CN106781692A

CN106781692A - The method of vehicle collision prewarning, apparatus and system

Info

Publication number: CN106781692A
Application number: CN201611092910.2A
Authority: CN
Inventors: 张珠华
Original assignee: Neusoft Corp
Current assignee: Neusoft Corp
Priority date: 2016-12-01
Filing date: 2016-12-01
Publication date: 2017-05-31
Anticipated expiration: 2036-12-01
Also published as: CN106781692B

Abstract

The invention discloses a kind of method of vehicle collision prewarning, apparatus and system, it is related to technical field of intelligent traffic, solves the problems, such as that the early warning accuracy of existing anti-collision warning technology is relatively low.The method of the present invention includes：The information of vehicles of the second vehicle in the first vehicle and distance the first vehicle preset range is obtained, information of vehicles includes positional information, velocity information and azimuth information；Positional information and azimuth information according to the first vehicle and the second vehicle determine the scene type that the first vehicle and the second vehicle car car meet；Default collision warning algorithm corresponding with scene type is called to calculate the danger coefficient that the first vehicle and the second vehicle meet from warning algorithm storehouse；Generation vehicle collision is determined whether it is likely that according to danger coefficient, the early warning of vehicle collision is realized.During the present invention is applied to vehicle collision prewarning.

Description

The method of vehicle collision prewarning, apparatus and system

Technical field

The present invention relates to technical field of intelligent traffic, more particularly to a kind of method of vehicle collision prewarning, apparatus and system.

Background technology

With developing rapidly for social economy, motor vehicles increase sharply in number, and privately owned automobile gives people faster efficiency in band While more comfortable running environments, many traffic problems are also triggered, for example, the traffic such as traffic accident, traffic jam Problem.These traffic problems bring huge economy and emotional distress to the life of the mankind, therefore how to reduce traffic problems Occur, it has also become the important topic of world today's traffic safety.

Because vehicle is during traveling, influenceed and driver's respond by factors such as traffic environment, weather It is limited, cause traffic accident to increase, and the factor of existing many street accidents risks cannot be by specification driving behavior Effectively overcome.Therefore, the academia of countries in the world and industrial quarters nearly more than ten years be all devoted to by developing intelligent transportation System (ITS, Intelligent Transportation Systems) can perceive surrounding traffic and car aiding in driver Status information, alert exist dangerous information, it is to avoid traffic accident, improve traffic efficiency.ITS is reduction generally acknowledged at present Traffic accident, the optimal path for improving environment, raising traffic efficiency and reduction air pollution etc..Therefore, developmental research energy Road or information of vehicles are obtained in real time, driver is reminded in time or automatic takes measures to avoid accident from causing danger early warning system System, just into the important topic for solving the problems, such as traffic safety.

At present, in existing danger early warning system anti-collision warning technology it is conventional to be mainly based upon machine vision mode Or the collision prevention of vehicle technology based on distance measuring method.Wherein the anti-collision warning technology based on machine vision mode is taken the photograph by vehicle-mounted Outside road information when camera collection vehicle is travelled, by after computer disposal, entering to the imminent dangerous situation in front Row alarm.This mode detection information amount is big, need data volume to be processed big, and be also limited to road environment, road environment, The influence of weather conditions and light condition etc., so it is difficult to ensure that the accuracy of Data Detection, it is therefore more likely that causing early warning The reduction of accuracy.Anti-collision warning technology based on distance measuring method has good accuracy on straight road, but due to surveying Away from the high directivity of technology, then there is significant limitation under the traffic environment of bend or intersection, it is impossible to ensure to survey Away from accuracy, therefore cannot be protected based on the anti-collision warning technology of distance measuring method under the traffic environment of bend or intersection Demonstrate,prove the accuracy of early warning.

To sum up, the early warning accuracy of existing anti-collision warning technology is relatively low.

The content of the invention

In view of the above problems, the present invention provides a kind of method of vehicle collision prewarning, apparatus and system, is used to solve existing Anti-collision warning technology the relatively low problem of early warning accuracy.

In order to solve the above technical problems, in a first aspect, the invention provides a kind of method of vehicle collision prewarning, the side Method includes：

Obtain the information of vehicles of first vehicle and the second vehicle in the first vehicle preset range, institute Stating information of vehicles includes positional information, velocity information and azimuth information；

Positional information and azimuth information according to first vehicle and the second vehicle determine first vehicle and The scene type that two vehicle car cars meet；

Default collision warning algorithm corresponding with the scene type is called to calculate first car from warning algorithm storehouse The danger coefficient met with second vehicle, the default collision warning algorithm be according to the positional information between vehicle, Velocity information and azimuth information determine the model of danger coefficient, and all scene types pair are included in the warning algorithm storehouse The default collision warning algorithm answered；

Generation vehicle collision is determined whether it is likely that according to the danger coefficient, the early warning of vehicle collision is realized.

Optionally, the positional information and azimuth information according to first vehicle and the second vehicle determines described The scene type that one vehicle and the second vehicle car car meet, including：

The positional information of positional information and azimuth information and second vehicle according to first vehicle determines Second vehicle relative to first vehicle traveling-position, with determine second vehicle be located at the first vehicle traveling Front or traveling rear；

If traveling front is located at, by the corresponding azimuth of azimuth information of first vehicle and second vehicle The corresponding azimuthal difference of azimuth information is matched with pre-configured orientation angular region, determines the scene type, the field Scape type includes traveling in the same direction, backward going, intersect and travel, a pair of the pre-configured orientation angular region and the scene type 1 Should.

Optionally, the scene type is travelled to intersect, and the default collision warning algorithm is intersection-type collision warning algorithm, Called in the storehouse from warning algorithm default collision warning algorithm corresponding with the scene type calculate first vehicle with The danger coefficient that second vehicle meets, including：

Velocity information, the orientation of velocity information, azimuth information and second vehicle according to first vehicle Angle information calculates the relative travel speed of first vehicle and second vehicle；

Positional information according to first vehicle and relative traveling described in the positional information calculation of second vehicle Projection value of the speed on location point line of first vehicle with second vehicle；

First car is calculated according to the distance between first vehicle and described second vehicle and the projection value Collision time with second vehicle；

Scope according to collision time determines corresponding danger coefficient, the different danger of different collision time scope correspondences Coefficient.

Optionally, it is described to be calculated according to the distance between first vehicle and described second vehicle and the projection value First vehicle includes with the collision time of second vehicle：

The ratio of the distance between first vehicle and described second vehicle with the projection value is calculated, described touching is obtained Hit the time.

Optionally, the scene type be in the same direction traveling in same track travel in the same direction, the default collision warning algorithm It is collision warning algorithm in the same direction, default collision warning algorithm corresponding with the scene type is called in the storehouse from warning algorithm The danger coefficient that first vehicle meets with second vehicle is calculated, including：

Judge whether the speed of first vehicle is more than the speed of second vehicle；

If more than the speed of second vehicle, according to first vehicle and the velocity information meter of second vehicle Calculate the safe early warning distance of first vehicle and second vehicle；

Distance according to relatively described second vehicle of first vehicle is true with the magnitude relationship of the safe early warning distance The fixed danger coefficient.

Optionally, it is described that generation vehicle collision is determined whether it is likely that according to the danger coefficient, realize vehicle collision Early warning includes：

Hair is determined whether it is likely that in the range of the danger coefficient that may be collided according to whether the danger coefficient belongs to Raw vehicle collision；

If it is determined that being likely to occur vehicle collision, then early warning signal corresponding with danger coefficient and/or control signal are generated, Different early warning signals and/or the different danger coefficient of control signal correspondence；

If it is determined that not being likely to occur vehicle collision, then early warning signal and/or control signal are not generated.

Optionally, the default collision warning algorithm be collision warning algorithm in the same direction, called from warning algorithm storehouse with The dangerous system that scene type corresponding default collision warning algorithm calculating first vehicle meets with second vehicle Before number, methods described is further included：

The first vehicle and second car according to the positional information calculation of first vehicle and second vehicle Projector distance on first vehicle heading；

Compare the size of the projector distance and default lane width, determine that second vehicle is with first vehicle It is no positioned at same track.

