CN108177654A - Vehicle driving safety method for early warning, device, system and readable storage medium storing program for executing - Google Patents
Vehicle driving safety method for early warning, device, system and readable storage medium storing program for executing Download PDFInfo
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- CN108177654A CN108177654A CN201711180239.1A CN201711180239A CN108177654A CN 108177654 A CN108177654 A CN 108177654A CN 201711180239 A CN201711180239 A CN 201711180239A CN 108177654 A CN108177654 A CN 108177654A
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- vehicle
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- position information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
Abstract
The invention discloses a kind of vehicle driving safety method for early warning, the vehicle driving safety method for early warning includes the following steps：Based on preset locating rule, position the first position information of this vehicle vehicle and calculate this vehicle running orbit；It receives the second position information of nearby vehicle and calculates nearby vehicle running orbit；Judge whether this vehicle running orbit intersects with nearby vehicle running orbit；If so, based on predetermined level, send out corresponding safe early warning to car owner and prompt.The invention also discloses a kind of safety early warning device, vehicle driving safety early warning system and readable storage medium storing program for executing.The present invention can make driver that can also know whether nearby vehicle has this vehicle threat, and then promote the traffic safety of vehicle in the unopen region of sight.
Description
Technical field
The present invention relates to vehicle driving safety technical field more particularly to a kind of vehicle driving safety method for early warning of invention,
Device, system and readable storage medium storing program for executing.
Background technology
In general, car owner is typically all to find other vehicle conditions of vehicle periphery by oneself checking when driving vehicle,
And then active safety hedging is carried out according to current nearby vehicle situation.But often observation surrounding vehicles in left and right are also to lead to car owner
One of the reason of causing car accident.
In addition, in the prior art, in the unopen region of sight, for example certain advanced vehicles are using parallel auxiliary, thunder
It can solve the problems, such as that car owner needs itself to go observation nearby vehicle, but such mode to a certain extent up to modes such as wave detections
With larger limitation, for example other vehicles in this front side straight line short distance can only be detected, while can not also obtain
Know the position relationship between nearby vehicle and vehicle, and then be difficult for car owner and more safe auxiliary informations are provided.
Invention content
It is a primary object of the present invention to provide a kind of vehicle driving safety method for early warning, device, system and readable storage
Medium, it is intended to the technical issues of how solution provides safe auxiliary information in the unopen region of sight for car owner.
To achieve the above object, a kind of vehicle driving safety method for early warning provided by the invention, the vehicle driving safety
Method for early warning includes the following steps：
Based on preset locating rule, position the first position information of this vehicle vehicle and calculate this vehicle running orbit；
It receives the second position information of nearby vehicle and calculates nearby vehicle running orbit；
Judge whether this vehicle running orbit intersects with nearby vehicle running orbit；
If so, based on predetermined level, send out corresponding safe early warning to car owner and prompt.
Preferably, the vehicle is equipped with inertial navigator, described based on preset locating rule, positions the first of this vehicle vehicle
Location information simultaneously calculates this vehicle running orbit and includes：
Obtain inertial navigator measure related data, wherein, the related data include at least initial position, speed,
Course angle；
Based on the related data, the first position information of this vehicle vehicle is calculated；
Accurate running orbit based on the first position information Yu described this vehicle of correlation data calculation.
Preferably, described based on the related data, the first position information for calculating this vehicle vehicle includes：
Obtain the GPS information of this vehicle vehicle；
Processing is adjusted to the GPS information based on the related data, obtains the first position information of this vehicle vehicle.
Preferably, it positions the first position information of this vehicle vehicle based on preset locating rule described and calculates this vehicle fortune
After row track, the vehicle driving safety method for early warning further includes：
When in the communication range where this vehicle vehicle is located at nearby vehicle, by the first position information and/or described
GPS information is sent to nearby vehicle with the forms of broadcasting.
Preferably, in the second position information for receiving nearby vehicle and after calculating nearby vehicle running orbit, institute
Vehicle driving safety method for early warning is stated to further include：
The GPS information of this vehicle vehicle and nearby vehicle is received, based on the first position information, the second position information
Phase difference processing is carried out with the GPS information, obtains relative position information of the nearby vehicle relative to this vehicle vehicle；
Map denotation is carried out on local voice screen based on the first position information and the relative position information.
In addition, to achieve the above object, the present invention also provides a kind of safety early warning device, the safety early warning device packet
It includes：
It is stored with the memory of vehicle driving safety early warning program；
Processor is configured to perform the vehicle driving safety early warning program to perform operations described below：
Based on preset locating rule, position the first position information of this vehicle vehicle and calculate this vehicle running orbit；
It receives the second position information of nearby vehicle and calculates nearby vehicle running orbit；
Judge whether this vehicle running orbit intersects with nearby vehicle running orbit；
If so, based on predetermined level, send out corresponding safe early warning to car owner and prompt.
