CN107599965A - Electronic-controlled installation and method for vehicle - Google Patents
Electronic-controlled installation and method for vehicle Download PDFInfo
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- CN107599965A CN107599965A CN201610546134.2A CN201610546134A CN107599965A CN 107599965 A CN107599965 A CN 107599965A CN 201610546134 A CN201610546134 A CN 201610546134A CN 107599965 A CN107599965 A CN 107599965A
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Abstract
The present invention relates to the electronic-controlled installation and method for vehicle.This method includes：Judge whether vehicle meets the prediction activation condition that laterally makes a dash across the red light for intersection；It is judged as meeting the prediction activation condition that laterally makes a dash across the red light for the intersection in response to vehicle, the transverse direction for calculating the intersection is made a dash across the red light the probability of happening；And based on the probability of happening of laterally making a dash across the red light, the horizontal event pre-warning signal that makes a dash across the red light of output.
Description
Technical field
Invention relates generally to vehicular field, more particularly, to the electronic-controlled installation and method for vehicle.
Background technology
Intersection has complex condition of road surface, and pedestrian, running red light for vehicle event happen occasionally, this to they with
And other traffic participants all bring serious potential safety hazard.Therefore, in the case of green light, driver is driving vehicle warp
The road conditions it is noted that around intersection are still needed to when crossing intersection, are especially laterally made a dash across the red light, so as to avoid causing danger.So
And the notice of driver may be reduced due to fatigue or carelessness, thus accident may occur when passing through intersection.
The content of the invention
According to the one side of the application, there is provided a kind of electronic-controlled installation for vehicle, including：Judging unit,
For judging whether vehicle meets the prediction activation condition that laterally makes a dash across the red light for intersection；Computing unit, in response to car
It is judged as meeting the prediction activation condition that laterally makes a dash across the red light for the intersection, the transverse direction for calculating the intersection is made a dash across the red light
The probability of happening；And output unit, for based on the probability of happening of laterally making a dash across the red light, the horizontal event pre-warning signal that makes a dash across the red light of output.
According to the another aspect of the application, there is provided a kind of electronic control method for vehicle, including：Judge vehicle pin
Whether meet intersection the prediction activation condition that laterally makes a dash across the red light；It is judged as meeting for the intersection in response to vehicle
Laterally made a dash across the red light prediction activation condition, and the transverse direction for calculating the intersection is made a dash across the red light the probability of happening；And made a dash across the red light based on horizontal
The probability of happening, the horizontal event pre-warning signal that makes a dash across the red light of output.
One kind is provided according to the electronic-controlled installation and method for vehicle of the embodiment of the present application in vehicle to lead to
The technical scheme of security is lifted when crossing intersection.
Brief description of the drawings
In conjunction with the following drawings, the present invention may be better understood in description according to an embodiment of the invention, wherein, it is similar
Label indicates identical or functionally similar element：
Fig. 1 is the rough schematic view for the automobile for including the electronic-controlled installation according to the embodiment of the present application.
A kind of exemplary scenario when Fig. 2 is the electronic-controlled installation work that automobile is shown according to embodiments herein.
Fig. 3 shown according to embodiments herein, the flow chart for the electronic control method of vehicle.
Fig. 4 shows that the structure of the message processing device for the electronic-controlled installation that can be realized in embodiments herein is shown
It is intended to.
Embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below.In following detailed description
In, it is proposed that many details, to provide complete understanding of the present invention.But to those skilled in the art
It will be apparent that the present invention can be implemented in the case of some details in not needing these details.Below to implementing
The description of example is used for the purpose of by showing that the example of the present invention is better understood to provide to the present invention.The present invention never limits
In any concrete configuration set forth below and algorithm, but cover under the premise of without departing from the spirit of the present invention element,
Any modification, replacement and the improvement of part and algorithm.In the the accompanying drawings and the following description, known structure and skill is not shown
Art, to avoid that unnecessary obscure is caused to the present invention.
Fig. 1 is the rough schematic view of automobile 100, can be used for automobile according to the electronic-controlled installation of the embodiment of the present application
In 100.Although with automobile as an example, still the application is not limited to apply in the car, but others can also be applied to
Motor vehicles, such as the various vehicles using internal combustion engine, motor etc. as actuating unit.As shown in figure 1, automobile 100 includes electricity
Sub- control device 110, data acquisition unit 120, DAS (Driver Assistant System) 130, they can be connected to each other, such as be connected respectively to
Controller LAN (CAN) bus of automobile 100.For brevity, known power and manipulation device, biography in automobile 100
The parts such as dynamic system are not shown in FIG. 1.