Optionally, methods described also includes：

The information of vehicles of first vehicle is broadcasted in the first vehicle preset range, so that distance The second vehicle in the first vehicle preset range can receive the information of vehicles of first vehicle.

Optionally, the information of vehicles of second vehicle of the acquisition in the first vehicle preset range, including：

Receive the information of vehicles of the second vehicle that second vehicle sends.

Optionally, broadcasted in the first vehicle preset range by the information of vehicles of first vehicle Before, methods described also includes：

The information of vehicles of first vehicle is compressed coding according to pre-arranged code mode, to reduce information transfer Flow.

Optionally, first vehicle and second vehicle in the first vehicle preset range of obtaining Information of vehicles, including：

By global position system GPS obtain first vehicle and in the first vehicle preset range The information of vehicles of two vehicles.

Second aspect, the invention provides a kind of device of vehicle collision prewarning, described device includes：

Acquiring unit, for obtaining first vehicle and the second vehicle in the first vehicle preset range Information of vehicles, the information of vehicles include positional information, velocity information and azimuth information；

Determining unit, for described in the positional information according to first vehicle and the second vehicle and azimuth information determination The scene type that first vehicle and the second vehicle car car meet；

Danger coefficient computing unit, for calling default collision corresponding with the scene type pre- from warning algorithm storehouse Alert algorithm calculates the danger coefficient that first vehicle meets with second vehicle, according to the default collision warning algorithm Positional information, velocity information and azimuth information between vehicle determine the model of danger coefficient, in the warning algorithm storehouse Comprising the corresponding default collision warning algorithm of all scene types；

Prewarning unit, for determining whether it is likely that generation vehicle collision according to the danger coefficient, realizes vehicle collision Early warning.

Optionally, the determining unit includes：

Position determination module, for positional information and azimuth information and second car according to first vehicle Positional information determine traveling-position of second vehicle relative to first vehicle, to determine second vehicle position In the traveling front or traveling rear of the first vehicle；

Matching module, if for positioned at traveling front, by the corresponding azimuth of azimuth information of first vehicle Azimuthal difference corresponding with the second vehicle heading angle information is matched with pre-configured orientation angular region, determines the field Scape type, the scene type includes traveling in the same direction, backward going, intersects traveling, the pre-configured orientation angular region and the field Scape type is corresponded.

Optionally, the scene type is travelled to intersect, and the default collision warning algorithm is intersection-type collision warning algorithm, The danger coefficient computing unit includes：

First computing module, for the velocity information according to first vehicle, azimuth information and second car Velocity information, azimuth information calculate the relative travel speed of first vehicle and second vehicle；

Second computing module, for the positional information according to first vehicle and the positional information of second vehicle Calculate the relative projection value of the travel speed on location point line of first vehicle with second vehicle；

3rd computing module, for according to the distance between first vehicle and described second vehicle and the projection Value calculates the collision time of first vehicle and second vehicle；

Danger coefficient determining module, for determining corresponding danger coefficient, different collisions according to the scope of collision time The different danger coefficient of time range correspondence.

Optionally, the 3rd computing module is used for：

Optionally, the scene type be in the same direction traveling in same track travel in the same direction, the default collision warning algorithm It is collision warning algorithm in the same direction, the danger coefficient computing unit also includes：

Whether judge module, the speed for judging first vehicle is more than the speed of second vehicle；

4th computing module, if for the speed more than second vehicle, according to first vehicle and described The velocity information of two vehicles calculates the safe early warning distance of first vehicle and second vehicle；

The danger coefficient determining module, is additionally operable to the distance according to relatively described second vehicle of first vehicle and institute The magnitude relationship for stating safe early warning distance determines the danger coefficient.

Optionally, the prewarning unit includes：

Collision determining module, for whether being belonged in the range of the danger coefficient that may be collided according to the danger coefficient Determine whether it is likely that generation vehicle collision；

First warning module, for if it is determined that be likely to occur vehicle collision, then generating early warning corresponding with danger coefficient Signal and/or control signal, different early warning signals and/or the different danger coefficient of control signal correspondence；

Second warning module, for if it is determined that be not likely to occur vehicle collision, then not generating early warning signal and/or control Signal.

Optionally, the default collision warning algorithm is collision warning algorithm in the same direction, and described device is further included：

Projector distance computing unit, for calling default collision corresponding with the scene type from warning algorithm storehouse Before warning algorithm calculates the danger coefficient that first vehicle meets with second vehicle, according to first vehicle and institute The first vehicle described in the positional information calculation of the second vehicle is stated with second vehicle on first vehicle heading Projector distance；

Comparing unit, the size for comparing the projector distance and default lane width, determine second vehicle with Whether first vehicle is located at same track.

Optionally, described device also includes：

Radio unit, for the information of vehicles of first vehicle to be carried out in the first vehicle preset range Broadcast, so that the second vehicle in the first vehicle preset range can receive the vehicle letter of first vehicle Breath.

Optionally, the acquiring unit is used for：

Optionally, described device also includes：

Coding unit, for entering in the first vehicle preset range by the information of vehicles of first vehicle Before row broadcast, the information of vehicles of first vehicle is compressed coding according to pre-arranged code mode, to reduce information biography Defeated flow.

Optionally, the acquiring unit is additionally operable to：

The third aspect, the invention provides a kind of system of vehicle collision prewarning, the system include the first vehicle and Second vehicle；

First vehicle, for obtain first vehicle and in the first vehicle preset range second The information of vehicles of vehicle, the information of vehicles includes positional information, velocity information and azimuth information；According to described first The positional information and azimuth information of vehicle and the second vehicle determine the scene that first vehicle and the second vehicle car car meet Type；Called from warning algorithm storehouse default collision warning algorithm corresponding with the scene type calculate first vehicle with The danger coefficient that second vehicle meets, the default collision warning algorithm is according to the positional information between vehicle, speed Information and azimuth information determine the model of danger coefficient, corresponding comprising all scene types in the warning algorithm storehouse Default collision warning algorithm；Generation vehicle collision is determined whether it is likely that according to the danger coefficient, the pre- of vehicle collision is realized It is alert；

Second vehicle, for broadcasting second vehicle to the vehicle in the second vehicle preset range Information of vehicles, so that first vehicle gets the information of vehicles of second vehicle.

By above-mentioned technical proposal, method, the apparatus and system of the vehicle collision prewarning that the present invention is provided are, it is necessary to obtain Information only has positional information, velocity information and the azimuth information of vehicle, it is not necessary to gather environmental information, road information etc., Therefore the quantity of the data of collection and treatment is greatly reduced；Other positional information, velocity information and azimuth information are obtained The influence that will not be subject to the factors such as light condition, weather conditions and condition of road surface (straight way, bend, intersection etc.) is taken, because This can be with the accuracy of guarantee information.On the basis of ensureing that acquisition information is accurate, further according to the first vehicle for getting and The positional information of the second vehicle, velocity information and azimuth information determine during danger coefficient that two cars meet, it is possible to protect The accuracy of danger coefficient is demonstrate,proved, generation vehicle collision is finally determined whether it is likely that according to accurate danger coefficient, realize vehicle The more accurately early warning of collision.To sum up, compared with prior art, the present invention is provided the method for vehicle collision prewarning, device and System can largely improve the accuracy of anti-collision warning.

Described above is only the general introduction of technical solution of the present invention, in order to better understand technological means of the invention, And can be practiced according to the content of specification, and in order to allow the above and other objects of the present invention, feature and advantage can Become apparent, below especially exemplified by specific embodiment of the invention.