Preferably, it based on preset locating rule described in performing, positions the first position information of this vehicle vehicle and calculates this vehicle
The operation of running orbit includes：
Obtain inertial navigator measure related data, wherein, the related data include at least initial position, speed,
Course angle；
Based on the related data, the first position information of this vehicle vehicle is calculated；
Accurate running orbit based on the first position information Yu described this vehicle of correlation data calculation.
Preferably, the behaviour for receiving the second position information of nearby vehicle and calculate nearby vehicle running orbit is being performed
After work, the processor also performs following operation：
The GPS information of this vehicle vehicle and nearby vehicle is received, based on the first position information, the second position information
Phase difference processing is carried out with the GPS information, obtains relative position information of the nearby vehicle relative to this vehicle vehicle；
Map denotation is carried out on local voice screen based on the first position information and the relative position information.
In addition, to achieve the above object, the present invention also provides a kind of vehicle driving safety early warning system, if including dry turning
, the vehicle is equipped with inertial navigator, and the vehicle further includes the safety early warning device as described in any one of above-mentioned.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
Vehicle driving safety early warning program is stored on storage medium, it is real when the vehicle driving safety early warning program is executed by processor
Now the step of vehicle driving safety method for early warning as described in any one of above-mentioned.
In the present invention, preset locating rule is primarily based on, position the first position information of this vehicle vehicle and calculates this vehicle fortune
Row track；It receives the second position information of nearby vehicle and calculates nearby vehicle running orbit；Judge this vehicle running orbit and week
Whether side vehicle running orbit intersects；If so, based on predetermined level, send out corresponding safe early warning to car owner and prompt, and then make
Driver can also know whether nearby vehicle has this vehicle in the unopen region of sight and threaten, so as to actively be pacified
Full hedging, and then promote the traffic safety of vehicle.
Description of the drawings
Fig. 1 is the structure diagram of safety early warning device running environment that the embodiment of the present invention is related to；
Fig. 2 is that the function module of one embodiment of vehicle driving safety early warning system of the present invention is illustrated；
Fig. 3 is the data transmission schematic diagram of one embodiment of vehicle driving safety early warning system of the present invention；
Fig. 4 is the flow diagram of one embodiment of vehicle driving safety method for early warning of the present invention；
Fig. 5 is the flow diagram of one preferred embodiment of vehicle driving safety method for early warning of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that specific embodiment described herein is not intended to limit the present invention only to explain the present invention.
With reference to Fig. 1, Fig. 1 is the structure diagram of safety early warning device running environment that the embodiment of the present invention is related to.
Safety early warning device of the embodiment of the present invention has the function of positioning vehicle position, accesses network, map denotation etc.
Equipment.
As shown in Figure 1, the safety early warning device can include：Processor 1001, such as CPU, communication bus 1002, user
Interface 1003, network interface 1004, memory 1005.Wherein, communication bus 1002 is used to implement the connection between these components
Communication.User interface 1003 can include voice display screen (Display), input unit such as keyboard (Keyboard), network
Interface 1004 can optionally include standard wireline interface and wireless interface (such as WI-FI interfaces).Memory 1005 can be high
Fast RAM memory or the memory of stabilization (non-volatile memory), such as magnetic disk storage.Memory
The 1005 optional storage devices that can also be independently of aforementioned processor 1001.
Optionally, safety early warning device can also include tuning demodulator, return path, RF (Radio Frequency,
Radio frequency) circuit, voicefrequency circuit, loud speaker etc..
It will be understood by those skilled in the art that the hardware configuration of the safety early warning device shown in Fig. 1 is not formed to peace
The restriction of full prior-warning device can include either combining certain components or different portions than illustrating more or fewer components
Part is arranged.
As shown in Figure 1, as operating system, net can be included in a kind of memory 1005 of computer readable storage medium
Network communication module, Subscriber Interface Module SIM and computer program.Wherein, operating system be management and control safety early warning device and
The program of software resource supports the operation of vehicle driving safety early warning program and other softwares and/or program.
In the hardware configuration of safety early warning device shown in Fig. 1, network interface 1004 is mainly used for accessing network；User
Interface 1003 is mainly used for detecting and confirms Command And Edit instruction etc..And processor 1001 can be used for calling in memory 1005
The vehicle driving safety early warning program of storage, and perform following operate：
Based on preset locating rule, position the first position information of this vehicle vehicle and calculate this vehicle running orbit；
It receives the second position information of nearby vehicle and calculates nearby vehicle running orbit；
Judge whether this vehicle running orbit intersects with nearby vehicle running orbit；
If so, based on predetermined level, send out corresponding safe early warning to car owner and prompt.