Electronic-controlled installation 110 can for example include electronic control unit (ECU).ECU can by processor (for example,
Microprocessor), controller (for example, microcontroller), PLD (for example, field programmable gate array (FPGA)),
Realized with application specific integrated circuit (ASIC) etc..In one embodiment, ECU also includes one or more memories, for example, with
Machine access memory (RAM), read-only storage (ROM), erasable programmable memory (EPROM), electric erazable programmable memory
(EEPROM) etc..Memory can be used for data storage, instruction, software, code etc., and these instructions are executed to perform the application
Described in action.
According to a kind of embodiment, it is single that electronic-controlled installation 110 can include judging unit 112, computing unit 114 and output
Member 116, hereinafter the operation of these units can be described in detail.
Data acquisition unit 120 can for example include one or more in the following：Range sensor, image sensing
Device, luminance sensor, these sensors can be obtained on the information of automobile 100 and/or relevant with the environment residing for automobile 100
Information.Data acquisition unit 120 can also include may have from automobile 100 guider, cartographic information storage device,
The components such as time module, wireless communication module, steering indicating light, steering wheel obtain the device of data.Range sensor for example can be
Radar, laser or ultrasonic sensor etc., it can perceive the distance of object, so as to obtain being perceived in preset distance
Object situation (for example, number of objects for being perceived in preset distance).Imaging sensor for example can be monochromatic or colored
(such as RGB) camera, infrared camera or the mixing with RGB and distance/depth sensing ability image first-class.Typically take the photograph
As the situation inside and outside head can capture in real time (for example, being worked with 60 ° or so of angle) vehicle and it is presented to driver and/or multiplies
Visitor.In addition, by analyzing the picture that camera captures, such as road conditions, traffic lights instruction feelings can be obtained
Condition, traffic monitor situation, round the clock traffic monitoring personnel situation, the information such as situation.Infrared camera can allow at night
Object is caught Deng accurate under low brightness condition.Luminance sensor can perceive the light luminance of outside vehicle environment, so as to for example
It is currently daytime or night to allow to judge.Guider for example can be global positioning system (GPS) device, A-GPS devices,
Whether inertial positioning device etc., it can determine the current position of vehicle and travel direction, such as determine vehicle just close to intersection
Crossing.Cartographic information storage device can for example store and update the traffic monitor installed on map at particular location
Number and other relevant informations.Time module be able to can also for example include being used for including the time module of of automobile 100 itself
Other devices of temporal information are provided.When temporal information can be correct time or for example indicate day and night
Between section information.Wireless communication module can include the device that the related online data of road is obtained based on radiotechnics.
Steering indicating light, steering wheel, there is at least one of the guider of the default guidance path of driver can be used as judge vehicle
The device whether to be turned to.The operation of data acquisition unit 120 can be hereinafter described in detail.
DAS (Driver Assistant System) 130 is connected to electronic-controlled installation 110 and unshowned transmission system.DAS (Driver Assistant System) example
Such as have one or more in following functions：Car light controls；Loudspeaker control；Such as brake, accelerate, slowing down, turning to etc
Actuation control；Adaptive learning algorithms (ACC) etc..
Fig. 2 is a kind of exemplary field when the electronic-controlled installation 110 of automobile 100 works according to embodiments herein
Scape 200.As shown in Fig. 2 automobile 100, along the direction running from south orientation north, its front is intersection 210.At intersection 210
One or more traffic lights 220 can be installed.Can have one or more automobiles and/or one at intersection 210
Individual or multiple pedestrians.For example, as shown in Fig. 2 have at intersection 210 automobile 201a, 201b and 201c and pedestrian 202a,
202b and 202c.It should be appreciated that shown in Fig. 2 at intersection possessed by automobile and pedestrian quantity and its present position only
It is exemplary, can has any number of automobile and/or pedestrian at intersection.
When automobile 100 is travelling on road, the judging unit 112 in electronic-controlled installation 110 can be configured as sentencing
Whether car 100 of cutting steam meets the prediction activation condition that laterally makes a dash across the red light for a certain intersection (for example, intersection 210).
In a kind of embodiment, judging unit 112 can be configured as being sentenced based on the information that data acquisition unit 120 is collected
It is disconnected.In one embodiment, the prediction activation condition that laterally makes a dash across the red light can be vehicle just close to intersection (automobile in such as Fig. 2
Shown in 100) or be at intersection (as shown in automobile 201a in Fig. 2).In this embodiment, data acquisition unit
120 (for example, imaging sensor and/or guiders) can gather road information residing for automobile 100 (for example, automobile 100 is in
Highway, the traveling of automobile 100 front are just being still at a certain crossing etc. for an intersection, automobile 100), and can should
Information transfer is to judging unit 112.Judging unit 112 may determine that whether automobile 100 meets the prediction activation bar that laterally makes a dash across the red light
Part.For example, if it is determined that unit 112 receives automobile 100 just close to intersection 210 or is in intersection 210
Information, then judge that automobile 100 meets the prediction activation condition that laterally makes a dash across the red light for intersection 210；Otherwise, it is judged as automobile
100 do not meet the prediction activation condition that laterally makes a dash across the red light.