Brief description of the drawings

By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit is common for this area Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：

Fig. 1 shows a kind of flow chart of the method for vehicle collision prewarning provided in an embodiment of the present invention；

Fig. 2 shows the schematic diagram that azimuth coverage provided in an embodiment of the present invention specifies；

Fig. 3 shows the flow chart of the method for another vehicle collision prewarning provided in an embodiment of the present invention；

Fig. 4 shows the example of determination traveling-position of second vehicle relative to the first vehicle provided in an embodiment of the present invention Schematic diagram；

Fig. 5 shows that first vehicle of calculating provided in an embodiment of the present invention intersects the dangerous system that traveling is met with the second vehicle The schematic diagram of several examples；

Fig. 6 shows the flow chart of the method for another vehicle collision prewarning provided in an embodiment of the present invention；

Fig. 7 shows a kind of composition frame chart of the device of vehicle collision prewarning provided in an embodiment of the present invention；

Fig. 8 shows the composition frame chart of the device of another vehicle collision prewarning provided in an embodiment of the present invention；

Fig. 9 shows that a kind of corresponding functional structure of the device of vehicle collision prewarning provided in an embodiment of the present invention is illustrated Figure.

Specific embodiment

The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here Limited.Conversely, there is provided these embodiments are able to be best understood from the disclosure, and can be by the scope of the present disclosure Complete conveys to those skilled in the art.

For the early warning accuracy for solving the problems, such as existing anti-collision warning technology is relatively low, one kind is the embodiment of the invention provides The method of vehicle collision prewarning, as shown in figure 1, the method includes：

101st, the information of vehicles of the second vehicle in the first vehicle and distance the first vehicle preset range is obtained.

Wherein the first vehicle is the Current vehicle where the corresponding program of method of vehicle collision prewarning in the present embodiment.Its In the second vehicle refer to any vehicle in distance the first vehicle preset range, preset range refers to that can enter with the first vehicle In the range of row normal network communications.Specifically the mode of the information of vehicles of the first vehicle of acquisition is：By positioned at the first vehicle On third-party application obtain, the specific means for obtaining are not restricted, can be by others such as cordless communication networks Communication mode is obtained.Third-party application refers to the application of the information of vehicles of accurate recording vehicle.Danger in the second vehicle The vehicle that the corresponding program of dangerous method for early warning can obtain the second vehicle as the mode of the information of vehicles for obtaining the first vehicle is believed Breath, and the first vehicle is sent to after the acquisition, therefore the first vehicle can get the information of vehicles of the second vehicle.Obtain second The information of vehicles of vehicle is in order to information of vehicles subsequently according to the first vehicle and the second vehicle carries out anti-collision warning.

The information of vehicles of the first vehicle and the second vehicle includes positional information, velocity information and azimuth information.Need To illustrate that information of vehicles is periodically to obtain, the specific acquisition cycle can freely set according to actual demand.This Regulation azimuth is the angle of the headstock direction with the positive north of vehicle in embodiment, and the regulation of azimuth coverage is as shown in Figure 2.Side The scope of parallactic angle is (- 180 °, 180 °).

It should be noted that in actual application, the first vehicle can get all the second cars within a preset range Information of vehicles, respectively the information of vehicles of the information of vehicles according to the second different vehicles and the first vehicle independently carry out subsequently Anti-collision warning.

102nd, the positional information and azimuth information according to the first vehicle and the second vehicle determine the first vehicle and the second car The scene type that car car meets.

The scene type that car car meets includes：Traveling is met in the same direction, backward going meets, intersect traveling meets.Wherein hand over Fork traveling meet again include it is left intersect traveling meet and it is right intersect traveling meet.It should be noted that cross traveling is met It is primarily referred to as the scene that the first vehicle or the second vehicle meet in intersection.

The corresponding mode for judging whether to collide of different scene types is different, i.e., follow-up calculating is dangerous The algorithm for being used of coefficient is different, it is therefore desirable to the scene type met of vehicle is determined first, so that subsequent step Corresponding default collision warning algorithm can be selected according to the scene type met.

103rd, called from warning algorithm storehouse default collision warning algorithm corresponding with scene type calculate the first vehicle with The danger coefficient that second vehicle meets.

Default collision warning algorithm is to be determined according to the positional information between vehicle, velocity information and azimuth information The model of danger coefficient, includes the corresponding default collision warning algorithm of different scenes type in warning algorithm storehouse.For different The scene type that car car meets, calls in the algorithm of the corresponding danger early warning of scene type.Such as if it is determined that scene type be Intersect traveling, then call intersection-type collision warning algorithm；If it is determined that scene type in the same direction traveling, then call anti-collision warning in the same direction Algorithm etc..

It should be noted that danger coefficient refers to danger classes, such as, danger classes can be divided into two-stage, and one-level is not for Dangerous, corresponding danger coefficient can be set to 0, and two grades is dangerous, and corresponding danger coefficient is set to 1；Or it is divided into three-level, To be safe from danger, corresponding danger coefficient can be set to 0 to one-level, and two grades is rudimentary danger, and corresponding danger coefficient is set to 2, three Level is senior danger, and corresponding danger coefficient is set to 3；Or more than three-level more grades.The setting of specific danger coefficient can be with For numeral can also can distinguish different grades of any representation for letter etc..

104th, generation vehicle collision is determined whether it is likely that according to danger coefficient, realizes the early warning of vehicle collision.

Corresponding to the danger classes in step 103, if danger coefficient is in dangerous scope, it is determined that may touch Hit；If danger coefficient is in the range of being safe from danger, it is determined that may not collide.If being likely to occur collision, enter The early warning of row collision, measure of pre- anticollision etc. is carried out to remind user to implement pre- anticollision or control vehicle automatically.If May not collide, then the early warning do not collided.

The method of vehicle collision prewarning provided in an embodiment of the present invention is, it is necessary to the position that the information for obtaining only has vehicle is believed Breath, velocity information and azimuth information, it is not necessary to gather environmental information, road information etc., thus greatly reduce collection and The quantity of the data for the treatment of；Being obtained without of other positional information, velocity information and azimuth information be subject to light condition, The influence of the factor such as weather conditions and condition of road surface (straight way, bend, intersection etc.), therefore can be with the accurate of guarantee information Property.On the basis of ensureing that acquisition information is accurate, further according to the first vehicle and positional information, the speed of the second vehicle that get Degree information and azimuth information determine during danger coefficient that two cars meet, it is possible to ensure the accuracy of danger coefficient, most Generation vehicle collision is determined whether it is likely that according to accurate danger coefficient eventually, the more accurately early warning of vehicle collision is realized.It is comprehensive On, compared with prior art, the method for vehicle collision prewarning provided in an embodiment of the present invention can be improved largely touches Hit the accuracy of early warning.

Refinement and extension to method shown in Fig. 1, the embodiment of the present invention additionally provide a kind of method of vehicle collision prewarning, As shown in Figure 3：

201st, the information of vehicles of the first vehicle is obtained by global position system GPS.

Global positioning system (Global Positioning System, GPS) is the third-party application being located in vehicle, The information of vehicles of vehicle where being directly obtained by GPS.Wherein information of vehicles include positional information, velocity information, with And azimuth information.The definition of the azimuth information being related in the definition of specific azimuth information and Fig. 1 steps 101 is identical 's.It should be noted that need not increase new hardware device by way of the information of vehicles that GPS obtains vehicle, can be very Good control cost.

The information of vehicles of the first vehicle can be sent to distance in the form of broadcasting after obtaining the information of vehicles of the first vehicle All of vehicle in first vehicle preset range, so that other vehicles judge the first vehicle according to the information of vehicles of the first vehicle With the possibility of the collision of vehicle.Wherein preset range refers to the scope that normal network communications can be carried out between vehicle.

In addition, in order to reduce information of vehicles transmission time delay, the information of vehicles that the embodiment of the present invention will also get according to Pre-arranged code mode is compressed coding.Receiving information of vehicles side can carry out corresponding decompression acquisition information of vehicles.To vehicle Information is compressed coding and can reduce the network bandwidth taken in network transmission process, therefore can reduce information of vehicles biography Defeated time delay, improves the performance of system.

202nd, the information of vehicles of the second vehicle that the second vehicle sends is received.

