display 1022.
In the present embodiment, speed is sailed according to the third line, the default reaction time, the default brake coordination time, should
Default deceleration rise time, the predetermined maximum acceleration, the 4th distance and the fourth line sail speed get the 5th away from
From the 5th distance can be calculated by below equation：
Wherein, S represents the 5th distance；vsRepresent that the third line of main car sails speed；vfRepresent that the fourth line of other vehicles sails speed
Degree；T is the default reaction time；t1To preset the brake coordination time；t2To preset deceleration rise time；asTo preset most greatly
Speed；D is the 4th distance.
It should be noted that in this scene, there are two kinds of situations in the vehicle of the main front side：One kind is the main front side
Vehicle and the main car between do not exist vehicle；Another kind is by least one car between the vehicle of the main front side and the main car
Separate, such as there are 2 vehicles between other vehicles and the main car, in above-mentioned two situations, can be by determining the master
The distance between the vehicle of car and the main front side (i.e. the 4th distance) whether less than or equal to safe distance (the i.e. the 5th away from
From), when the distance between the main car and the vehicle of the main front side is less than or equal to the safe distance, it may be determined that the master
The vehicle of front side is early warning vehicle.
In addition, the processor, is additionally operable to obtain default coefficient of road adhesion and default acceleration of gravity, and according to the 3rd
Travel speed and the fourth line sail the relative velocity that speed is obtained between the main car and other vehicles, according to the relative velocity,
4th distance and the default coefficient of road adhesion and the default acceleration of gravity obtain risk factor, according to the risk factor
To this, other vehicles carry out warning level sequence to coefficient, wherein, the risk factor is bigger, and the warning level is higher, and will bag
Early warning information containing the warning level is set up information and is sent to the display 1022 with the 3-D view for receiving.Can by with
Lower formula is calculated risk factor：
Wherein, DDC represents risk factor；vrelIt is the relative velocity between main car and other vehicles；G accelerates for gravity
Degree；D is the 4th distance；It is coefficient of road adhesion.
In a kind of mode in the cards, the risk factor is carried out into warning level classification according to different scopes,
For example, risk factor 0~0.2 can be classified as into the first warning level, when get risk factor for 0.1 when, then can be with
Determine that the risk factor 0.1 belongs to the first warning level.
Scene three：As shown in figure 3, the first traveling packet includes the 5th current position coordinates of the main car, this second
Running data includes the 6th current position coordinates of other vehicles；The processor, specifically for according to the 5th position coordinates
With the 6th position coordinates determine other vehicles whether be the main car left back direction or right back to vehicle, this its
His vehicle be the main car left back direction or right back to vehicle when, sat according to the 5th position coordinates and the 6th position
Mark obtains the 6th distance between the main car and other vehicles, it is determined that the 6th distance is less than or equal to predeterminable range
When, determine other vehicles whether in predeterminable area, when other vehicles are in the predeterminable area, it is determined that other cars
It is early warning vehicle, generates early warning information, and the early warning information and the 3-D view that receives are set up information and sent to this shows
Show device 1022.
In the present embodiment, the predeterminable area can include the blind spot region at the main car rear, such as left back of the main car
Blind spot region is 20m*4m, and the right back blind spot region of the main car is 20m*4m, and the disclosure is not construed as limiting to this.
By the description of above-mentioned three kinds of scenes, it may be determined that whether other vehicles are early warning vehicle, so as to this other
When vehicle is early warning vehicle, can allow that the early warning information is shown to driver by the display 1022, in the disclosure,
Other scenes can also be included, the disclosure is not construed as limiting to this.
