CN107731010A - Front truck, which intelligently avoids, under car networking environment recommends method and system - Google Patents
Front truck, which intelligently avoids, under car networking environment recommends method and system Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The present invention relates to technical field of vehicle safety, is that front truck intelligently avoids recommendation method and system under car networking environment, method includes：The first vehicle, the positional information of the second vehicle are obtained respectively, obtain the first distance and the first road information between the first vehicle and the second vehicle；If the first distance is less than the first distance threshold, car networking server sends preparation and avoids information to the first vehicle；Radar detector monitors the second distance of the first vehicle and the second vehicle, and monitors the speed of the first vehicle and the second vehicle respectively, and the second distance and first vehicle of the first vehicle and the second vehicle, the speed of the second vehicle are sent into car networking server；Car networking server calculates according to the distance and the first vehicle, the speed of the second vehicle and avoids the time, generate avoidance mode, car networking server sends avoidance mode to the first vehicle；Driver is avoided according to avoidance mode, and the present invention makes front vehicles obtain the quality time avoided, can effectively give way.
Description
Technical field
The present invention relates to technical field of vehicle safety, and in particular to front truck intelligently avoids recommendation side under a kind of car networking environment
Method and system.
Background technology
As the improvement of people's living standards, private vehicle is more and more, research report is, it is expected that before 2020, China
Car owning amount is up to global average level per capita, i.e., 0.17 per capita.The trip mode of people except squeeze public transport, subway it
Outside, the frequency oneself driven is consequently increased, while has resulted in congestion in road, or even morning peak and evening peak occurs, and this gives
Road traffic brings immense pressure.If emergency vehicles (120 vehicles, 110 vehicles, 119 vehicles etc.) run into such situation, it will
Delay a large amount of quality time, be delayed or miss the prime time for rescuing people's disaster relief.
In face of the Urban Traffic Jam Based of getting worse, although emergency vehicles have the high priority that law assigns,
Influenceed in actual travel by public vehicles, emergency vehicles are difficult to realize priority pass, especially in congested link, emergency car
Be difficult surmount queuing vehicle, cause great delay, seriously affect the efficiency of city emergency rescue service.Sent out through research
Existing, public vehicles are much with the news that emergency vehicles scramble for roads in recent years.Green can not be travelled in time for emergency vehicles
This problem of passage, though existing many related counter-measures, but still can not solve the difficulty that emergency vehicles give way from root.
Although current existing automatic monitoring system, its target vehicle is rear car, usually using radar detector and correlation
Monitoring technology realizes its function.The system can monitor road ahead situation, circumvent jam road, significantly reduce rear car and block up
The probability of car.But in the case of there was only a road in front and being traffic congestion again, rear car just can only passively congestion on road
On.If rear car is emergency vehicle, it will bring loss for the masses and society, so traditional automobile automatic monitoring system or oneself
Adapt to cruise control system and the defects of certain be present.
The content of the invention
In view of this, the front truck that the present invention is proposed under a kind of car networking environment intelligently avoids direction and recommends method, and it is led
It is arrival time and range data by knowing emergency vehicles in navigation to act on so that preceding vehicle is (hereinafter including
One car, the 3rd vehicle) control platform of driver or pilotless automobile can more quickly grasp intelligence on car networking platform
Energy recommended orientation, realize that agility gives way in time.
In order to solve the above problems, the present invention is using " front truck intelligently avoids direction recommended technology " processing thought, in front truck
Upper installation net networked sensor and monitoring system, when there is emergency vehicle arrival at rear, front truck can monitor emergency vehicle automatically
Orientation and distance (front truck is preceding vehicle), and provide the side of giving way for front truck car owner or automatic driving vehicle control platform
Case,.The present invention is that the front truck under car networking environment intelligently avoids recommendation method and system, and methods described includes：
S1, the first vehicle, the positional information of the second vehicle are obtained respectively, obtain first between the first vehicle and the second vehicle
Distance and the first road information；
If S2, first distance are less than the first distance threshold, car networking server sends preparation avoidance information to the
One vehicle；First distance threshold
After S3, the first vehicle receiver avoid information to the preparation, radar detector is opened, monitors the first vehicle and second
The second distance of vehicle, and monitor the speed of the first vehicle and the second vehicle respectively, by first vehicle and the second vehicle
Second distance and the speed of first vehicle and the second vehicle are sent to car networking server；
S4, car networking server are according to the second distance and first vehicle of first vehicle and the second vehicle and
The speed of two vehicles, calculate and avoid the time, according to the first road information and the avoidance time generation avoidance mode and send
To the first vehicle.
Preferably, it is described according to the first road information and the avoidance time generation avoidance mode and to be sent to the first car
Include：Car networking server judges first vehicle, the lane information residing for the second vehicle, if the lane information is general
It is open to traffic and the combination of Emergency Vehicle Lane, car networking server does not send messages to the first vehicle；If the lane information is only general
It is open to traffic, car networking server is calculated and avoids the time according to the type in common track, generates avoidance mode, and by the avoidance
Mode is sent to the first vehicle；Wherein, the type in the common track includes bicycle road, two-way traffic and multilane, described to keep away
The time is allowed to include：First vehicle avoids total time, and the second vehicle drives to the time of the first vehicle, wherein, the first road information
It is exactly the first vehicle, the second vehicle residing lane information respectively.