Wherein the second vehicle refers to any vehicle in distance the first vehicle preset range.Second vehicle can equally lead to The GPS crossed in the second vehicle obtains the information of vehicles of the second vehicle, then by the information of vehicles of the second vehicle by broadcast Mode be sent to all vehicles in distance the second vehicle preset range, it is all wherein in the second vehicle of distance preset range Vehicle includes the first vehicle, so the first vehicle can receive the information of vehicles of the second vehicle.

203rd, the positional information and azimuth information according to the first vehicle and the second vehicle determine the first vehicle and the second car The scene type that car car meets.

It is specific to determine that the first vehicle is as follows with the process of the scene type that the second vehicle car car meets：

First, according to the first vehicle positional information and azimuth information and the positional information of the second vehicle determines second Vehicle relative to the first vehicle traveling-position, with determine the second vehicle be located at the first vehicle traveling front or traveling rear；

It should be noted that traveling-position is defined on the basis of the travel direction of the first vehicle, i.e., in the first vehicle Direct of travel on specifically judge the traveling-position of the second vehicle.The position of the first vehicle and the second vehicle in the present embodiment Information is the positional information based on longitude-latitude coordinates, therefore positional information is the coordinate value in longitude-latitude coordinates, latitude coordinates It, with the earth's core as origin, is y-axis positive direction (y-axis represents vehicle latitude), weft direction eastwards with warp direction northwards that system is It is x-axis positive direction (x-axis represents vehicle longitude).By the vehicle location that is reflected from longitude-latitude coordinates for vehicle on the ground Absolute position, it cannot judge relative traveling-position of second vehicle in the first vehicle traveling direction.Accordingly, it would be desirable to again It is the origin of coordinates with the current position of the first vehicle, is y-axis positive direction with the first vehicle traveling direction, y-axis is suitable with horizontal direction It is x-axis positive direction that hour hands are rotated by 90 °, and sets up and travels coordinate system relative to one of the first vehicle.By the first vehicle and the second car Longitude and latitude degrees of data, be transformed into from latitude and longitude coordinates system in the traveling coordinate system.Specifically judge in the traveling coordinate system Second vehicle with respect to the first vehicle traveling-position, that is, judge the second vehicle position coordinates specifically fall traveling coordinate system In which quadrant in, i.e., in the one, two quadrant for traveling in front of, be traveling rear in three, four-quadrant.

Provide specific example pair and determine that the second vehicle is illustrated relative to the traveling-position of the first vehicle, such as Fig. 4 institutes Show.Wherein, H points are the current position coordinates (X in longitude-latitude coordinates of the first vehicle_h, Y_h), N points are the current of the second vehicle Position coordinates (X in longitude-latitude coordinates_n, Y_n), it with a H points is the traveling coordinate system of origin that coordinate system X ' HY ' are, the row Coordinate system is sailed parallel to ground, the positive direction of Y ' is the direct of travel of the first vehicle, then head_hIt is the azimuth of the first vehicle, The direction that i.e. vehicle is advanced and positive northern angle.Dotted line coordinate system XNY in Fig. 4 is by the origin translation of latitude and longitude coordinates system Obtained after to H points.According to the scene of the vehicle relative position shown in Fig. 4, row of second vehicle with respect to the first vehicle is calculated It is head to sail the data mainly used position_hAngle and θ angles, the span at θ angles are (- 180 °, 180 °), by judging (θ- head_h) value determine the quadrant where N points, wherein, (θ-head_h) value be the angle of angle Y ' HN, it is specific to judge as follows：

Dang ∣ θ-head_hDuring ∣≤90 °, N points are located in the one of X ' HY ' coordinate systems, two quadrant, and now, the second vehicle is located at The traveling front of the first vehicle；

Dang ∣ θ-head_hDuring 90 ° of ∣ ＞, N points are located in the three of X ' HY ' coordinate systems, four-quadrant, and now, the second vehicle is located at The traveling rear of the first vehicle.

Wherein, θ angles can be calculated by the coordinate of H, N point, and specific formula is：

θ=atan2 ((X_n-X_h), (Y_n-Y_h))

Secondly, if the second vehicle is located at the first vehicle and travels front, further by the azimuth information pair of the first vehicle The azimuth answered azimuthal difference corresponding with the second vehicle heading angle information is matched with pre-configured orientation angular region, it is determined that Scene type, scene type includes traveling in the same direction, backward going, intersects traveling, and pre-configured orientation angular region is with scene type one by one Correspondence.

Provide specific example and illustrate the implementation that scene type is determined according to azimuthal difference：Assuming that first Current vehicle position is H points, and the current location of the second vehicle is N points, and azimuthal span is (- 180 °, 180 °), in advance If azimuth coverage is (- α, α), (180 ° of-α, 180 °), (- 180 °, α -180 °), (α, 180 ° of-α) and (α -180 °,-α), Assuming that being head according to the current azimuth of the first vehicle that above-mentioned third-party application is obtained_h, the current azimuth of the second vehicle It is head_n, it is assumed that α=20 °, then determine that the second vehicle can be obtained with the scene type of the first vehicle by following modes：

Dang ∣ head_n-head_hDuring 20 ° of ∣ ＜, the second vehicle is traveling in the same direction with respect to the first vehicle；

Dang ∣ head_n-head_hDuring 160 ° of ∣ ＞, the second vehicle is backward going with respect to the first vehicle；

As 20 ° of ＜ (head_n-head_h) 160 ° of ＜ when, the second vehicle intersects traveling with respect to the first vehicle for left；

As -160 ° of ＜ (head_n-head_h) ＜ -20 ° when, the second vehicle with respect to the first vehicle for it is right intersect traveling.

Wherein, the appropriate adjustment of the α in pre-configured orientation angular region can be actual demand.

204th, called from warning algorithm storehouse default collision warning algorithm corresponding with scene type calculate the first vehicle with The danger coefficient that second vehicle meets.

The different default collision warning algorithm of different scene type correspondences.With two of which scene type in the present embodiment As a example by be specifically described.

The first scene type：Intersect traveling to meet (including left intersection traveling is met and right intersection traveling is met).

The first vehicle of specific calculating is as follows with the process of the danger coefficient that the second vehicle meets：

It should be noted that the positional information of the first vehicle and the second vehicle is the position based on longitude-latitude coordinates sitting Mark.

First, the velocity information of velocity information and azimuth information and the second vehicle according to the first vehicle and Azimuth information calculates the relative travel speed of the first vehicle and the second vehicle；

Second, the positional information calculation of positional information and the second vehicle according to the first vehicle is with respect to travel speed the Projection value on the location point line of one vehicle and the second vehicle；

3rd, projection value in the distance and second step according to the first vehicle and the second vehicle calculate the first vehicle with The collision time of the second vehicle；

Specific collision time is worth to by the ratio of the distance and projection value of the first vehicle and the second vehicle.

4th, the scope according to the collision time obtained in third step determines corresponding danger coefficient, different collisions The different danger coefficient of time range correspondence.

The different collision time scope of different danger coefficient correspondences.Danger coefficient refers to danger classes, such as, and danger etc. Level can be divided into two-stage, and to be safe from danger, corresponding danger coefficient can be set to 0 to one-level, and two grades is dangerous, corresponding danger Coefficient is set to 1；Or it is divided into three-level, to be safe from danger, corresponding danger coefficient can be set to 0 to one-level, and two grades is rudimentary danger, Corresponding danger coefficient is set to 2, and three-level is senior danger, and corresponding danger coefficient is set to 3；Or more than three-level more grades. The setting of specific danger coefficient can also can distinguish different grades of any representation for numeral for letter etc..

Specific example is provided, the danger coefficient met with the second vehicle to calculating the first vehicle is illustrated.Following institute State：

Vehicle latitude and longitude coordinates system is set up, vehicle latitude and longitude coordinates system, with the earth's core as origin, is Y with warp direction northwards Axle positive direction (Y-axis represents vehicle latitude), weft direction eastwards is X-axis positive direction (X-axis represents vehicle longitude), vehicle longitude and latitude Degree coordinate system is defined as XOY, in XOY coordinate systems, it is assumed that the position coordinates of the first vehicle is N (X₁, Y₁), the position of the second vehicle Confidence breath is H (X₂, Y₂)；The azimuth of other first vehicle is H₁And travel speed is V₁, the azimuth of the second vehicle is H₂ And travel speed is V₂, as shown in Figure 5.Wherein azimuth represents the angle in headstock direction and direct north, it is stipulated that azimuth Scope be (- 180 °, 180 °).