In one embodiment, the prediction activation condition that laterally makes a dash across the red light can also include the traffic lights table of intersection
Bright vehicle is allowed through.For example, data acquisition unit 120 (for example, imaging sensor) can gather Current traffic signal lamp
The relevant information of (for example, traffic lights 220 shown in Fig. 2), and judging unit 112 can be transmitted the information to.
Judging unit 112 judges whether automobile 100 meets the prediction activation condition that laterally makes a dash across the red light for intersection 210.If for example,
Judging unit 112 receives automobile 100 just close to intersection 210 or is in information and the traffic of intersection 210
Signal lamp 220 shows that automobile 100 is allowed through the information of (such as providing green light signals for the travel direction of automobile 100),
Then judge that automobile 100 meets the prediction activation condition that laterally makes a dash across the red light for intersection 210；Otherwise, it is judged as that automobile 100 is not inconsistent
Close the prediction activation condition that laterally makes a dash across the red light.
In one embodiment, the prediction activation condition that laterally makes a dash across the red light can also include vehicle in intersection Chu Hui footpaths
Traveling is sailed or can turned left in straight trip.For example, data acquisition unit 120 can (such as from steering wheel, steering indicating light, guider etc.)
The information in predicted travel direction of the automobile 100 at intersection 210 is gathered, and judging unit can be transmitted the information to
112.Judging unit 112 judges whether automobile 100 meets the prediction activation condition that laterally makes a dash across the red light for intersection 210.For example,
If it is determined that unit 112 receive automobile 100 just close to intersection 210 or be in intersection 210 information and
Automobile 100 can travel or can turn left the information of traveling straight at intersection 210, then judge that automobile 100 is directed to crossroad
Mouth 210 meets the prediction activation condition that laterally makes a dash across the red light；Otherwise, it is judged as that automobile 100 does not meet the prediction activation bar that laterally makes a dash across the red light
Part.
It is judged as meeting the prediction activation condition that laterally makes a dash across the red light, electronics control for intersection 210 in response to automobile 100
The transverse direction that computing unit 114 in device 110 processed can be configured as calculating intersection 210 is made a dash across the red light the probability of happening.Invention
People recognizes that in some cases, intersection is prone to the event of making a dash across the red light, for example, the intersection does not install traffic prison
Control device；There is no traffic monitoring personnel at the intersection；The intersection is more empty (that is, without pedestrian and vehicle or presence
Less pedestrian and vehicle)；Or at night, etc..Therefore, computing unit 114 can be configured as based on it is following every (such as
Can be gathered by the data acquisition unit 120 in automobile 100) at least one of laterally made a dash across the red light the probability of happening to calculate：Close
It whether there is the data of traffic monitor (for example, traffic monitoring camera shown in Fig. 2 250) in intersection 210；On
Intersection 210 whether there is the data of traffic monitoring personnel (for example, traffic-police 203 shown in Fig. 2)；On currently round the clock
The data of information；And the data of the traffic participant density on intersection 210.Wherein, traffic monitor can wrap
Include fixed and/or portable traffic monitor.Traffic participant can include pedestrian, vehicle etc..
In one embodiment, the imaging sensor in data acquisition unit 120, cartographic information storage device can be passed through
Deng individually or combined type detect whether traffic monitor be present.In one embodiment, data acquisition list can be passed through
Imaging sensor, cartographic information storage device etc. in member 120 individually or combined type detect whether supervisor be present.
, can be independent by the imaging sensor in data acquisition unit 120, luminance sensor, time module etc. in one embodiment
Detect information round the clock ground or combined type.In one embodiment, the image sensing in data acquisition unit 120 can be passed through
Device, range sensor, wireless communication module etc. individually or combined type detect the traffic participant density of intersection 210.