Further, the safety early warning device calls the vehicle stored in memory 1005 to travel by processor 1001
Safe early warning program, to perform operations described below：
Obtain inertial navigator measure related data, wherein, the related data include at least initial position, speed,
Course angle；
Based on the related data, the first position information of this vehicle vehicle is calculated；
Accurate running orbit based on the first position information Yu described this vehicle of correlation data calculation.
Further, the safety early warning device calls the vehicle stored in memory 1005 to travel by processor 1001
Safe early warning program, to perform operations described below：
Obtain the GPS information of this vehicle vehicle；
Processing is adjusted to the GPS information based on the related data, obtains the first position information of this vehicle vehicle.
Further, the safety early warning device calls the vehicle stored in memory 1005 to travel by processor 1001
Safe early warning program, to perform operations described below：
When in the communication range where this vehicle vehicle is located at nearby vehicle, by the first position information and/or described
GPS information is sent to nearby vehicle with the forms of broadcasting.
Further, the safety early warning device calls the vehicle stored in memory 1005 to travel by processor 1001
Safe early warning program, to perform operations described below：
The GPS information of this vehicle vehicle and nearby vehicle is received, based on the first position information, the second position information
Phase difference processing is carried out with the GPS information, obtains relative position information of the nearby vehicle relative to this vehicle vehicle；
Map denotation is carried out on local voice screen based on the first position information and the relative position information.
With reference to Fig. 2, Fig. 2 is that the function module of one embodiment of vehicle driving safety early warning system of the present invention is illustrated.
In the present embodiment, vehicle driving safety early warning system includes several vehicles, can be car, minibus, lorry
Deng.Vehicle is equipped with inertial navigator 10 and the safety early warning device 20 for prompting car owner's nearby vehicle position.This vehicle vehicle
V2X communication connections, such as the connection modes such as DSRC or C-V2X are established between nearby vehicle, are carried out with specific reference to actual needs
Setting.It should be further noted that nearby vehicle is a relative concept, this vehicle is the nearby vehicle of other vehicles, and its
His vehicle is also the nearby vehicle of this vehicle relatively.
With reference to Fig. 3, Fig. 3 is the data transmission schematic diagram of one embodiment of vehicle driving safety early warning system of the present invention.
In the present embodiment, as shown in figure 3, location information is sent to the second vehicle and third vehicle by the first vehicle, and
Receive the location information that the second vehicle is sent with third vehicle.Location information is sent to the first vehicle and third vehicle by the second vehicle
, and receive the location information that the first vehicle is sent with third vehicle.Location information is sent to the first vehicle by third vehicle
With the second vehicle, and the location information of the first vehicle and the second vehicle transmission is received.Briefly it is namely based on the side of broadcast
Formula realizes the data interaction between vehicle, i.e. each car is broadcasted the position of this vehicle, while can receive other vehicle broadcast
Data.It should be noted that during actual travel, the quantity of nearby vehicle is not limited to two, can also include more
It is more or less.
Based on above-mentioned safety early warning device hardware configuration, each implementation of vehicle driving safety method for early warning of the present invention is proposed
Example.
With reference to Fig. 4, Fig. 4 is the flow diagram of one embodiment of vehicle driving safety method for early warning of the present invention.
In the present embodiment, vehicle driving safety method for early warning includes：
Step S10 based on preset locating rule, positions the first position information of this vehicle vehicle and calculates this vehicle operation rail
Mark；
In the present embodiment, where position is exactly or occupied place.Vehicle location with greatly be reference system define.
Preset locating rule is pre-set by producer developer, for the rule of positioning vehicle position, for example is determined using GPS
Position satellite is positioned or is utilized inertial navigation measurement etc..Current vehicle namely this vehicle, positions this truck position, and by this vehicle
Location information is defined as first position information.
Step S20 receives the second position information of nearby vehicle and calculates nearby vehicle running orbit；
In the present embodiment, with the development of intelligent transportation, vehicle becomes more and more intelligent, for example vehicle can be integrated with more
More intelligent terminals, such as with communication function etc., so as to realize the data transmission between vehicle and vehicle.Nearby vehicle is
Vehicle centered on this vehicle within a certain range, such as vehicle centered on this vehicle within ± 30m are regarded as phase
For the nearby vehicle of this vehicle.By broadcast, the data that nearby vehicle is sent are received, such as receive the second confidence of nearby vehicle
Breath.Specifically, the location information of this vehicle is defined as first position information, meanwhile, nearby vehicle there may be more, for just
Understand in distinguishing, the location information of nearby vehicle is defined as second position information.In actual use, nearby vehicle
Quantity is indefinite, that is, the practical set for nearby vehicle position of second position information, and second confidence is named as there are multiple
The position of breath, but each vehicle on periphery has its corresponding location information.Mutual data transmission between vehicle and vehicle,
It thus detects whether to receive the second position information of nearby vehicle, for being used for performing next step.