Optionally, when the common track is bicycle road, the avoidance mode that bicycle road generates when travelling then includes：If first
Vehicle and the second vehicle are in bicycle road traveling, calculate and avoid the time, if the time that the second vehicle drives to the first vehicle is less than
First vehicle avoids total time, then the first vehicle avoids to the left or to the right；Wherein, second vehicle drives to the first vehicle
Time and the first vehicle avoid total time be respectively：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the first vehicle
Speed, VTightlyThe speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the first car
Time, t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2When representing radar detector monitoring
Between, t3Represent that radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent first
The time that vehicle drivers travel when avoiding, x1Road width is represented, α represents angle when the first vehicle avoids.
Optionally, when the common track is two-way traffic, the avoidance mode that two-way traffic generates when travelling then includes：If first
When vehicle and the second vehicle two-way traffic travel, calculate and avoid the time, according to the avoidance time generation avoidance mode；Specific bag
Include：When the same track that the first vehicle and the second vehicle are in two-way traffic, and when another track in two-way traffic does not have vehicle,
If the time that the second vehicle drives to the first vehicle is less than the first vehicle avoidance total time, first vehicle is selected to another car
Road avoids；When there is three vehicles in another track in the two-way traffic residing for the first vehicle and the second vehicle, if the second vehicle row
Sail to the time of the first vehicle while avoid total time and the 3rd vehicle avoidance total time, first vehicle less than the first vehicle
With the 3rd vehicle to avoidance on the outside of the two-way traffic, second vehicle is among first vehicle and the 3rd vehicle
Pass through；Wherein, second vehicle drives to the time of the first vehicle, the first vehicle avoids total time and the 3rd vehicle avoids
Total time is respectively：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the first vehicle
Speed, VTightlyRepresent the speed of the second vehicle, VCar 1The speed of the 3rd vehicle is represented, t represents that the first vehicle avoids total time, t "
The total time that the 3rd vehicle avoids is represented, t' represents that the second vehicle forereaches the time of the first vehicle, t1Represent the second vehicle just
Reach the time of radar detector monitoring radius, t2Represent radar detector monitoring time, t3Represent that radar detector sends back the
The time of one vehicle, t4Represent the first vehicle drivers reaction time, t5Represent the time travelled when the first vehicle drivers avoid, x1
Road width is represented, α represents angle when the first vehicle avoids.
Optionally, when the common track is multilane, the avoidance mode that multilane generates when travelling then includes：It is if described
Multilane can not left and right divide equally, calculate and avoid the time, if second vehicle drives to the time of the first vehicle and is less than the simultaneously
One vehicle avoids total time, then the first vehicle is to right travel, wherein, second vehicle drives to the time of the first vehicle, the
One vehicle avoid total time be respectively：
R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the speed of the first vehicle
Degree, VTightlyThe speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the first vehicle
Time, t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2The radar detector monitoring time is represented,
t3Represent that radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent the first vehicle
The time that driver travels when avoiding, x1Road width is represented, α represents angle when the first vehicle avoids.
Front truck intelligently avoids commending system under a kind of car networking environment of the present invention, and the system includes：Car networking service
Device, car networking communication module, GPS module and radar detector, and voice module.
The car networking server is communicated with GPS module and radar detector respectively by car networking communication module, is used for
Generate avoidance mode and judge whether that sending preparation avoids information；
The GPS module is used to obtain the first vehicle, the first distance of the second vehicle and the first road information；
The radar detector is used for the second distance for monitoring the first vehicle and the second vehicle, and monitors the first vehicle respectively
With the speed of the second vehicle；
The voice module is used to report preparation avoidance information and avoids mode.
Preferably, the car networking server, which is used to generating avoidance mode, specifically includes car networking server and judges described the
The residing lane information of one vehicle, the second vehicle difference, if the lane information is the combination of common track and Emergency Vehicle Lane, car
Networked server does not send messages to the first vehicle；If the lane information is only common track, car networking server is according to general
The type being open to traffic, the corresponding avoidance time is calculated, generates avoidance mode, and the avoidance mode is passed through on the first vehicle
Car networking communication module is sent to the first vehicle；Wherein, the type in the common track includes bicycle road, two-way traffic and more cars
Road, the avoidance time include：First vehicle avoids total time, and the second vehicle drives to the time of the first vehicle.