For example, the wireless communication module in automobile 100 can receive the signal sent from the outside plant for providing transport information, the signal
The information of the traffic participant of intersection 210 can be included, for example, in setting range one skilled in the art and the respective number letter of vehicle
Breath.Automobile 100 can also use the imaging sensor of its own and/or the traffic of range sensor collection intersection 210 to join
With the information of number of person.In one embodiment, the wireless communication module of automobile 100 can pass the image of automobile 100 itself
The information of number of the traffic participant for the intersection 210 that sensor and/or range sensor are collected is sent to outside plant
To provide relevant information for other vehicles.Data acquisition unit 120 can be by signal and figure that wireless communication module receives
As one or both of information that sensor and/or range sensor are collected is transmitted to computing unit 114, then by counting
Calculate unit 114 and calculate traffic participant density.Or data acquisition unit 120 can be handed over based on information above to be calculated
Logical participant's density, then by the traffic participant density transmission to computing unit 114.
In one embodiment, the traffic participant density of intersection 210 can be calculated according to equation below：D=N/
A, wherein, D represents traffic participant density, and N represents the number of traffic participant in set region, and A represents set
The area in region.As shown in Fig. 2 defining shadow region part by parameter Q, R, S, T, U and V, thus shade can be calculated
Partial area is A=U*V+V*S+U*T+V*Q+U*R.Vehicle in the region can be obtained by data acquisition unit 120
Number NCWith the number N of pedestrianP.In the illustrated example shown in fig. 2, range sensor and/or imaging sensor detect shadow region
Automobile 201a and 201b inside be present, and pedestrian 202a and 202b and 202c, therefore, N be presentC=2, NP=3.According to D=N/A,
Respectively obtain the traffic density D in shadow regionCWith pedestrian density DP, so as to obtain D=DC+DP, can also be in the calculation
To traffic density DCWith pedestrian density DPDifferent weights is given respectively.It should be understood that example is these are only, intersection
Shape can be various, and the shape of shadow region is not limited to the shape shown in Fig. 2, thus to set region
The calculation of area is not limited to the above method, the computational methods of the traffic participant density of intersection is also not necessarily limited to above-mentioned
Traffic participant number and the ratio of presumptive area area.
Computing unit 114 can be configured as counting using various probabilistic methods based at least one in above-mentioned data
Calculate the probability of happening P that laterally makes a dash across the red light.For example, linear or Weighted Average Algorithm, dimensional Gaussian algorithm, three-dimensional Gaussian algorithm, mixing
Gauss algorithm etc..For example, in the case of using linear or Weighted Average Algorithm, can be collected for data acquisition unit
Each item data corresponding weight is set.For example, on intersection with the presence or absence of traffic monitor data, on
Intersection with the presence or absence of supervisor data, on intersection traffic participant density data, on current daytime
The data of night information set weight h, i, j, k respectively.These weights can be predetermined fixed value or can be by driver
Or the configuration such as attendant, online updating can also be carried out by networking, such as SVMs etc can also be passed through
Offline or online machine learning method configures.
In one embodiment, it is assumed that h=i=j=k=0.25, and data acquisition unit 120 collects intersection
Exist at 210 traffic monitoring camera 230, traffic-police 203 be present, traffic participant density is D1And current is daytime
Information, the then probability of happening P that laterally makes a dash across the red light can be calculated as P=0.25*0+0.25*0+0.25* (1/D1)+0.25*0.
In another embodiment, it is assumed that h=i=j=k=0.25, and data acquisition unit 120 is collected at intersection 210 and existed
Traffic monitoring camera 230, in the absence of traffic-police 203, traffic participant density it is D2And the current information for night, then
Laterally make a dash across the red light probability of happening P=0.25*0+0.25*1+0.25* (1/D2)+0.25*1.It is general to event of laterally making a dash across the red light above
The calculation of rate is merely illustrative, can also be calculated using other more accurate models.
After the probability of happening of laterally making a dash across the red light is calculated in computing unit 114, output unit 116 can be based on the transverse direction
Make a dash across the red light the probability of happening, output is laterally made a dash across the red light event pre-warning signal.In one embodiment, output unit 116 can be by horizontal stroke
The display unit that automobile 100 is output to the event pre-warning signal of making a dash across the red light reminds driver in a visual manner.In one embodiment
In, the event pre-warning signal that laterally makes a dash across the red light can be output to the audio output unit of automobile 100 so as to language by output unit 116
Sound or alert methods remind driver.In one embodiment, output unit 116 can be by the event pre-warning signal that laterally makes a dash across the red light
The haptic unit of automobile 100 is output to so as to remind driver in a manner of producing sense of touch.Display unit can for example be used as instrument
It a part for dial plate, can also be attached in the display interface of navigation system, can be combined with vehicle-mounted audio frequency and video display unit
In.For example, in display unit, the friendship can be shown by forms of expression such as the strip with different colours, bulk, ring-types
The probability of the horizontal event of making a dash across the red light of generation of cross road mouth.For example, red instruction can be used abnormally dangerous, yellow instruction has certain wind
Danger, green indicate safer etc..Audio output unit for example can be vehicle-mounted loudspeaker, can also be attached to navigation system
In audio output apparatus, it can be combined with vehicle-mounted audio frequency and video voice unit (VU).Haptic unit can be for example mounted or one
Be integrated into steering wheel, the different transverse direction of output indication make a dash across the red light the probability of happening transverse direction make a dash across the red light event pre-warning signal when, side
Different frequency, to some extent expansion or micro-vibration etc. can be used to disk, so that the feel of driver is by the signal.Tactile
Unit can also be mounted or integrate pilot set, the horizontal stroke for the probability of happening of being made a dash across the red light in the different transverse direction of output indication
To make a dash across the red light event pre-warning signal when, seat (for example, back and/or buttocks) with different frequency, rap driver in various degree,
To cause the back of driver and/or buttocks to experience the signal.