In addition, the processor 1021 is specifically additionally operable to set up image and sets up between message sample and the default threedimensional model
Corresponding relation, in the present embodiment, sets up image and builds using OpenGL (open graphic library, Open Graphics Library)
Vertical relation between message sample and the default threedimensional model.Wherein, the image sets up message sample includes environmental information sample
With information of vehicles sample, for example, the environmental information sample can include the road information sample, and (such as forthright, T-shaped road is cross
The message sample such as road and X-type grade crossing), and means of transportation message sample (such as guardrail, traffic sign disk, traffic lights,
The message samples such as direction board) etc., the information of vehicles sample can include type (such as car, car, lorry and the special car of vehicle
Deng) and vehicle the message sample such as color, the disclosure is not construed as limiting to this.Illustratively, the processor 1021 can obtain the car
Formal parameter, and the vehicle material and color, and this can be built according to the formal parameter and material and color
The default threedimensional model of vehicle, and the default threedimensional model is sent to the display 1022, so as to the basis of display 1022
The 3-D view sets up information and generates the 3-D view comprising early warning information by the default threedimensional model.Specifically, when this is aobvious
Show that device 1022 receives first running data of the processor 1021 transmission, second running data and 3-D view set up letter
After breath, the corresponding 3-D view of information can be set up according to the default threedimensional model generation and the 3-D view, and according to this its
The positional information of other vehicles is shown to driver by the second running data of vehicle by him in 3-D view.A kind of possible
In the mode of realization, when other vehicles are early warning vehicles, the display 1022 can periodically receive first traveling
Data and second running data and the 3-D view set up information, and so, the display 1022 can be according to being somebody's turn to do for obtaining
First running data, second running data and the 3-D view set up information realization three-dimensional animation effect, such that it is able to realize
Show the driving trace of other vehicles so that the driver of the main car can understand in time other vehicles position coordinates and
Movement tendency, is effectively prevented from the generation of traffic accident.Specifically, in the present embodiment, using WebGL (web page graphics storehouse,
Web Graphics Library) first running data that will receive of technology and second running data and the graphics
The structure of 3-D view is carried out as setting up information, WebGL technologies can realize interactive real-time rendering, so so that the display
Device 1022 can glibly show the 3-D view comprising the early warning information, be the General Promotion that driver brings experience sense.
In order that the driver of the main car more directly grasps the early warning information in the preset range, camera can be set
Parameter (such as angle of camera, displaying ratio, near focus and a far focus and positional information parameter), so as to be joined using the camera
Digital-to-analogue intends Softcam so that the Softcam can have the specific visual field, so, can be by the three-dimensional in the visual field
Image is shown to driver.Through the above way, when other vehicle emergency brakes of the front blind area in the main car, this its
His vehicle may cause the main car to collide, in such a case, it is possible to pass through to set the camera ginseng of the Softcam
The driving information of other vehicles of the front blind area of the main car is shown to driver by number.In order to the experience for lifting driver is imitated
Really, when other vehicles of the front blind area of the main car cause danger to the main car, the driver of the main car can will be hindered to see
The vehicle for examining other vehicles of the front blind area is set to translucent, so as to reduce to the front blind area of the main car its
His vehicle is blocked.
It should be noted that the first traveling data is activation that the processor 1021 can also obtain the collecting device 101
To other vehicles in preset range, so, other vehicles can be according to first running data and other vehicles
Second running data determines whether the corresponding vehicle of the first running data can cause danger by other vehicles to this, and specific method can
To refer to the above-mentioned description to the processor 1021, do not repeated herein.
In order to preferably point out driver, the early warning information that the display 1022 can also send according to the processor 1021
Displaying prompt message, the prompt message is used to point out the early warning information.Illustratively, the prompting message can include voice messaging,
Such as " noting the red gentry treasured X35 at 100 meters of left front place ", or including one section it is high-frequency drip drop sound, the prompting message may be used also
Reminded with including warning mark, such as when the red gentry treasured X35 has potential danger to the main car, can be in the three-dimensional of display
Show on red gentry treasured X35 in image warning mark (as using "！" remind driver to note the red as warning mark
Gentry treasured X35), the prompting message can also be that other can point out the message of driver, the disclosure to be not construed as limiting this.
Using above-mentioned driving pre-warning system, collecting device is collecting the first current running data of main car and default
In the range of after the second current running data of other vehicles and 3-D view set up information in addition to main car, the information that will be gathered sends
To display device, the processor in display device determines that other vehicles are pre- police car in the information sent according to the collecting device
When, generate early warning information, and shown by presetting the 3-D view of three-dimension modeling using the display in display device
The early warning information, so, because the processor and the display are all disposed within display device, so as to avoid in the prior art
Communication between equipment, it can be ensured that the early warning information for obtaining is shown to user in time, it is ensured that the reality that the early warning information shows
Shi Xing.
Fig. 5 is a kind of flow chart of the method for exemplary driving early warning, as shown in figure 5, the driving pre-warning system bag
Collecting device and display device are included, the display device includes processor and the display being connected with the processor, the collecting device
It is connected with the processor, the method is comprised the following steps：
S501, the collecting device gathers other in addition to the main car in the first current running data of main car and preset range
The second current running data of vehicle and 3-D view set up information.