Preferably, when the common track is bicycle road, the avoidance mode that bicycle road generates when travelling then includes：If first
When vehicle and the second vehicle are in bicycle road traveling, car networking server, which calculates, avoids the time, if second vehicle drives to
The time of first vehicle is less than the first vehicle and avoids total time, then car networking server is communicated by the car networking on the first vehicle
Module sends the order that the first vehicle avoids to the left or to the right；Wherein, second vehicle drives to the time of the first vehicle
It is respectively with the first vehicle avoidance total time：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the first vehicle
Speed, VTightlyThe speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the first car
Time, t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2When representing radar detector monitoring
Between, t3Represent that radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent first
The time that vehicle drivers travel when avoiding, x1Road width is represented, α represents angle when the first vehicle avoids, wherein, road width
Refer to the width in the track to be crossed of the first vehicle.
Optionally, when the common track is two-way traffic, the avoidance mode that two-way traffic generates when travelling then includes：If first
When vehicle and the second vehicle two-way traffic travel, car networking server, which calculates, avoids the time, is avoided according to the avoidance time generation
Mode；Specifically include：When the same track that the first vehicle and the second vehicle are in two-way traffic, and another track in two-way traffic
When there is no vehicle, if the time that the second vehicle drives to the first vehicle is less than the first vehicle avoidance total time, car networking service
Device selects the life avoided to another track by car networking communication module transmission first vehicle on the first vehicle；When first
When there is three vehicles in another track in two-way traffic residing for vehicle and the second vehicle, if the second vehicle drives to the first vehicle
Time avoids total time less than the first vehicle simultaneously and the 3rd vehicle avoids total time, then car networking server passes through the first vehicle
On car networking communication module send first vehicle to the order avoided on the outside of the two-way traffic, meanwhile, car networking service
Device sends order of the 3rd vehicle to avoidance on the outside of the two-way traffic by the car networking communication module on the 3rd vehicle；Its
In, second vehicle drives to the time of the first vehicle, the first vehicle avoids total time and the 3rd vehicle avoids total time
Respectively：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the first vehicle
Speed, VTightlyRepresent the speed of the second vehicle, VCar 1The speed of the 3rd vehicle is represented, t represents that the first vehicle avoids total time, t "
The total time that the 3rd vehicle avoids is represented, t' represents that the second vehicle forereaches the time of the first vehicle, t1Represent the second vehicle just
Reach the time of radar detector monitoring radius, t2Represent radar detector monitoring time, t3Represent that radar detector sends back the
The time of one vehicle, t4Represent the first vehicle drivers reaction time, t5Represent the time travelled when the first vehicle drivers avoid, x1
Road width is represented, α represents angle when the first vehicle avoids.
Optionally, when the common track is multilane, the avoidance mode that multilane generates when travelling then includes：It is if described
Multilane can not left and right divide equally, car networking server calculate avoid the time, if second vehicle drive to the first vehicle when
Between avoid total time less than the first vehicle simultaneously, then car networking server is sent by car networking communication module on the first vehicle
Order of first vehicle to right travel, wherein, when second vehicle drives to the time of the first vehicle, the first vehicle avoids total
Between be respectively：
R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the speed of the first vehicle
Degree, VTightlyThe speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the first vehicle
Time, t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2The radar detector monitoring time is represented,
t3Represent that radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent the first vehicle
The time that driver travels when avoiding, x1Road width is represented, α represents angle when the first vehicle avoids.
Front truck under a kind of car networking environment of the present invention intelligently avoids direction and recommends method to be divided according to different road scenes
The avoidance scheme under the Various Complex condition of road surface such as single, double trade is not proposed, when can be that front vehicles avoidance gets preciousness
Between, enable effectively to give way.
Brief description of the drawings
Fig. 1 is that front truck intelligently avoids recommendation method flow diagram under car networking environment of the invention；
Fig. 2 is road network model figure under car networking environment；
Fig. 3 is the bicycle road avoidance figure in one-way road；
Fig. 4 is that bicycle road avoids time chart in one-way road；
Fig. 5 is the two-way traffic avoidance figure in one-way road
Fig. 6 is that two-way traffic avoids time chart in one-way road；
Fig. 7 is the three lanes avoidance figure in one-way road；
Fig. 8 is that three lanes avoid time chart in one-way road；
Fig. 9 is the bicycle road avoidance figure in two-way street；
Figure 10 is that bicycle road avoids time chart in two-way street；
Figure 11 is the two-way traffic avoidance figure in two-way street；
Figure 12 is that two-way traffic avoids time chart in two-way street；
Figure 13 is the avoidance figure in the case of traffic lights；
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is made below in conjunction with accompanying drawing into
One step it is described in detail, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
All other embodiment, belongs to the scope of protection of the invention.
Front truck under the car networking environment of the present invention, which intelligently avoids, recommends method and system, as shown in figure 1, including：
S1, the first vehicle, the positional information of the second vehicle are obtained respectively, obtain first between the first vehicle and the second vehicle
Distance and the first road information；
If S2, first distance are less than the first distance threshold, car networking server sends preparation avoidance information to the
One vehicle；First distance threshold is 10m-200m；
After S3, the first vehicle receiver avoid information to the preparation, radar detector is opened, monitors the first vehicle and second
The second distance of vehicle, and monitor the speed of the first vehicle and the second vehicle respectively, by first vehicle and the second vehicle
Second distance and the speed of first vehicle and the second vehicle are sent to car networking server；
S4, car networking server are according to the second distance and first vehicle of first vehicle and the second vehicle and
The speed of two vehicles, calculate and avoid the time, according to the first road information and the avoidance time generation avoidance mode and send
To the first vehicle.