In one embodiment, the event pre-warning signal that laterally makes a dash across the red light can also be output to DAS (Driver Assistant System) 130.Example
Such as, when laterally make a dash across the red light event pre-warning signal show intersection 210 be prone to laterally make a dash across the red light event when, automobile can be made
100 relevant car light (for example, headlight of automobile 100) is automatically opened up or flashed, and/or makes the automatic ring of loudspeaker of automobile 100,
The vehicles or pedestrians for intending to make a dash across the red light with warning.Or in the case of necessary, the actuator of automobile 100 can be automatically enabled,
With the control such as being braked, accelerate, slow down, turn to.Or if currently have been set to adaptive learning algorithms (ACC)
Pattern, then when laterally make a dash across the red light event pre-warning signal show intersection 210 be prone to laterally make a dash across the red light event when, can be by auxiliary
Control loop is helped to reduce ACC speed automatically.
In one embodiment, electronic-controlled installation 110 can also include comparing unit (not shown), its can by with
It is set to and the transverse direction that computing unit 114 is calculated is made a dash across the red light into the probability of happening compared with one or more predetermined threshold values, wherein,
The event pre-warning signal that laterally makes a dash across the red light can include the one or more ranks associated with one or more predetermined threshold values.The threshold
Value can be predetermined fixed value, can also be configured by driver or attendant etc., can also be carried out online more by networking
Newly, can also be configured by the offline or online machine learning method of such as SVMs etc.For example, work as what is calculated
When the probability of happening of laterally making a dash across the red light is more than a certain value, output unit 116 can export the event pre-warning signal that laterally makes a dash across the red light, and prompt
Current intersection is prone to event of laterally making a dash across the red light, or prompting is prone to the degree of horizontal event of making a dash across the red light.
Fig. 3 shown according to embodiments herein, the flow chart for the electronic control method 300 of vehicle.In step
301, judge whether vehicle meets the prediction activation condition that laterally makes a dash across the red light for intersection.In one embodiment, can be based on
The information that the data acquisition unit of vehicle is collected is judged.In one embodiment, laterally make a dash across the red light prediction activation bar
Part can be vehicle just close to intersection or be at intersection.In this embodiment, data acquisition unit can be with
Road information residing for the vehicle is gathered (for example, in front of vehicle is in highway, vehicle travels for an intersection, vehicle just
Be still at a certain crossing etc.).The prediction activation condition that laterally makes a dash across the red light can be based on, judges whether vehicle meets and laterally makes a dash across the red light
Predict activation condition.If for example, the information collected shows vehicle just close to intersection or is in intersection,
Then judge that vehicle meets the prediction activation condition that laterally makes a dash across the red light for the intersection；Otherwise, it is judged as that vehicle does not meet transverse direction
Make a dash across the red light prediction activation condition.
In one embodiment, the prediction activation condition that laterally makes a dash across the red light can also include the traffic lights table of intersection
Bright vehicle is allowed through.It is directed to for example, data acquisition unit (for example, imaging sensor) can gather Current traffic signal lamp
The relevant information of the vehicle.Based on the information collected, judge that vehicle laterally makes a dash across the red light for whether the intersection meets
Predict activation condition.If for example, the information collected shows vehicle just close to intersection or is in intersection
And the traffic lights of intersection show that vehicle is allowed through, then judge vehicle for intersection meet laterally rush it is red
Lamp predicts activation condition；Otherwise, it is judged as that vehicle does not meet the prediction activation condition that laterally makes a dash across the red light.