It should be noted that being gathered in the first current running data of main car and preset range except the master in the collecting device
Before the second current running data of other vehicles outside car and 3-D view set up information, processor needs to set up image to be built
Vertical corresponding relation between message sample and default threedimensional model.Wherein, the image sets up message sample includes environmental information sample
Originally with information of vehicles sample.
First running data, second running data and the 3-D view are set up information hair by S502, the collecting device
Deliver to the processor.
S503, the processor determines other vehicles according to first running data and second running data for receiving
Whether it is early warning vehicle.
When it is determined that other vehicles are early warning vehicle, step S504 is performed；
When it is determined that other vehicles are not early warning vehicles, return to step S501.
S504, processor generation early warning information, and the early warning information and the 3-D view for receiving are set up into information hair
Deliver to the display.
Wherein, the early warning information is used to indicate the early warning vehicle.
S505, the display sets up information by default three-dimension modeling 3-D view according to the 3-D view, and
The early warning information is shown in the 3-D view.
Collecting device is collecting the first current running data of main car, and other vehicles ought except main car in addition in preset range
After the second preceding running data and 3-D view set up information, the information of collection is sent to display device, in display device
Processor generates early warning information, and profit when it is early warning vehicle that the information sent according to the collecting device determines other vehicles
The early warning information is shown by presetting the 3-D view of three-dimension modeling with the display in display device, so, due to this
Processor is all disposed within display device with the display, so as to avoid the communication between equipment in the prior art, can be true
The early warning information that guarantor obtains is shown to user in time, it is ensured that the real-time that the early warning information shows.
The idiographic flow of the method for the driving early warning that embodiment is provided is referred to the above-mentioned description to Fig. 1 in the present invention,
Here is omitted.
Fig. 6 is a kind of structural representation of driving early warning vehicle that the present invention is provided, as shown in fig. 6, the pre- police car of the driving
Include above-mentioned Fig. 1 shown in driving pre-warning system.
The preferred embodiment of the disclosure described in detail above, but, the disclosure is not limited in above-mentioned implementation method
Detail, in the range of the technology design of the disclosure, various simple variants can be carried out with technical scheme of this disclosure, this
A little 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 combination of energy is no longer separately illustrated.
Additionally, can also be combined between a variety of implementation methods of the disclosure, as long as it is without prejudice to originally
Disclosed thought, it should equally be considered as disclosure disclosure of that.
Claims (19)
1. it is a kind of to drive pre-warning system, it is characterised in that the system includes：Collecting device and display device, wherein, it is described
Display device includes processor and the display being connected with the processor, and the collecting device is connected with the processor；
The collecting device, for gather in the first current running data of main car and preset range in addition to the main car other
The second current running data of vehicle and 3-D view set up information, and first running data, described second are travelled
Data and the 3-D view are set up information and are sent to the processor；
The processor, for determined according to first running data that receives and second running data it is described other
Whether vehicle is early warning vehicle, when it is determined that described other vehicles are early warning vehicle, generates early warning information, and the early warning is believed
The 3-D view for ceasing and receiving is set up information and is sent to the display；The early warning information is used to indicate the pre- police car
；
The display, for setting up information by default three-dimension modeling 3-D view according to the 3-D view, and
The early warning information is shown in the 3-D view.
2. system according to claim 1, it is characterised in that the first traveling packet includes current the of the main car
One travel speed and first position coordinate, second running data include other vehicles are current in the preset range second
Travel speed and second place coordinate；
The processor, specifically for other vehicles according to the first position coordinate and second place coordinate determination
Whether be the main car travel direction vertical direction traveling vehicle, be the main car travel direction in described other vehicles
During the vehicle of vertical direction traveling, according to the first position coordinate and the second place coordinate obtain the main car with it is described
The first distance and crossing position coordinates between other vehicles, when the described first distance is less than or equal to predeterminable range, root
Determine that the main car reaches the second distance at the crossing according to the first position coordinate and the crossing position coordinates, and according to
The second place coordinate and the crossing position coordinates determine that described other vehicles reach the 3rd distance at the crossing, and root
Determine that the main car reaches the very first time at the crossing according to the second distance and first travel speed, according to described the
Three distances and second travel speed determine that described other vehicles reach second time at the crossing, in the very first time
When difference with second time is less than or equal to Preset Time, it is determined that described other vehicles are early warning vehicle, generation
Early warning information, and the early warning information and the 3-D view for receiving are set up information and sent to the display.