Preferably, it is described according to the first road information and the avoidance time generation avoidance mode and to be sent to the first car
Include：Car networking server judges the residing lane information of first vehicle, the second vehicle difference, if the lane information
For the combination of common track and Emergency Vehicle Lane, car networking server does not send messages to the first vehicle；If the lane information is only
For common track, car networking server is calculated and avoids the time according to the type in common track, generates avoidance mode, and will described in
Avoidance mode is sent to the first vehicle；Wherein, the type in the common track includes bicycle road, two-way traffic and multilane, institute
Stating the avoidance time includes：First vehicle avoids total time, and the second vehicle drives to the time of the first vehicle.
Optionally, when the common track is bicycle road, the avoidance mode that bicycle road generates when travelling then includes：If first
Vehicle and the second vehicle are in bicycle road traveling, calculate and avoid the time, if the time that the second vehicle drives to the first vehicle is less than
First vehicle avoids total time, then the first vehicle avoids to the left or to the right；Wherein, second vehicle drives to the first vehicle
Time and the first vehicle avoid total time be respectively：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the first vehicle
Speed, VTightlyThe speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the first car
Time, t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2When representing radar detector monitoring
Between, t3Represent that radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent first
The time that vehicle drivers travel when avoiding, x1Road width is represented, α represents angle when the first vehicle avoids.
Optionally, when the common track is two-way traffic, the avoidance mode that two-way traffic generates when travelling then includes：If first
When vehicle and the second vehicle two-way traffic travel, calculate and avoid the time, according to the avoidance time generation avoidance mode；Specific bag
Include：When the same track that the first vehicle and the second vehicle are in two-way traffic, and when another track in two-way traffic does not have vehicle,
If the time that the second vehicle drives to the first vehicle is less than the first vehicle avoidance total time, first vehicle is selected to another car
Road avoids；When there is three vehicles in another track in the two-way traffic residing for the first vehicle and the second vehicle, if the second vehicle row
Sail to the time of the first vehicle while avoid total time and the 3rd vehicle avoidance total time, first vehicle less than the first vehicle
With the 3rd vehicle to avoidance on the outside of the two-way traffic, second vehicle is among first vehicle and the 3rd vehicle
Pass through；Wherein, second vehicle drives to the time of the first vehicle, the first vehicle avoids total time and the 3rd vehicle avoids
Total time is respectively：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the first vehicle
Speed, VTightlyRepresent the speed of the second vehicle, VCar 1The speed of the 3rd vehicle is represented, t represents that the first vehicle avoids total time, t "
The total time that the 3rd vehicle avoids is represented, t' represents that the second vehicle forereaches the time of the first vehicle, t1Represent the second vehicle just
Reach the time of radar detector monitoring radius, t2Represent radar detector monitoring time, t3Represent that radar detector sends back the
The time of one vehicle, t4Represent the first vehicle drivers reaction time, t5Represent the time travelled when the first vehicle drivers avoid, x1
Road width is represented, α represents angle when the first vehicle avoids.
Optionally, when the common track is multilane, the avoidance mode that multilane generates when travelling then includes：It is if described
Multilane can not left and right divide equally, calculate and avoid the time, if second vehicle drives to the time of the first vehicle and is less than the simultaneously
One vehicle avoids total time, then the first vehicle is to right travel, wherein, second vehicle drives to the time of the first vehicle, the
One vehicle avoids total time and the 3rd vehicle avoidance total time is respectively：
R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the speed of the first vehicle
Degree, VTightlyThe speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the first vehicle
Time, t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2The radar detector monitoring time is represented,
t3Represent that radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent the first vehicle
The time that driver travels when avoiding, x1Road width is represented, α represents angle when the first vehicle avoids.
Wen Zhong, the second vehicle are referred to as needing the emergency vehicle avoided；First vehicle and the 3rd vehicle are the present invention
Described front truck.
Front truck intelligently avoids commending system and included under the car networking environment of the present invention：Under a kind of car networking environment of the present invention
Front truck intelligently avoids commending system, and the system includes：Car networking server, car networking communication module, GPS module and radar are visited
Survey instrument, and voice module.
The car networking server is communicated with GPS module and radar detector respectively by car networking communication module, described
Car networking server is used to generate avoidance mode and judges whether that sending preparation avoids information；
The GPS module is used to obtain the first vehicle, the first distance of the second vehicle and the first road information；
The radar detector is used for the second distance for monitoring the first vehicle and the second vehicle, and monitors the first vehicle respectively
With the speed of the second vehicle；
The voice module is used to report preparation avoidance information and avoids mode.