Calculate V₁And V₂The velocity component in X-axis and Y-axis, is denoted as V respectively_1xAnd V_1y, V_2xAnd V_2y.Specific meter Calculate formula as follows：

V_1x=V₁sin H₁；V_1y=V₁cos H₁

V_2x=V₂sin H₂；V_2y=V₂cos H₂

The angle theta of the first vehicle and the second vehicle location point between line and X-axis is calculated, the computing formula of θ is as follows：

The second vehicle is calculated relative to the first vehicle respectively in X-axis and the relative travel speed V of Y direction_xAnd V_y, tool The computing formula of body is as follows：

V_x=V_2x-V_1x=V₂sin H₂-V₁sin H₁

V_y=V_2y-V_1y=V₂cos H₂-V₁cos H₁

Calculate projection V of travel speed of second vehicle relative to the first vehicle on the line i.e. NH of 2 truck position points_NH, Specific computing formula is as follows：

V_NH=V_xcosθ+V_ySin θ=(V₂sin H₂-V₁sin H₁)cosθ+(V₂cos H₂-V₁cos H₁)sinθ

Finally derive：

V_NH=V₂sin(H₂+θ)-V₁sin(H₁+θ)

The collision time TTC of the first vehicle and the second vehicle is calculated, specific computing formula is as follows：

Wherein | NH | represents the length value of the line of the first vehicle and the second vehicle position point.

Embodiment of the present invention correspondence intersection travels scene of meeting and provides three different default collision time scopes, respectively TTC ∈ (0, first threshold), TTC ∈ [the first predetermined threshold value, the second predetermined threshold value) and TTC ∈ [the second predetermined threshold value ,+ ∞), three scopes of collision time correspond to two grades of danger classes, three-level and one-level, corresponding danger coefficient difference respectively It is 1,2 and 0.Therefore can be with the i.e. dangerous grade of corresponding determination danger coefficient according to the collision time being calculated.

In addition, in the present invention in embodiment the first predetermined threshold value be 4s, the second predetermined threshold value be 8s, the first predetermined threshold value with And second predetermined threshold value be all the data obtained according to actual research.

Second scene type：Traveling is met in the same direction

In the same direction traveling meet etc. the traveling in the same direction, the traveling in the same direction in same track in adjacent track, the present embodiment with Illustrated as a example by colleague's driving scene in same track.Therefore firstly the need of being made whether to be the judgement in same track, specifically The process of judgement be：The vehicle of positional information calculation first and the second vehicle according to the first vehicle and the second vehicle is in the first car Projector distance in travel direction, i.e. the level of the second vehicle vehicle of distance first in the traveling coordinate system of the first vehicle away from From corresponding to the position relationship in Fig. 4, specifically, the projection of the first vehicle and the second vehicle on the first vehicle heading Distance is Hor_D, Hor_D=d* (sin (θ-head_h)), wherein d be in longitude-latitude coordinates the first vehicle and the second vehicle away from From；Then compare the size of the projector distance and default lane width, specifically compare Hor_D and 1/2 times of current lane The size of width, if the width of current lanes of the Hor_D less than or equal to 1/2 times, it is determined that the second vehicle and the first vehicle are positions In same track, same track is not located at otherwise.Next the meter of danger coefficient is carried out to the scene that same track travels in the same direction Calculate, specifically comprise the steps：

First, judge whether the speed of the first vehicle is more than the speed of the second vehicle；

Second, if more than the speed of the second vehicle, the velocity information according to the first vehicle and the second vehicle calculates first The safe early warning distance of vehicle and the second vehicle；

Because above-mentioned it is determined that the second vehicle is located at the traveling front of the first vehicle, when the speed of the first vehicle is more than the During the speed of two vehicles, just there is the possibility for colliding, therefore when the speed of the first vehicle is more than the speed of the second vehicle, Perform and calculate safe early warning distance.

The computing formula of safe early warning distance is as follows：

Dw=(float) (v_rel* ((Tr+Ts)/1000)+(v_rel*v_rel)/(2*phi*GGGG)+d0)；

Wherein, Dw is safe early warning distance, and v_rel is the relative velocity of the first vehicle and the second vehicle, and Tr is driver Reaction time, Tr can modify；Ts is the brake coordination time, and Ts is defaulted as 200ms in the present embodiment；Phi road surfaces are adhered to Coefficient, phi takes 0.75 in specific the present embodiment；GGGG acquiescences 9.8；D0 minimum safe stopping distances, d0 is in the present embodiment Acquiescence 3m.

3rd, dangerous system is determined with the magnitude relationship of safe early warning distance with respect to the distance of the second vehicle according to the first vehicle Number.

Actual range between first vehicle and the second vehicle and safe early warning are compared apart from Dw, if between two cars Actual range be more than Dw, then the danger do not collided, i.e., corresponding danger coefficient be 0, if the actual range between two cars is big In Dw, then it represents that there is the danger of collision, corresponding danger coefficient is 1.

If the 205, determining that the first vehicle and the second vehicle are likely to occur collision according to danger coefficient, generation is with dangerous The corresponding early warning signal of number and/or control signal.

In order in the case where judging to be likely to occur collision, corresponding anticollision measure be carried out in time, it will usually raw Into corresponding early warning signal and/or control signal, generation early warning signal is in order that user can in time know risk of collision In the presence of, and the generation that the adjustment accordingly such as position or speed of vehicle carrys out collision free is carried out in time；Generating control signal is Generation can automatically control brake signal of vehicle etc., because generally person's development needs the regular hour, when in emergency risks Moment, may have little time reaction.

Met scene type for above-mentioned intersection, the danger coefficient of generation has three kinds of situations, respectively 0,1 and 2.And 0 is There is no the situation of risk of collision.1 and 2 to there is the possible situation of collision, and the different danger coefficients for indicating risk of collision is corresponding Different early warning signals, the form of early warning signal can be sound, animation, indicator lamp etc..Such as 1 corresponds to lower grade Danger coefficient, then can use yellow indicator lamp early warning, and 2 correspond to the danger signal of higher level, then can be referred to using red Show lamp early warning.In addition the different corresponding control signal of danger coefficient be also likely to be it is different, such as it is right when danger coefficient is 1 The control signal answered is probably to slow down.When danger coefficient is 2, corresponding control signal may be brake.

For it is above-mentioned it is in the same direction travel the scene type met, the danger coefficient of generation has two kinds of situations, respectively 0 and 1, and 0 is situation about may not collide, and 1 is the situation for being likely to occur collision, because determining there is the possible dangerous system of collision Number only one of which, therefore early warning signal and control signal without being classified again.In actual application, it is also possible to would be possible to Grade is subdivided in the case of colliding, be at this time accomplished by for different grades set again different early warning signal and/or Control signal.

In addition, it is necessary to explanation is, however, it is determined that may not collide, then early warning signal and/or control letter are not generated Number.

In order to the method more clearly to the vehicle collision prewarning in Fig. 3 is illustrated, the present embodiment gives one kind The corresponding flow chart of method of vehicle collision prewarning, as shown in Figure 6.

The information of vehicles of the first vehicle is wherein periodically gathered, the information of vehicles of the first vehicle is obtained corresponding to step 201, Coding is compressed to the information of vehicles of the first vehicle coding, reception are compressed to information of vehicles corresponding in step 201 The information of vehicles of the second vehicle corresponds to step 202, and the information of vehicles of the first vehicle is broadcast to nearby vehicle pair by the first vehicle The information of vehicles of the first vehicle should be sent to the vehicle in preset range in step 201 in the form of broadcasting, first is judged The scene type that vehicle and the second vehicle meet corresponds to step 203, calls the default collision warning algorithm of correspondence scene type Calculate during danger coefficient corresponds to step 204 and be calculated danger coefficient, judged whether to meet early-warning conditions according to danger coefficient Collided corresponding to being determined whether it is likely that according to danger coefficient in step 204, output early warning corresponds to step 205.