In one embodiment, the prediction activation condition that laterally makes a dash across the red light can also include vehicle in intersection Chu Hui footpaths
Traveling is sailed or can turned left in straight trip.For example, data acquisition unit can (such as from steering wheel, steering indicating light, guider etc.) adopt
Collect the information in predicted travel direction of the vehicle at intersection.Judge whether vehicle accords with for intersection based on these information
Close the prediction activation condition that laterally makes a dash across the red light.If for example, the information collected shows vehicle just close to intersection or just
Traveling can be travelled or can turn left straight at intersection in intersection and vehicle, then judges that vehicle is directed to crossroad
Mouth meets the prediction activation condition that laterally makes a dash across the red light；Otherwise, it is judged as that vehicle does not meet the prediction activation condition that laterally makes a dash across the red light.
In step 302, it is judged as meeting the prediction activation condition that laterally makes a dash across the red light, meter for intersection in response to vehicle
The transverse direction for calculating intersection is made a dash across the red light the probability of happening.In the following items that can be collected based on the data acquisition unit of vehicle
At least one of laterally made a dash across the red light the probability of happening to calculate：It whether there is the data of traffic monitor on intersection；On
Intersection whether there is the data of supervisor；On currently data of information round the clock；And the traffic on intersection
The data of participant's density.Wherein, traffic monitor can include fixed and portable traffic monitor.Traffic participates in
Person can be pedestrian, vehicle etc..Transverse direction can be calculated using various probabilistic methods based at least one in above- mentioned information
Make a dash across the red light the probability of happening.For example, linear or Weighted Average Algorithm, dimensional Gaussian algorithm, three-dimensional Gaussian algorithm, mixed Gaussian algorithm
Deng.
In one embodiment, the imaging sensor in data acquisition unit, cartographic information storage device etc. can be passed through
Individually or combined type detect whether traffic monitor be present.In one embodiment, data acquisition unit can be passed through
In imaging sensor, cartographic information storage device etc. individually or combined type detect whether supervisor be present.At one
In embodiment, individually or it can be combined by the imaging sensor in data acquisition unit, luminance sensor, time module etc.
Detect information round the clock likes.In one embodiment, the imaging sensor in data acquisition unit, Distance-sensing can be passed through
Device, wireless communication module etc. individually or combined type detect the traffic participant density of intersection.For example, the nothing in vehicle
Line communication module can receive the signal sent from the outside plant for providing transport information, and the signal can include intersection
The information of traffic participant, for example, in setting range one skilled in the art and the respective information of number of vehicle.Alternatively or in addition, car
Can also be used its own imaging sensor and/or range sensor collection intersection traffic participant number letter
Breath.In one embodiment, the wireless communication module of vehicle can be by the imaging sensor and/or range sensor of vehicle itself
The information of number of the traffic participant of the intersection collected is sent to outside plant to provide related letter for other vehicles
Breath.
In step 303, based on the probability of happening of laterally making a dash across the red light, the horizontal event pre-warning signal that makes a dash across the red light of output.In a reality
Apply in example, the display unit that event of laterally making a dash across the red light pre-warning signal can be output to vehicle reminds driver in a visual manner.
In one embodiment, defeated transverse direction make a dash across the red light event pre-warning signal can be output to the audio output unit of vehicle so as to voice or
Alert methods remind driver.In one embodiment, the event pre-warning signal that laterally makes a dash across the red light can be output to the tactile of vehicle
Unit in a manner of producing sense of touch so that remind driver.Display unit for example can be as a part for instrument board, can also
It is attached in the display interface of navigation system, can be combined with vehicle-mounted audio frequency and video display unit.For example, in display unit
In, made a dash across the red light event by forms of expression such as the strip with different colours, bulk, ring-types to show the transverse direction of the intersection
Probability.For example, red instruction can be used abnormally dangerous, yellow indicates there is certain risk, and green instruction is safer etc..Audio is defeated
It for example can be vehicle-mounted loudspeaker to go out unit, can also be attached in the audio output apparatus of navigation system, can be combined with
In vehicle-mounted audio frequency and video voice unit (VU).Haptic unit for example can be mounted or integrate steering wheel, different in output indication
Transverse direction make a dash across the red light the probability of happening transverse direction make a dash across the red light event pre-warning signal when, steering wheel can use different frequency, different journeys
The expansion of degree ground or micro-vibration etc., so that the feel of driver is by the signal.Haptic unit can also be mounted or integrate
To pilot set, the different transverse direction of output indication make a dash across the red light the probability of happening transverse direction make a dash across the red light event pre-warning signal when, seat
Chair (for example, back and/or buttocks) with different frequency, rap driver in various degree, to cause the back of driver and/or stern
Experience the signal in portion.