Specifically, the car networking server judges whether the first distance is less than the first distance threshold, if so, car networking takes
Being engaged in, device transmission is prepared to avoid information；After car networking communication module on first vehicle receives the preparation avoidance information, first
Radar detector on vehicle is opened, and the radar detector monitors the second distance of the first vehicle and the second vehicle, and respectively
Monitor the speed of the first vehicle and the second vehicle, the radar detector by car networking communication module by first vehicle with
The second distance of second vehicle and the speed of first vehicle and the second vehicle are sent to car networking server；Car networking service
Device is calculated and avoided according to first vehicle and the second distance and the speed of first vehicle and the second vehicle of the second vehicle
Time, according to the first road information and the avoidance time generation avoidance mode and it is sent to the first vehicle, the voice mould
Block reports the avoidance mode, and first distance threshold is 10m-200m.
Further, the automobile travelled on road is all covered in the environment of car networking, both including traditional automobile, also wraps
New pilotless automobile is included, position monitoring is realized by radar detector and GPS module etc., GPS module obtains the first car
, the first distance between the second vehicle and the first road information, radar detector monitors the of the first vehicle and the second vehicle
Two distances, and monitor the speed of the first vehicle and the second vehicle respectively, realize on internet data real-time upload and under
Carry, can provide corresponding intelligent recommendation algorithm according to the data of input in the computer program analysis of car networking server, enter
And the strategy that gives way is provided and draws avoidance mode, recommend so as to realize that intelligence avoids direction.These above-mentioned applications form road network,
As shown in Figure 2.
Further, the avoidance mode that the bicycle road traveling is taken includes：When first vehicle monitoring arrives rear
Second vehicle, the first vehicle avoid to the left or to the right；As shown in figure 3, when completing to avoid, as shown in figure 4, in wherein Fig. 4
The location drawing picture of the first vehicle and the second vehicle before respectively avoiding and after avoidance.
Further, the avoidance mode that the two-way traffic traveling is taken includes：When first vehicle monitoring arrives rear
The wherein track that second vehicle, the first vehicle and the second vehicle are in two-way traffic simultaneously, when the first vehicle and the second vehicle
When another track in residing two-way traffic does not have vehicle, as shown in Figure 5；First vehicle selects to avoid to another track,
Avoided to the left or to the right including first vehicle, the first vehicle, the second vehicle and the 3rd vehicle marked in figure are equal
The position of the first vehicle, the second vehicle and the 3rd vehicle after respectively avoiding, figure below is not in this way, just repeating.
When there is three vehicles in another track in the two-way traffic residing for the first vehicle and the second vehicle, wherein, the 3rd car
Refer to another front truck；First vehicle avoids to the right, and the 3rd vehicle avoids to the left, and second vehicle is from described
By the first vehicle and the second vehicle and the 3rd vehicle before avoiding and after avoidance among first vehicle and the 3rd vehicle
Location drawing picture, as shown in Figure 6.
The multilane traveling includes：If can not be if left and right divides equally, first vehicle selection, which is turned right, leans on, such as Fig. 7 institutes
Show；The location drawing picture of the first vehicle, the second vehicle and the 3rd vehicle before avoiding and after avoidance, as shown in Figure 8.
Preferably, in the present invention, the first vehicle, the second vehicle and the 3rd vehicle are all at the uniform velocity to advance, and the second vehicle
Speed is more than the speed of the first vehicle and the 3rd vehicle；The second vehicle reach radar detector monitoring radius when the first vehicle and
3rd vehicle just monitors the second vehicle；Front truck intelligence avoidance commending system provides for car owner under the car networking environment gives way
The time of scheme ignores.
Further, the avoidance time needed for the bicycle road traveling includes：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the first vehicle
Speed, VTightlyThe speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the first car
Time, t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2When representing radar detector monitoring
Between, t3Represent that radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent first
The time that vehicle drivers travel when avoiding, x1Road width is represented, α represents angle when the first vehicle avoids.
Specifically include：The time of second vehicle is reached exactly to according to radar detector and the first vehicle receives radar detection
The time of instrument, calculate the first vehicle and avoid the required time：
Wherein radar detector reaches exactly to the time of the second vehicle：
First vehicle receives the time of radar detector：
Solve:
Time when first vehicle avoids：
First vehicle entirely avoids process time：
Second vehicle forereaches time during the first vehicle：
If t' >=t, concept feasible, otherwise, it is infeasible to avoid scheme.