The method of the vehicle collision prewarning in above-mentioned Fig. 1 and Fig. 3 has good autgmentability, when dangerous warning algorithm more It is new or when adding new danger early warning algorithm, in actual application, the danger early warning algorithm or new that can be updated Danger early warning algorithm is added in preset algorithm storehouse, and is made according to the danger early warning algorithm or new danger early warning algorithm for updating The parameter related to vehicle used carries out corresponding acquisition, is then called according to the relevant parameter for getting corresponding dangerous pre- Alert algorithm calculates corresponding danger coefficient, and generation vehicle collision is then determined whether it is likely that according to danger coefficient, realizes car Collision early warning.

Further, as the realization to the various embodiments described above, another embodiment of the embodiment of the present invention additionally provides one The device of vehicle collision prewarning is planted, the device is used to realize the method described in above-mentioned Fig. 1 and Fig. 3.As shown in fig. 7, the device Including：Acquiring unit 31, determining unit 32, danger coefficient computing unit 33 and prewarning unit 34.

Acquiring unit 31, the vehicle for obtaining the second vehicle in the first vehicle and distance the first vehicle preset range Information, information of vehicles includes positional information, velocity information and azimuth information；

Wherein the first vehicle is the Current vehicle where the device of vehicle collision prewarning in the present embodiment.Wherein the second vehicle Refer to any vehicle in distance the first vehicle preset range, preset range refers to that can carry out proper network with the first vehicle In the range of communication.Specifically the mode of the information of vehicles of the first vehicle of acquisition is：By the third party on the first vehicle Using what is obtained, the specific means for obtaining are not restricted, and can be obtained by the others communication mode such as cordless communication network Take.Third-party application refers to the application of the information of vehicles of accurate recording vehicle.Danger early warning method in the second vehicle Corresponding program can obtain the information of vehicles of the second vehicle as the mode of the information of vehicles for obtaining the first vehicle, and obtain After be sent to the first vehicle, therefore the first vehicle can get the information of vehicles of the second vehicle.Obtain the vehicle of the second vehicle Information is in order to information of vehicles subsequently according to the first vehicle and the second vehicle carries out anti-collision warning.

Determining unit 32, for determining the first car according to the positional information and azimuth information of the first vehicle and the second vehicle The scene type met with the second vehicle car car；

Danger coefficient computing unit 33, for calling default anti-collision warning corresponding with scene type from warning algorithm storehouse Algorithm calculates the danger coefficient that the first vehicle and the second vehicle meet, and default collision warning algorithm is according to the position between vehicle Information, velocity information and azimuth information determine the model of danger coefficient, and all scene types pair are included in warning algorithm storehouse The default collision warning algorithm answered；

Prewarning unit 34, for determining whether it is likely that generation vehicle collision according to danger coefficient, realizes vehicle collision Early warning.

Corresponding to the danger classes in danger coefficient computing unit 33, if danger coefficient is in dangerous scope, really Surely may collide；If danger coefficient is in the range of being safe from danger, it is determined that may not collide.If being possible to hair Raw collision, the then early warning collided carries out pre- anticollision automatically to remind user to implement pre- anticollision or control vehicle Measure etc..If may not collide, the early warning do not collided.

As shown in figure 8, determining unit 32 includes：

Position determination module 321, for the positional information and azimuth information according to the first vehicle and the second vehicle Positional information determines traveling-position of second vehicle relative to the first vehicle, to determine that the second vehicle is located at the traveling of the first vehicle Front or traveling rear；

Matching module 322, if for positioned at traveling front, by the corresponding azimuth of the azimuth information of the first vehicle with The corresponding azimuthal difference of second vehicle heading angle information is matched with pre-configured orientation angular region, determines scene type, field Scape type includes traveling in the same direction, backward going, intersects traveling, and pre-configured orientation angular region is corresponded with scene type.

As shown in figure 8, scene type is travelled to intersect, it is intersection-type collision warning algorithm to preset collision warning algorithm, dangerous Coefficient calculation unit 33 includes：

First computing module 331, for the speed of the velocity information according to the first vehicle, azimuth information and the second vehicle Degree information, azimuth information calculate the relative travel speed of the first vehicle and the second vehicle；

Second computing module 332, for the positional information according to the first vehicle and the positional information calculation of the second vehicle With respect to projection value of the travel speed on the location point line of the first vehicle and the second vehicle；

3rd computing module 333, for calculating the according to the distance between the first vehicle and the second vehicle and projection value The collision time of one vehicle and the second vehicle；

Danger coefficient determining module 334, for determining corresponding danger coefficient according to the scope of collision time, different touches Hit the different danger coefficient of time range correspondence.

3rd computing module 333 is additionally operable to：

The ratio of the distance between the first vehicle and the second vehicle and projection value is calculated, collision time is obtained.

As shown in figure 8, scene type be in the same direction traveling in same track travel in the same direction, preset collision warning algorithm be in the same direction Collision warning algorithm, danger coefficient computing unit 33 also includes：

Whether judge module 335, the speed for judging the first vehicle is more than the speed of the second vehicle；

4th computing module 336, if for the speed more than the second vehicle, according to the first vehicle and the speed of the second vehicle Degree information calculates the safe early warning distance of the first vehicle and the second vehicle；

The computing formula of safe early warning distance is as follows：

Dw=(float) (v_rel* ((Tr+Ts)/1000)+(v_rel*v_rel)/(2*phi*GGGG)+d0)；

Danger coefficient determining module 334, be additionally operable to according to the first vehicle with respect to the second vehicle distance and safe early warning away from From magnitude relationship determine danger coefficient.

As shown in figure 8, prewarning unit 34 includes：

Collision determining module 341, for whether being belonged in the range of the danger coefficient that may be collided according to danger coefficient Determine whether it is likely that generation vehicle collision；

First warning module 342, for if it is determined that being likely to occur vehicle collision, then generation is corresponding with danger coefficient pre- Alert signal and/or control signal, different early warning signals and/or the different danger coefficient of control signal correspondence；

Second warning module 343, for if it is determined that be not likely to occur vehicle collision, then do not generate early warning signal and/or Control signal.

As shown in figure 8, default collision warning algorithm is collision warning algorithm in the same direction, device is further included：

Projector distance computing unit 35, for calling default collision corresponding with scene type pre- from warning algorithm storehouse Before alert algorithm calculates the danger coefficient that the first vehicle and the second vehicle meet, the position letter according to the first vehicle and the second vehicle Breath calculates the projector distance of the first vehicle and the second vehicle on the first vehicle heading；

Comparing unit 36, for compared projections distance and the size of default lane width, determines the second vehicle and the first car Whether be located at same track.

In the same direction traveling meet etc. the traveling in the same direction, the traveling in the same direction in same track in adjacent track, the present embodiment with Illustrated as a example by colleague's driving scene in same track.Therefore firstly the need of being made whether to be the judgement in same track, specifically The process of judgement be：The vehicle of positional information calculation first and the second vehicle according to the first vehicle and the second vehicle is in the first car Projector distance in travel direction, i.e. the level of the second vehicle vehicle of distance first in the traveling coordinate system of the first vehicle away from From corresponding to the position relationship in Fig. 4, specifically, the projection of the first vehicle and the second vehicle on the first vehicle heading Distance is Hor_D, Hor_D=d* (sin (θ-head_h)), wherein d be in longitude-latitude coordinates the first vehicle and the second vehicle away from From；Then compare the size of the projector distance and default lane width, specifically compare Hor_D and 1/2 times of current lane The size of width, if the width of current lanes of the Hor_D less than or equal to 1/2 times, it is determined that the second vehicle and the first vehicle are positions In same track, same track is not located at otherwise.

As shown in figure 8, device also includes：

Radio unit 37, for the information of vehicles of the first vehicle to be broadcasted in distance the first vehicle preset range, So that the second vehicle in distance the first vehicle preset range can receive the information of vehicles of the first vehicle.