3. system according to claim 2, it is characterised in that the processor, is additionally operable to according to the difference to described
Other vehicles carry out warning level sequence, wherein, the difference is smaller, and the warning level is higher, and will be comprising the early warning
The early warning information of rank and the 3-D view for receiving are set up information and are sent to the display.
4. system according to claim 1, the first traveling packet includes the current the third line of the main car and sails speed
With the 3rd position coordinates, second running data sails speed including the current fourth line of described other vehicles and the 4th position is sat
Mark；
The processor, specifically for obtaining the default reaction time, presets the brake coordination time, preset deceleration rise time with
And predetermined maximum acceleration, according to the 3rd position coordinates and the 4th position coordinates determine other vehicles whether be
The vehicle of the main front side, when described other vehicles are the vehicles of the main front side, according to the 3rd position coordinates
And the 4th position coordinates obtains the 4th distance between the main car and described other vehicles, is less than in the 4th distance
Or during equal to the predeterminable range, speed, the default reaction time, the default brake coordination are sailed according to described the third line
Time, the default deceleration rise time, the predetermined maximum acceleration, the 4th distance and the fourth line sail speed
Degree get the 5th distance, when the described 4th distance less than or equal to the described 5th apart from when, it is determined that described other vehicles
It is early warning vehicle, generates early warning information, and the early warning information and the 3-D view that receives are set up into information and sends to described
Display.
5. system according to claim 4, it is characterised in that the processor, is additionally operable to obtain default road surface attachment system
Several and default acceleration of gravity, speed is sailed according to described the third line and the fourth line sail speed obtain the main car and it is described its
Relative velocity between his vehicle, according to the relative velocity, it is described 4th distance and the default coefficient of road adhesion and
The default acceleration of gravity obtains risk factor, and warning level is carried out to described other vehicles according to the risk factor
Sequence, wherein, the risk factor is bigger, and the warning level is higher, and by the early warning information comprising the warning level
Information is set up with the 3-D view for receiving to send to the display.
6. system according to claim 1, the first traveling packet includes the 5th current position coordinates of the main car,
Second running data includes the 6th current position coordinates of described other vehicles；
The processor, specifically for other vehicles according to the 5th position coordinates and the 6th position coordinates determination
Whether be the main car left back direction or right back to vehicle, in the left back direction that described other vehicles are the main car
Or right back to vehicle when, the main car and described is obtained according to the 5th position coordinates and the 6th position coordinates
The 6th distance between other vehicles, it is determined that it is described 6th distance less than or equal to predeterminable range when, it is determined that it is described other
Vehicle whether in predeterminable area, when described other vehicles are in the predeterminable area, it is determined that described other vehicles are pre-
Police car, generates early warning information, and the early warning information and the 3-D view for receiving are set up information and sent to the display
Device.
7. system according to claim 1, it is characterised in that the processor, is additionally operable to set up image and sets up information sample
Originally the corresponding relation and between the default threedimensional model, wherein, described image sets up message sample includes environmental information sample
With information of vehicles sample.
8. system according to claim 1, it is characterised in that the display, specifically for using WebGL technologies according to
The 3-D view sets up information by default three-dimension modeling 3-D view, and is shown in the 3-D view described pre-
Alert information.
9. system according to claim 1, it is characterised in that the display, is additionally operable to be sent according to the processor
Early warning information displaying prompt message, the prompt message be used for point out the early warning information.
10. it is a kind of drive early warning method, it is characterised in that be applied to display device, methods described includes：
Receive the main car of collecting device transmission current the first running data and interior other cars in addition to the main car of preset range
The second current running data and 3-D view set up information；
Whether other vehicles according to first running data and second running data determine are early warning vehicle, true
When fixed described other vehicles are early warning vehicle, early warning information is generated；The early warning information is used to indicate the early warning vehicle；
3-D view according to receiving sets up information by default three-dimension modeling 3-D view, and in the 3-D view
The middle display early warning information.