Further, optionally, the avoidance mode that the two-way traffic traveling uses includes：Second vehicle forward travels and
Two vehicle driving in reverse, second vehicle forward travel including：When the second vehicle of first vehicle monitoring to rear, and
When first vehicle left side has three vehicles, as shown in figure 9, first vehicle driver and the 3rd vehicle driver select
Select and avoid to the right, second vehicle forward travel among first vehicle and the 3rd vehicle by, avoid before and
The location drawing picture of the first vehicle, the second vehicle and the 3rd vehicle after avoidance, as shown in Figure 10；Second vehicle driving in reverse
Including：When the second vehicle of first vehicle monitoring to rear, and first vehicle left side is without the 3rd vehicle, such as Figure 11
It is shown, second vehicle driving in reverse, and the first normal vehicle operation or original place wait, the first car before avoiding and after avoidance
, the location drawing picture of the second vehicle and the 3rd vehicle, as shown in figure 12；The time of the two-way traffic traveling includes：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the first vehicle
Speed, VTightlyRepresent the speed of the second vehicle, VCar 1The speed of the 3rd vehicle is represented, t represents that the first vehicle avoids total time, t "
The total time that the 3rd vehicle avoids is represented, t' represents that the second vehicle forereaches the time of the first vehicle, t1Represent the second vehicle just
Reach the time of radar detector monitoring radius, t2Represent radar detector monitoring time, t3Represent that radar detector sends back the
The time of one vehicle, t4Represent the first vehicle drivers reaction time, t5Represent the time travelled when the first vehicle drivers avoid, x1
Road width is represented, α represents angle when the first vehicle avoids；Specifically include：
For the first vehicle：
Radar detector reaches exactly to monitor the time of radius：
First vehicle receives the time of radar detector：
Time when first vehicle avoids：
So the first vehicle total avoidance time is：
For the 3rd vehicle：
Radar detector reaches exactly to the time of the 3rd vehicle：
3rd vehicle receives the time of radar detector：
Solve：
Time when 3rd vehicle avoids：
3rd vehicle entirely avoids process time：
Second vehicle forereaches time during the first vehicle：
If t' >=t, concept feasible, otherwise, it is infeasible to avoid scheme.
Further, as a kind of arbitrary way, avoidance side that traveling that the first vehicle is in the case of traffic lights is taken
Formula includes：First vehicle monitors that there is the second vehicle at rear during traffic lights are waited, as shown in figure 13, the choosing of the first vehicle
Select and avoid to the left or to the right, so that the second vehicle passes through the running time in the case of the traffic lights：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the first vehicle
Speed, VTightlyThe speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the first car
Time, t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2When representing radar detector monitoring
Between, t3Represent that radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent first
The time that vehicle drivers travel when avoiding, x1Road width is represented, α represents angle when the first vehicle avoids；Specifically include：
Radar detector reaches exactly to the time of the second vehicle：
Radar detector sends the time of the first vehicle back to：
Time when first vehicle avoids：
So the first vehicle entirely avoids the time is：
Second vehicle forereaches the time of the first vehicle：
If t' >=t, concept feasible, otherwise scheme is infeasible.
Preferably, under the car networking environment front truck intelligently avoid commending system monitored by radar detector, GPS location system
System as supporting, according to the distance and positional information of monitoring under conditions of meeting to avoid actively open by the vehicle in traveling
The system simultaneously provides the recommendation of avoidance direction；The condition of startup be the first vehicle or/and the 3rd rear view of vehicle no more than second away from
During from threshold value (such as 100 meters), there is the second vehicle for being carrying out hot job, the first vehicle, the 3rd car in traveling ahead
The azimuth-range of the vehicle of rear second can be shown automatically, and optimal feasible avoidance scheme is provided and effectively given way for car owner.
Optionally, car networking server according to the first road information judge around the first vehicle position whether
There is Emergency Vehicle Lane, if so, the second vehicle directly walks Emergency Vehicle Lane；If nothing, car networking server is joined by the car on the first vehicle
Network Communication module to the first vehicle send preparation avoid information, and by voice module report it is described preparation avoid information, first
Vehicle then Reduced Speed Now, further, after the first vehicle deceleration travels, car networking server is carried out according to the road conditions of surrounding
Situations such as avoiding, including judging bicycle road, two-way traffic provides avoidance mode accordingly；Car networking server is according to calculating
Avoidance mode, avoidance mode is issued into the first vehicle；The control platform of driver or automatic driving vehicle refers to according to avoidance mode
Make to be avoided, just do not repeating herein.
Further, although the road scene that is considered of the present invention is incomplete, the preventing collision method in other scenes can be
Suitably promoted on the basis of these embodiment of the present invention.
It should be understood that front truck intelligently avoids recommendation method and front truck under car networking environment under car networking environment of the present invention
Intelligence avoids the different implementations that commending system is same design, and the non-description section of system embodiment may be referred to method implementation
The description of example appropriate section, vice versa.
The object, technical solutions and advantages of the present invention are further described above example of the present invention, institute
It should be understood that embodiment provided above or embodiment are only the preferred embodiment of the present invention, not limiting
System is of the invention, within the spirit and principles of the invention any modification, equivalent substitution and improvements made for the present invention etc.,
It should be included within protection scope of the present invention.