Acquiring unit 31 is additionally operable to：

Receive the information of vehicles of the second vehicle of the second vehicle transmission.

As shown in figure 8, device also includes：

Coding unit 38, for being broadcasted in distance the first vehicle preset range by the information of vehicles of the first vehicle Before, the information of vehicles of the first vehicle is compressed coding according to pre-arranged code mode, to reduce the flow of information transfer.

In order to reduce the time delay of information of vehicles transmission, the information of vehicles that the embodiment of the present invention will also get is according to default volume Code mode is compressed coding.Receiving information of vehicles side can carry out corresponding decompression acquisition information of vehicles.Information of vehicles is entered Row compressed encoding can reduce in network transmission process take the network bandwidth, therefore can reduce information of vehicles transmission when Prolong, improve the performance of system.

Acquiring unit 31 is additionally operable to：

The second vehicle in first vehicle and distance the first vehicle preset range is obtained by global position system GPS Information of vehicles.

Need not increase new hardware device by way of the information of vehicles that GPS obtains vehicle, can be very good control Cost.

In order to the device more clearly to the vehicle collision prewarning in Fig. 7 and Fig. 8 is illustrated, the present embodiment gives A kind of device of vehicle collision prewarning corresponding illustrative view of functional configuration, it is specific as shown in Figure 9：Specifically include information gathering, Message Processing, message encoding and decoding, danger early warning and early warning export 5 functional modules, wherein main car the first vehicle of correspondence, remote car The second vehicle of correspondence.Realization of the information acquisition module corresponding to the information of vehicles that the first vehicle is obtained in above-mentioned acquiring unit 31. Information acquisition module is the information of vehicles for collection vehicle, in the present embodiment information of vehicles include positional information, velocity information, And azimuth information, and actual information acquisition module can gather other information of vehicles, such as car status information is (urgent Brake information, turn signal state, gyro data etc.).If collection is positional information, velocity information and azimuth information, Then obtained by gps system, if what is gathered is the status information of vehicle, obtained by vehicle body CAN and sensor Sensor Take.Realization and radio unit of the message processing module corresponding to the information of vehicles that the transmission of the second vehicle is received in acquiring unit 31 The realization that the information of vehicles broadcast of the first vehicle sends in 37.Message coding/decoding module includes carrying out the compressed encoding for getting The realization of compression coding is carried out in the realization of decompression and coding unit 38 to information of vehicles.Danger early warning module includes three Individual submodule, wherein vehicle target classification submodule correspond to determining unit 32, for the information of vehicles according to the first vehicle with And second the information of vehicles of vehicle determine scene type；Correspond to warning algorithm storehouse in correspondence scene algorithm submodule, for Danger arbitration scheduling submodule provides the support of algorithm；Danger arbitration scheduling submodule, corresponding to danger coefficient computing unit 33 And prewarning unit 34, for calling corresponding default collision warning algorithm from reuse algorithm submodule according to scene type, Then corresponding danger coefficient is calculated, it is determined whether be likely to occur vehicle collision, and it is determined that there is the possible situation of collision Under, corresponding danger coefficient and the corresponding scene type of danger coefficient are exported and give early warning output module, make its output correspondence Early warning signal and/or control signal.Early warning output module corresponds to the second warning module 343.

The device of vehicle collision prewarning provided in an embodiment of the present invention is, it is necessary to the position that the information for obtaining only has vehicle is believed Breath, velocity information and azimuth information, it is not necessary to gather environmental information, road information etc., thus greatly reduce collection and The quantity of the data for the treatment of；Being obtained without of other positional information, velocity information and azimuth information be subject to light condition, The influence of the factor such as weather conditions and condition of road surface (straight way, bend, intersection etc.), therefore can be with the accurate of guarantee information Property.On the basis of ensureing that acquisition information is accurate, further according to the first vehicle and positional information, the speed of the second vehicle that get Degree information and azimuth information determine during danger coefficient that two cars meet, it is possible to ensure the accuracy of danger coefficient, most Generation vehicle collision is determined whether it is likely that according to accurate danger coefficient eventually, the more accurately early warning of vehicle collision is realized.It is comprehensive On, compared with prior art, the device of vehicle collision prewarning provided in an embodiment of the present invention can largely be improved and touched Hit the accuracy of early warning.

Last embodiment of the invention additionally provides a kind of system of vehicle collision prewarning, is used to realize Fig. 1 and Fig. 3 Shown method.The system embodiment is corresponding with preceding method embodiment, can realize in the whole in preceding method embodiment Hold.For ease of reading, the system embodiment only carries out summary description to the content in preceding method embodiment, not to method reality The detail content applied in example is repeated one by one.The system includes the first vehicle and the second vehicle, wherein, the first vehicle includes Device shown in above-mentioned Fig. 7 or Fig. 8.Specifically：

First vehicle, the vehicle letter for obtaining the second vehicle in the first vehicle and distance the first vehicle preset range Breath, information of vehicles includes positional information, velocity information and azimuth information；According to the first vehicle and the position of the second vehicle Information and azimuth information determine the scene type that the first vehicle and the second vehicle car car meet；Called from warning algorithm storehouse with The corresponding default collision warning algorithm of scene type calculates the danger coefficient that the first vehicle and the second vehicle meet, and presets collision pre- Alert algorithm is the model that danger coefficient is determined according to the positional information between vehicle, velocity information and azimuth information, early warning The corresponding default collision warning algorithm of all scene types is included in algorithms library；Generation is determined whether it is likely that according to danger coefficient Vehicle collision, realizes the early warning of vehicle collision；

Second vehicle, the information of vehicles for broadcasting the second vehicle to the vehicle in distance the second vehicle preset range, with The first vehicle is set to get the information of vehicles of the second vehicle.

The system of vehicle collision prewarning provided in an embodiment of the present invention is, it is necessary to the position that the information for obtaining only has vehicle is believed Breath, velocity information and azimuth information, it is not necessary to gather environmental information, road information etc., thus greatly reduce collection and The quantity of the data for the treatment of；Being obtained without of other positional information, velocity information and azimuth information be subject to light condition, The influence of the factor such as weather conditions and condition of road surface (straight way, bend, intersection etc.), therefore can be with the accurate of guarantee information Property.On the basis of ensureing that acquisition information is accurate, further according to the first vehicle and positional information, the speed of the second vehicle that get Degree information and azimuth information determine during danger coefficient that two cars meet, it is possible to ensure the accuracy of danger coefficient, most Generation vehicle collision is determined whether it is likely that according to accurate danger coefficient eventually, the more accurately early warning of vehicle collision is realized.It is comprehensive On, compared with prior art, the system of vehicle collision prewarning provided in an embodiment of the present invention can be improved largely touches Hit the accuracy of early warning.

In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion described in detail in certain embodiment Point, may refer to the associated description of other embodiment.

It is understood that the correlated characteristic in the above method and device can be referred to mutually.In addition, in above-described embodiment " first ", " second " etc. be, for distinguishing each embodiment, and not represent the quality of each embodiment.

It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.

Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein. Various general-purpose systems can also be used together with based on teaching in this.As described above, construct required by this kind of system Structure be obvious.Additionally, the present invention is not also directed to any certain programmed language.It is understood that, it is possible to use it is various Programming language realizes the content of invention described herein, and the description done to language-specific above is to disclose this hair Bright preferred forms.

In specification mentioned herein, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention Example can be put into practice in the case of without these details.In some instances, known method, structure is not been shown in detail And technology, so as not to obscure the understanding of this description.

Similarly, it will be appreciated that in order to simplify one or more that the disclosure and helping understands in each inventive aspect, exist Above to the description of exemplary embodiment of the invention in, each feature of the invention is grouped together into single implementation sometimes In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor The application claims of shield features more more than the feature being expressly recited in each claim.More precisely, such as following Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore, Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, and wherein each claim is in itself All as separate embodiments of the invention.