In one embodiment, the event pre-warning signal that laterally makes a dash across the red light can also be output to DAS (Driver Assistant System).For example,
When laterally make a dash across the red light event pre-warning signal show intersection be prone to laterally make a dash across the red light event when, the relevant of vehicle can be made
Car light is automatically opened up or flashed, and/or makes the automatic ring of loudspeaker of vehicle, the vehicles or pedestrians for intending to make a dash across the red light with warning.Or
Person, in the case of necessary, the actuator of vehicle can be automatically enabled, with the control such as being braked, accelerate, slow down, turn to
System.Or if currently having been set to adaptive learning algorithms (ACC) pattern, when the event pre-warning signal table that laterally makes a dash across the red light
Bright intersection be prone to laterally make a dash across the red light event when, ACC speed can be reduced automatically by DAS (Driver Assistant System).
In one embodiment, method 300 can also include (not shown in Fig. 3)：The transverse direction calculated is made a dash across the red light thing
Part probability compared with one or more predetermined threshold values, wherein, event of laterally making a dash across the red light pre-warning signal can include and one
Or one or more ranks that multiple predetermined threshold values are associated.The threshold value can be predetermined fixed value, can also be by driver
Or attendant etc. configuration, can also by network carry out online updating, can also by such as SVMs etc from
Line or online machine learning method configure.For example, can the transverse direction calculated make a dash across the red light the probability of happening be more than a certain value when,
The transverse direction of the output event pre-warning signal that makes a dash across the red light will be prompted to current intersection and be prone to laterally make a dash across the red light event, or prompting is easy
In the degree that horizontal event of making a dash across the red light occurs.
Fig. 4 shows the structural representation of message processing device 400, the electronic-controlled installation in embodiments herein
110 can be realized by message processing device 400.As shown in figure 4, equipment 400 can include with one in lower component or more
：Processor 420, memory 430, power supply module 440, input/output (I/O) interface 460, communication interface 480, these components
Such as can communicatively it be connected by bus 410.
The operation of the control device 400 on the whole of processor 420, for example, it is associated with data communication and calculating processing etc.
Operation.Processor 420 can include one or more processing cores, and be able to carry out instruction to realize method described herein
All or part of step.Processor 420 can include the various devices with processing function, including but not limited to general procedure
It is device, application specific processor, microprocessor, microcontroller, graphics processor (GPU), digital signal processor (DSP), special integrated
Circuit (ASIC), PLD (PLD), field programmable gate array (FPGA) etc..Processor 420 can include
Caching 425 can communicate with caching 425, to improve the access speed of data.
Memory 430 is configured as storing various types of instructions and/or data with the operation of holding equipment 400.Data
Example include being used for the instruction of any application program or method, data operated on device 400 etc..Memory 430 can be with
Realized by any kind of volatibility or non-volatile memory device or combinations thereof.Memory 430 can include partly leading
Body memory, such as random access memory (RAM), static RAM (SRAM), dynamic random access memory
(DRAM), read-only storage (ROM), programmable read only memory (PROM), Erasable Programmable Read Only Memory EPROM (EPROM),
Electrically Erasable Read Only Memory (EEPROM), flash memory etc..Memory 430 can also include for example using paper being situated between
Any memory of matter, magnetizing mediums and/or optical medium, as paper tape, hard disk, tape, floppy disk, magneto-optic disk (MO), CD, DVD,
Blue-ray etc..
Power supply module 440 provides electric power for the various assemblies of equipment 400.Power supply module 440 can include internal cell and/
Or external power interface, and can include power-supply management system and other with generating, managing and distributing electric power phase for equipment 400
The component of association.
I/O interfaces 460 provide the interface for allowing users to interact with equipment 400.I/O interfaces 460 for example can be with
Including the interface based on technologies such as PS/2, RS-232, USB, FireWire, Lightening, VGA, HDMI, DisplayPort,
Allow users to by keyboard, Genius mouse, touch pad, touch-screen, control stick, button, microphone, loudspeaker, display, shooting
The peripheral devices such as head, projection port and equipment 400 interact.
Communication interface 480 is configured to enable equipment 400 to be communicated in a wired or wireless fashion with other equipment.If
Standby 400 can access the wireless network based on one or more communication standards by communication interface 480, for example, Wi-Fi, 2G, 3G,
4G communication networks.In a kind of exemplary embodiment, communication interface 480 can also receive via broadcast channel and come from external broadcasting
The broadcast singal or broadcast related information of management system.Exemplary communication interface 480 can include being based on near-field communication (NFC)
Technology, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology, bluetooth (BT) technology etc.
The interface of communication mode.