11. methods according to claim 10, it is characterised in that it is current that the first traveling packet includes the main car
First travel speed and first position coordinate, second running data include other vehicles are current in the preset range the
Two travel speeds and second place coordinate, it is described according to first running data and second running data determine its
Whether his vehicle is early warning vehicle, and when it is determined that described other vehicles are early warning vehicle, generation early warning information includes：
Whether other vehicles are the main car traveling according to the first position coordinate and the second place coordinate determine
The vehicle of the vertical direction traveling in direction；
When described other vehicles are the vehicles of vertical direction traveling of the main car travel direction, sat according to the first position
Mark and the second place coordinate obtain the first distance and crossing position coordinates between the main car and described other vehicles；
When the described first distance is less than or equal to predeterminable range, sat according to the first position coordinate and the crossing position
Mark determines that the main car reaches the second distance at the crossing, and according to the second place coordinate and the crossing position coordinates
It is determined that described other vehicles reach the 3rd distance at the crossing；
Determine that the main car reaches the very first time at the crossing, and root according to the second distance and first travel speed
Determine that described other vehicles reach second time at the crossing according to the 3rd distance and second travel speed；
When the difference of the very first time and second time is less than or equal to Preset Time, it is determined that described other cars
Be early warning vehicle, generate early warning information；
The early warning information and the 3-D view for receiving are set up information and sent to the display.
12. methods according to claim 11, it is characterised in that described by the early warning information and the three-dimensional that receives
Image is set up information and is sent to before the display, and methods described also includes：
Warning level sequence is carried out to described other vehicles according to the difference, wherein, the difference is smaller, the warning level
It is higher；
It is described that the early warning information and the 3-D view for receiving are set up information and sent to the display and included：
The early warning information comprising the warning level and the 3-D view for receiving are set up information and sent to the display
Device.
13. methods according to claim 10, it is characterised in that it is current that the first traveling packet includes the main car
The third line sails speed, the 3rd position coordinates, and second running data includes that the current fourth line of described other vehicles sails speed
With the 4th position coordinates, whether described other vehicles according to first running data and second running data determine
It is early warning vehicle, when it is determined that described other vehicles are early warning vehicle, generation early warning information includes：
The default reaction time is obtained, the brake coordination time is preset, deceleration rise time and predetermined maximum acceleration is preset；
Whether other vehicles according to the 3rd position coordinates and the 4th position coordinates determine are the main front side
Vehicle；
When described other vehicles are the vehicles of the main front side, sat according to the 3rd position coordinates and the 4th position
Mark obtains the 4th distance between the main car and described other vehicles；
When the described 4th distance is less than or equal to the predeterminable range, speed is sailed according to described the third line, it is described default anti-
Between seasonable, the default brake coordination time, the default deceleration rise time, the predetermined maximum acceleration, described the
Four distances and the fourth line are sailed speed and get the 5th distance；
When the described 4th distance less than or equal to the described 5th apart from when, it is determined that described other vehicles are early warning vehicle, raw
Into early warning information；
The early warning information and the 3-D view for receiving are set up information and sent to the display.
14. according to claim 13 methods described, it is characterised in that described by the early warning information and the graphics that receives
Sent to before the display as setting up information, methods described also includes：
Obtain default coefficient of road adhesion and default acceleration of gravity；
Speed is sailed according to described the third line and the fourth line sails the phase that speed is obtained between the main car and described other vehicles
To speed；
According to the relative velocity, the 4th distance and the default coefficient of road adhesion and the default acceleration of gravity
Obtain risk factor；
Warning level sequence is carried out to described other vehicles according to the risk factor, wherein, the risk factor is bigger,
The warning level is higher；
It is described that the early warning information and the 3-D view for receiving are set up information and sent to the display and included：
Early warning information comprising the warning level and the 3-D view for receiving are set up information and sent to the display.
15. methods according to claim 10, it is characterised in that it is current that the first traveling packet includes the main car
5th position coordinates, second running data includes the 6th current position coordinates of described other vehicles, described in the basis
First running data and second running data determine whether described other vehicles are early warning vehicle, it is determined that described other cars
For early warning vehicle when, generation early warning information include：
According to the 5th position coordinates and the 6th position coordinates determine other vehicles whether be the main car a left side
Rear direction or right back to vehicle；
The left back direction or right back that described other vehicles are the main car to vehicle when, according to the 5th position sit
Mark and the 6th position coordinates obtain the 6th distance between the main car and described other vehicles；
When it is determined that the 6th distance is less than or equal to predeterminable range, it is determined that whether described other vehicles are in predeterminable area
In；
When described other vehicles are in the predeterminable area, it is determined that described other vehicles are early warning vehicle, generation early warning letter
Breath；
The early warning information and the 3-D view for receiving are set up information and sent to the display.