Claims (10)
1. front truck intelligently avoids recommendation method under a kind of car networking environment, it is characterised in that including：
S1, the first vehicle, the positional information of the second vehicle are obtained respectively, obtain the first distance between the first vehicle and the second vehicle
And first road information；
If S2, first distance are less than the first distance threshold, car networking server sends preparation and avoids information to the first car
；
After S3, the first vehicle receiver avoid information to the preparation, radar detector is opened, monitors the first vehicle and the second vehicle
Second distance, and the speed of the first vehicle and the second vehicle is monitored respectively, by the second of first vehicle and the second vehicle
Distance and the speed of first vehicle and the second vehicle are sent to car networking server；
S4, car networking server are according to first vehicle and the second distance and first vehicle and the second car of the second vehicle
Speed, calculate and avoid the time, according to the first road information and the avoidance time generation avoidance mode and be sent to the
One vehicle.
2. front truck intelligently avoids recommendation method under a kind of car networking environment according to claim 1, it is characterised in that described
Generating avoidance mode according to the first road information and the avoidance time and be sent to the first vehicle includes：Car networking server
First vehicle, the lane information residing for the second vehicle are judged, if the lane information is common track and Emergency Vehicle Lane
Combination, car networking server do not send messages to the first vehicle；If the lane information is only common track, car networking server
According to the type in common track, calculate and avoid the time, generate avoidance mode, and the avoidance mode is sent to the first vehicle；
Wherein, the type in the common track includes bicycle road, two-way traffic and multilane, and the avoidance time includes：First vehicle
Total time is avoided, the second vehicle drives to the time of the first vehicle.
3. front truck intelligently avoids recommendation method under a kind of car networking environment according to claim 2, it is characterised in that described
When common track is bicycle road, the avoidance mode that bicycle road generates when travelling then includes：If the first vehicle and the second vehicle are in
Bicycle road travels, and calculates and avoids the time, if the time that the second vehicle drives to the first vehicle is less than the first vehicle avoidance total time,
Then the first vehicle avoids to the left or to the right；Wherein, second vehicle drives to the time of the first vehicle and the first vehicle is kept away
The total time is allowed to be respectively：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the speed of the first vehicle
Degree, VTightlyThe speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the first vehicle
Time, t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2When representing the monitoring of radar detector
Between, t3Represent that radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent first
The time that vehicle drivers travel when avoiding, x1Road width is represented, α represents angle when the first vehicle avoids.
4. front truck intelligently avoids recommendation method under a kind of car networking environment according to claim 2, it is characterised in that described
When common track is two-way traffic, the avoidance mode that two-way traffic generates when travelling then includes：If the first vehicle and the double cars of the second vehicle
When road travels, calculate and avoid the time, according to the avoidance time generation avoidance mode；Specifically include：When the first vehicle and second
The same track that vehicle is in two-way traffic, and when another track in two-way traffic does not have vehicle, if the second vehicle drives to
The time of one vehicle is less than the first vehicle and avoids total time, and first vehicle selects to avoid to another track；When the first vehicle
When having three vehicles with another track in the two-way traffic residing for the second vehicle, if the second vehicle drives to the time of the first vehicle
Total time being avoided less than the first vehicle simultaneously and the 3rd vehicle avoiding total time, first vehicle and the 3rd vehicle are to described
Avoided on the outside of two-way traffic, second vehicle passes through among first vehicle and the 3rd vehicle；Wherein, described second
Vehicle drives to the time of the first vehicle, the first vehicle avoids total time and the 3rd vehicle avoidance total time is respectively：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the speed of the first vehicle
Degree, VTightlyRepresent the speed of the second vehicle, VCar 1The speed of the 3rd vehicle is represented, t represents that the first vehicle avoids total time, and t " is represented
The total time that 3rd vehicle avoids, t' represent that the second vehicle forereaches the time of the first vehicle, t1Represent that the second vehicle reaches exactly to
Radar detector monitors the time of radius, t2Represent the monitoring time of radar detector, t3Represent that radar detector sends back first
The time of vehicle, t4Represent the first vehicle drivers reaction time, t5Represent the time travelled when the first vehicle drivers avoid, x1Table
Show road width, α represents angle when the first vehicle avoids.
5. front truck intelligently avoids recommendation method under a kind of car networking environment according to claim 2, it is characterised in that described
When common track is multilane, the avoidance mode that multilane generates when travelling then includes：If the multilane can not left and right divide equally,
Calculate and avoid the time, if second vehicle drives to the time of the first vehicle while avoids total time less than the first vehicle,
First vehicle to right travel, wherein, second vehicle drive to the time of the first vehicle, the first vehicle avoid include total time
Respectively：
R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the speed of the first vehicle, VTightly
The speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the time of the first vehicle,
t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2Represent radar detector monitoring time, t3Represent
Radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent that the first vehicle drivers are kept away
The time travelled when allowing, x1Road width is represented, α represents angle when the first vehicle avoids.
6. front truck intelligently avoids commending system under a kind of car networking environment, it is characterised in that the system includes：Car networking service
Device, car networking communication module, GPS module and radar detector, and voice module；
The car networking server is communicated with GPS module and radar detector respectively by car networking communication module, for generating
Avoidance mode and judging whether sends preparation and avoids information；
The GPS module is used to obtain the first vehicle, the first distance of the second vehicle and the first road information；
The radar detector is used for the second distance for monitoring the first vehicle and the second vehicle, and monitors the first vehicle and the respectively
The speed of two vehicles；
The voice module is used to report preparation avoidance information and avoids mode.