Functional block shown in structures described above block diagram can be implemented as hardware, software, firmware or their group
Close.When realizing in hardware, its may, for example, be electronic circuit, application specific integrated circuit (ASIC), appropriate firmware, insert
Part, function card etc..When being realized with software mode, element of the invention is used to perform program or the generation of required task
Code section.Either code segment can be stored in machine readable media program or the data-signal by being carried in carrier wave is passing
Defeated medium or communication links are sent." machine readable media " can include any medium that can store or transmit information.
The example of machine readable media includes electronic circuit, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), soft
Disk, CD-ROM, CD, hard disk, fiber medium, radio frequency (RF) link, etc..Code segment can be via such as internet, inline
The computer network of net etc. is downloaded.
The present invention can realize in other specific forms, without departing from its spirit and essential characteristics.For example, particular implementation
Algorithm described in example can be changed, and system architecture is without departing from the essence spirit of the present invention.Therefore, currently
Embodiment be all counted as being exemplary rather than in all respects it is limited, the scope of the present invention by appended claims rather than
Foregoing description defines, also, fall into claim implication and equivalent in the range of whole change so as to all be included in
Among the scope of the present invention.
Claims (10)
1. a kind of electronic-controlled installation for vehicle, including：
Judging unit, for judging whether the vehicle meets the prediction activation condition that laterally makes a dash across the red light for intersection；
Computing unit, made a dash across the red light prediction for being judged as meeting the transverse direction for the intersection in response to the vehicle
Activation condition, the transverse direction for calculating the intersection are made a dash across the red light the probability of happening；And
Output unit, for being made a dash across the red light the probability of happening based on the transverse direction, output is laterally made a dash across the red light event pre-warning signal.
2. electronic-controlled installation as claimed in claim 1, wherein, the judging unit is configured as the number based on the vehicle
The information collected according to collecting unit is judged.
3. electronic-controlled installation as claimed in claim 1, wherein, the transverse direction, which is made a dash across the red light, predicts that activation condition includes：It is described
Vehicle is just at the intersection close to the intersection or the vehicle.
4. electronic-controlled installation as claimed in claim 3, wherein, the transverse direction makes a dash across the red light prediction activation condition also including as follows
At least one of in：
The traffic lights of the intersection show that the vehicle is allowed through；And
The vehicle can travel or can turn left traveling straight at the intersection.
5. electronic-controlled installation as claimed in claim 1, in addition to：
Comparing unit, for the transverse direction to be made a dash across the red light into the probability of happening compared with one or more predetermined threshold values,
Wherein, the transverse direction make a dash across the red light event pre-warning signal include associated with one or more of predetermined threshold values one or
Multiple ranks.
6. electronic-controlled installation according to claim 1, wherein, the transverse direction event pre-warning signal that makes a dash across the red light is output to
At least one of in the following item of the vehicle：Display unit, audio output unit, haptic unit.
7. electronic-controlled installation according to claim 1, wherein, the transverse direction event pre-warning signal that makes a dash across the red light is output to
The DAS (Driver Assistant System) of the vehicle.
8. electronic-controlled installation as claimed in claim 1, wherein, the computing unit is configured to based in following items
At least one of made a dash across the red light the probability of happening to calculate the transverse direction：
It whether there is the data of traffic monitor on the intersection；
It whether there is the data of supervisor on the intersection；
Data on the traffic participant density of the intersection；And
On currently data of information round the clock.
9. a kind of electronic control method for vehicle, including：
Judge whether the vehicle meets the prediction activation condition that laterally makes a dash across the red light for intersection；
In response to the vehicle be judged as the intersection meet the transverse direction make a dash across the red light prediction activation condition, calculate
The transverse direction of the intersection is made a dash across the red light the probability of happening；And
Made a dash across the red light the probability of happening based on the transverse direction, output is laterally made a dash across the red light event pre-warning signal.
10. electronic control method as claimed in claim 9, wherein, calculated based at least one in following items described
Laterally make a dash across the red light the probability of happening：
It whether there is the data of traffic monitor on the intersection；
It whether there is the data of supervisor on the intersection；
Data on the traffic participant density of the intersection；And
On currently data of information round the clock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610546134.2A CN107599965B (en) | 2016-07-12 | 2016-07-12 | Electronic control device and method for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610546134.2A CN107599965B (en) | 2016-07-12 | 2016-07-12 | Electronic control device and method for vehicle |
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| CN107599965A true CN107599965A (en) | 2018-01-19 |
| CN107599965B CN107599965B (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610546134.2A Active CN107599965B (en) | 2016-07-12 | 2016-07-12 | Electronic control device and method for vehicle |
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| US11182628B2 (en) | 2017-04-18 | 2021-11-23 | Motional Ad Llc | Automatically perceiving travel signals |
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| Publication number | Publication date |
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| CN107599965B (en) | 2020-05-08 |
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