Those skilled in the art are appreciated that can be carried out adaptively to the module in the equipment in embodiment Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment Unit or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or Sub-component.In addition at least some in such feature and/or process or unit exclude each other, can use any Combine to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so disclosed appoint Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power Profit is required, summary and accompanying drawing) disclosed in each feature can the alternative features of or similar purpose identical, equivalent by offer carry out generation Replace.

Although additionally, it will be appreciated by those of skill in the art that some embodiments described herein include other embodiments In included some features rather than further feature, but the combination of the feature of different embodiments means in of the invention Within the scope of and form different embodiments.For example, in the following claims, embodiment required for protection is appointed One of meaning mode can be used in any combination.

All parts embodiment of the invention can be realized with hardware, or be run with one or more processor Software module realize, or with combinations thereof realize.It will be understood by those of skill in the art that can use in practice (such as vehicle collision is pre- to realize denomination of invention according to embodiments of the present invention for microprocessor or digital signal processor (DSP) Alert device) in some or all parts some or all functions.The present invention is also implemented as performing this In described method some or all equipment or program of device (for example, computer program and computer program Product).It is such to realize that program of the invention be stored on a computer-readable medium, or can be with one or many The form of individual signal.Such signal can be downloaded from internet website and obtained, or be provided on carrier signal, or with Any other form is provided.

It should be noted that above-described embodiment the present invention will be described rather than limiting the invention, and ability Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims, Any reference symbol being located between bracket should not be configured to limitations on claims.Word "comprising" is not excluded the presence of not Element listed in the claims or step.Word "a" or "an" before element is not excluded the presence of as multiple Element.The present invention can come real by means of the hardware for including some different elements and by means of properly programmed computer It is existing.If in the unit claim for listing equipment for drying, several in these devices can be by same hardware branch To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame Claim.

Claims

1. a kind of method of vehicle collision prewarning, it is characterised in that methods described is applied to the first vehicle, and methods described includes：

Obtain the information of vehicles of first vehicle and the second vehicle in the first vehicle preset range, the car Information includes positional information, velocity information and azimuth information；

Positional information and azimuth information according to first vehicle and the second vehicle determine first vehicle and the second car The scene type that car car meets；

Called from warning algorithm storehouse default collision warning algorithm corresponding with the scene type calculate first vehicle with The danger coefficient that second vehicle meets, the default collision warning algorithm is according to the positional information between vehicle, speed Information and azimuth information determine the model of danger coefficient, corresponding comprising all scene types in the warning algorithm storehouse Default collision warning algorithm；

2. method according to claim 1, it is characterised in that described according to first vehicle and the position of the second vehicle Information and azimuth information determine the scene type that first vehicle and the second vehicle car car meet, including：

Described in the positional information of positional information and azimuth information and second vehicle according to first vehicle determines Second vehicle relative to first vehicle traveling-position, with determine second vehicle be located at the first vehicle traveling front Or traveling rear；

If traveling front is located at, by the corresponding azimuth of azimuth information of first vehicle and second vehicle heading The corresponding azimuthal difference of angle information is matched with pre-configured orientation angular region, determines the scene type, the scene class Type includes traveling in the same direction, backward going, intersects traveling, and the pre-configured orientation angular region is corresponded with the scene type.

3. method according to claim 2, it is characterised in that the scene type is travelled to intersect, the default collision Warning algorithm is intersection-type collision warning algorithm, and default collision corresponding with the scene type is called in the storehouse from warning algorithm Warning algorithm calculates the danger coefficient that first vehicle meets with second vehicle, including：

The velocity information of velocity information, azimuth information and second vehicle according to first vehicle, azimuth letter Breath calculates the relative travel speed of first vehicle and second vehicle；

Positional information according to first vehicle and relative travel speed described in the positional information calculation of second vehicle Projection value on location point line of first vehicle with second vehicle；

According to the distance between first vehicle and described second vehicle and the projection value calculate first vehicle with The collision time of second vehicle；

Scope according to collision time determines corresponding danger coefficient, the different dangerous system of different collision time scope correspondences Number.

4. method according to claim 3, it is characterised in that it is described according to first vehicle and second vehicle it Between distance and the projection value calculate first vehicle and include with the collision time of second vehicle：

The ratio of the distance between first vehicle and described second vehicle with the projection value is calculated, when obtaining the collision Between.

5. method according to claim 2, it is characterised in that the scene type is that the same track in the same direction in traveling is in the same direction Traveling, the default collision warning algorithm is collision warning algorithm in the same direction, is called in the storehouse from warning algorithm and the scene The corresponding default collision warning algorithm of type calculates the danger coefficient that first vehicle meets with second vehicle, including：

If more than the speed of second vehicle, the velocity information according to first vehicle and second vehicle calculates institute State the safe early warning distance of the first vehicle and second vehicle；

Distance according to relatively described second vehicle of first vehicle determines institute with the magnitude relationship of the safe early warning distance State danger coefficient.

6. according to any described method in claim 4 or 5, it is characterised in that described to be according to danger coefficient determination No to be likely to occur vehicle collision, realizing the early warning of vehicle collision includes：

Generation car is determined whether it is likely that in the range of the danger coefficient that may be collided according to whether the danger coefficient belongs to Collision；

If it is determined that being likely to occur vehicle collision, then early warning signal corresponding with danger coefficient and/or control signal are generated, it is different Early warning signal and/or the control signal different danger coefficients of correspondence；

7. method according to claim 6, it is characterised in that the default collision warning algorithm is that anti-collision warning in the same direction is calculated Method, called from warning algorithm storehouse default collision warning algorithm corresponding with the scene type calculate first vehicle with Before the danger coefficient that second vehicle meets, methods described is further included：

The first vehicle according to the positional information calculation of first vehicle and second vehicle exists with second vehicle Projector distance on first vehicle heading；

Compare the size of the projector distance and default lane width, determine second vehicle and first vehicle whether position In same track.

8. method according to claim 7, it is characterised in that methods described also includes：

The information of vehicles of first vehicle is broadcasted in the first vehicle preset range, so that distance is described The second vehicle in first vehicle preset range can receive the information of vehicles of first vehicle.

9. a kind of device of vehicle collision prewarning, it is characterised in that described device is located at the first vehicle side, described device includes：

Acquiring unit, the car for obtaining first vehicle and the second vehicle in the first vehicle preset range Information, the information of vehicles includes positional information, velocity information and azimuth information；

Determining unit, for determining described first according to the positional information and azimuth information of first vehicle and the second vehicle The scene type that vehicle and the second vehicle car car meet；

Danger coefficient computing unit, for calling default anti-collision warning corresponding with the scene type to calculate from warning algorithm storehouse Method calculates the danger coefficient that first vehicle meets with second vehicle, and the default collision warning algorithm is according to vehicle Between positional information, velocity information and azimuth information determine the model of danger coefficient, included in the warning algorithm storehouse The corresponding default collision warning algorithm of all scene types；

Prewarning unit, for determining whether it is likely that generation vehicle collision according to the danger coefficient, realizes the pre- of vehicle collision It is alert.

10. a kind of system of vehicle collision prewarning, it is characterised in that the system includes the first vehicle and the second vehicle；

First vehicle, for obtaining first vehicle and the second vehicle in the first vehicle preset range Information of vehicles, the information of vehicles include positional information, velocity information and azimuth information；According to first vehicle Determine the scene type that first vehicle and the second vehicle car car meet with the positional information and azimuth information of the second vehicle； Called from warning algorithm storehouse default collision warning algorithm corresponding with the scene type calculate first vehicle with it is described The danger coefficient that second vehicle meets, the default collision warning algorithm be according to the positional information between vehicle, velocity information, And azimuth information determines the model of danger coefficient, touched comprising corresponding the presetting of all scene types in the warning algorithm storehouse Hit warning algorithm；Generation vehicle collision is determined whether it is likely that according to the danger coefficient, the early warning of vehicle collision is realized；

Second vehicle, the vehicle for broadcasting second vehicle to the vehicle in the second vehicle preset range Information, so that first vehicle gets the information of vehicles of second vehicle.