7. front truck intelligently avoids commending system under a kind of car networking environment according to claim 6, it is characterised in that described
Car networking server specifically includes for generating avoidance mode：Car networking server judges first vehicle, the second vehicle point
Not residing lane information, if the lane information is the combination of common track and Emergency Vehicle Lane, car networking server is not sent
Message gives the first vehicle；If the lane information is only common track, car networking server calculates according to the type in common track
It is corresponding to avoid the time, avoidance mode is generated, and the avoidance mode is sent out by the car networking communication module on the first vehicle
Give the first vehicle；Wherein, the type in the common track includes bicycle road, two-way traffic and multilane, the avoidance time
Including：First vehicle avoids total time, and the second vehicle drives to the time of the first vehicle.
8. front truck intelligently avoids commending system under a kind of car networking environment according to claim 7, it is characterised in that described
When common track is bicycle road, the avoidance mode that bicycle road generates when travelling then includes：If the first vehicle and the second vehicle are in
When bicycle road travels, car networking server, which calculates, avoids the time, if the time that second vehicle drives to the first vehicle is less than
First vehicle avoids total time, then car networking server by car networking communication module on the first vehicle send the first vehicle to
Order that is left or avoiding to the right；Wherein, when second vehicle drives to time and total the first vehicle avoidance of the first vehicle
Between be respectively：
R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the speed of the first vehicle, VTightly
The speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the time of the first vehicle,
t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2Represent radar detector monitoring time, t3Represent
Radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent that the first vehicle drivers are kept away
The time travelled when allowing, x1Road width is represented, α represents angle when the first vehicle avoids.
9. front truck intelligently avoids commending system under a kind of car networking environment according to claim 7, it is characterised in that described
When common track is two-way traffic, the avoidance mode that two-way traffic generates when travelling then includes：If the first vehicle and the double cars of the second vehicle
When road travels, car networking server, which calculates, avoids the time, according to the avoidance time generation avoidance mode；Specifically include：When
The same track that one vehicle and the second vehicle are in two-way traffic, and when another track in two-way traffic does not have vehicle, if second
The time that vehicle drives to the first vehicle is less than the first vehicle avoidance total time, then car networking server passes through on the first vehicle
Car networking communication module sends the order that first vehicle selects to avoid to another track；When the first vehicle and the second vehicle institute
When there is three vehicles in another track in the two-way traffic at place, if the second vehicle drives to the time of the first vehicle while less than first
Vehicle avoids total time and the 3rd vehicle avoids total time, then car networking server passes through the car networking communication mould on the first vehicle
Block sends order of first vehicle to avoidance on the outside of the two-way traffic, meanwhile, car networking server passes through on the 3rd vehicle
Car networking communication module send the 3rd vehicle to the order avoided on the outside of the two-way traffic；Wherein, second vehicle
Drive to the time of the first vehicle, the first vehicle avoids total time and the 3rd vehicle avoidance total time is respectively：
Wherein, R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the speed of the first vehicle
Degree, VTightlyRepresent the speed of the second vehicle, VCar 1The speed of the 3rd vehicle is represented, t represents that the first vehicle avoids total time, and t " is represented
The total time that 3rd vehicle avoids, t' represent that the second vehicle forereaches the time of the first vehicle, t1Represent that the second vehicle reaches exactly to
Radar detector monitors the time of radius, t2Represent radar detector monitoring time, t3Represent that radar detector sends back the first car
Time, t4Represent the first vehicle drivers reaction time, t5Represent the time travelled when the first vehicle drivers avoid, x1Represent
Road width, α represent angle when the first vehicle avoids.
10. front truck intelligently avoids commending system under a kind of car networking environment according to claim 7, its described feature exists
In when the common track is multilane, the avoidance mode that multilane generates when travelling then includes：If the multilane can not be left
The right side is divided equally, and car networking server, which calculates, avoids the time, if second vehicle drives to the time of the first vehicle and is less than the simultaneously
One vehicle avoids total time, and car networking server sends the first vehicle to right lateral by the car networking communication module on the first vehicle
The order sailed, wherein, second vehicle drives to the time of the first vehicle, the first vehicle avoidance total time is respectively：
R represents the monitoring radius of radar detector, VThunderRepresent the speed of radar detector, VCarRepresent the speed of the first vehicle, VTightly
The speed of the second vehicle is represented, t represents that the first vehicle avoids total time, and t' represents that the second vehicle forereaches the time of the first vehicle,
t1Represent that the second vehicle reaches exactly to the time of radar detector monitoring radius, t2Represent radar detector monitoring time, t3Represent
Radar detector sends back the time of the first vehicle, t4Represent the first vehicle drivers reaction time, t5Represent that the first vehicle drivers are kept away
The time travelled when allowing, x1Road width is represented, α represents angle when the first vehicle avoids.
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