16. methods according to claim 10, it is characterised in that the main car sent in the reception collecting device is current
First running data and interior other vehicles in addition to the main car of preset range current the second running data and 3-D view
Before setting up information, methods described also includes：
The corresponding relation that image is set up between message sample and the default threedimensional model is set up, wherein, described image sets up letter
Breath sample includes environmental information sample and information of vehicles sample.
17. methods according to claim 10, it is characterised in that the 3-D view that the basis is received is set up information and led to
Default three-dimension modeling 3-D view is crossed, and shows that the early warning information includes in the 3-D view：
Information is set up by default three-dimension modeling 3-D view according to the 3-D view using WebGL technologies, and in institute
State and show the early warning information in 3-D view.
18. methods according to claim 10, it is characterised in that methods described also includes：
Early warning information according to generation shows prompt message, and the prompt message is used to point out the early warning information.
19. a kind of driving early warning vehicles, it is characterised in that the driving early warning vehicle is included such as any one of claim 1 to 9 institute
The driving pre-warning system stated.
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| CN201611089555.3A CN106781691A (en) | 2016-11-30 | 2016-11-30 | Drive pre-warning system and method |
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| CN201611089555.3A CN106781691A (en) | 2016-11-30 | 2016-11-30 | Drive pre-warning system and method |
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| CN109421598A (en) * | 2017-07-05 | 2019-03-05 | 杭州海康威视数字技术股份有限公司 | A kind of vehicle DAS (Driver Assistant System), vehicle early warning method and device |
| CN109151773A (en) * | 2018-07-17 | 2019-01-04 | Oppo广东移动通信有限公司 | Information cuing method and Related product |
| CN109572549A (en) * | 2018-12-20 | 2019-04-05 | 北京梧桐车联科技有限责任公司 | The method and apparatus for prompting vehicle condition |
| CN111369808A (en) * | 2018-12-26 | 2020-07-03 | 大陆泰密克汽车系统（上海）有限公司 | Vehicle monitoring method and monitoring system |
| CN113785337A (en) * | 2019-04-29 | 2021-12-10 | 大众汽车（中国）投资有限公司 | Vehicle control apparatus and vehicle control system |
| CN114207691A (en) * | 2019-07-30 | 2022-03-18 | 三菱电机株式会社 | Vehicle driving support system, station-side driving support device, and vehicle-mounted driving support device |
| CN114207691B (en) * | 2019-07-30 | 2024-04-26 | 三菱电机株式会社 | Vehicle driving support system, station-side driving support device, and vehicle-mounted driving support device |
| CN114830616A (en) * | 2019-12-09 | 2022-07-29 | 大陆汽车有限责任公司 | Driver assistance system, crowdsourcing module, method and computer program |
| CN111508046B (en) * | 2020-03-13 | 2023-08-22 | 重庆利龙中宝智能技术有限公司 | Vehicle alarm icon drawing method, system and storage medium based on OpenGL |
| CN111508046A (en) * | 2020-03-13 | 2020-08-07 | 重庆利龙科技产业(集团)有限公司 | Vehicle alarm icon drawing method and system based on OpenG L and storage medium |
| CN113903184A (en) * | 2020-06-22 | 2022-01-07 | 奥迪股份公司 | Vehicle state display method and device, vehicle-mounted electronic equipment and vehicle |
| CN112349093A (en) * | 2020-09-27 | 2021-02-09 | 南斗六星系统集成有限公司 | Vehicle early warning method and device fused with V2X sensor |
| CN112562404B (en) * | 2020-11-24 | 2022-02-11 | 中国联合网络通信集团有限公司 | Vehicle early warning method and device, computer equipment and medium |
| CN112562404A (en) * | 2020-11-24 | 2021-03-26 | 中国联合网络通信集团有限公司 | Vehicle early warning method and device, computer equipment and medium |
| CN113613199A (en) * | 2021-07-26 | 2021-11-05 | 腾讯科技（深圳）有限公司 | Vehicle information processing method and system, device, electronic equipment and storage medium |
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