It should be noted that nearby vehicle is a relative concept, this vehicle is the nearby vehicle of other vehicles, and other vehicles
Also it is opposite be this vehicle nearby vehicle.And the second position information of nearby vehicle, it is again based on preset locating rule positioning
Location information.
Step S30, judges whether this vehicle running orbit intersects with nearby vehicle running orbit.
In the present embodiment, this vehicle running orbit and periphery vehicle are calculated by first position information and second position information
Running orbit, and movement locus direction, movement locus form and motion amplitude of vehicle are understood by movement locus etc..Due to row
Road conditions complexity is sailed, thus according to this vehicle running orbit and nearby vehicle running orbit, threat of the assessment nearby vehicle to this vehicle.
Step S40 if so, based on predetermined level, sends out corresponding safe early warning to car owner and prompts.
In the present embodiment, predict two vehicle of coming few minutes whether bump against or wipe vehicle or miss by front by running orbit, when
When this vehicle running orbit intersects with nearby vehicle running orbit, based on predetermined level, and pass through voice broadcast or screen display to
Car owner sends out corresponding safe early warning prompting.Predetermined level can be very urgent, urgent and general, with specific reference to actual needs
It cooperates.For example this vehicle vehicle travels forwards, and a certain vehicle in periphery is travelled to the right direction of this vehicle vehicle, Ruo Benche
Vehicle keeps present speed traveling that will bump against after five minutes with the nearby vehicle, can prompt " urgent！Careful left forward side traveling
Vehicle "；Or this vehicle vehicle keeps present speed that will bump against after travelling 25 minutes with the nearby vehicle, can prompt " careful front
Left driving vehicle ".Further, corresponding safe early warning is sent out to car owner to second position information with reference to first position information to carry
Show, such as when the second position is apart from first position 5m, can prompt " front distance 5m has vehicle "；Or the second position is apart from first position
When near, prompt " excessively near with left side vehicle operating range "；Or receive multiple second position information and apart from first position 10m
When, " front distance 10m travels congestion " etc. can be prompted, so as to which driver can grasp driving road-condition and carry out active dodge in real time,
So as to improve drive safety, reduce traffic congestion, traffic efficiency is improved.
In the present embodiment, preset locating rule is primarily based on, position the first position information of this vehicle vehicle and calculates this vehicle
Running orbit；It receives the second position information of nearby vehicle and calculates nearby vehicle running orbit；Judge this vehicle running orbit with
Whether nearby vehicle running orbit intersects；If so, based on predetermined level, send out corresponding safe early warning to car owner and prompt, and then
Make driver that can also know whether nearby vehicle has this vehicle in the unopen region of sight to threaten, so as to actively carry out
Safe, and then promote the traffic safety of vehicle.
Further alternative, in an alternative embodiment of the invention, current vehicle and nearby vehicle are based on preset positioning
Regular positioning vehicle position.It is illustrated with this vehicle positioning position information, specifically includes following steps：
1st, the related data that inertial navigator measures is obtained, wherein, related data includes at least initial position, speed, boat
To angle；
2nd, based on related data, the first position information of this vehicle vehicle is calculated；
3rd, the accurate running orbit based on this vehicle of first position information Yu correlation data calculation.
In the present embodiment, inertial navigator includes at least gyro sensor and accelerometer.Gyro sensor is used for
Forming a navigational coordinate system makes the measurement axis of accelerometer stablize in the coordinate system and provides course angle and attitude angle；Accelerate
The acceleration that degree meter is used for measuring movable body passes through speed is obtained to the primary integration of time, and speed is using primary to the time
Integration can obtain distance.By inertial navigator, the related data for measurement, such as position, speed, course angle can be obtained
With the data such as attitude angle.In the process of moving, inertial navigator is from the initial position of a known point, and according to the fortune continuously measured
Carrier heading and speed calculation go out the position of current point, that is, can measure the current location of carrier vehicle movement in real time.
By initial position and the acceleration of carrier in itself is measured, speed and current location are obtained by integration and operation, so as to
Achieve the purpose that position carrier automobile navigation.Specifically, inertial navigator is mounted in vehicle, and when work does not depend on the external world
Information, also not outwardly radiation energy, thus be not easily susceptible to the interference of external electromagnetic, and then the positioning accurate of vehicle location can be improved
Degree, thus the location information that vehicle itself will be determined as by the location information of inertial navigator survey calculation, that is, first
Location information.By the running orbit of location information prediction traveling, specifically, with reference to first position information and speed, course angle
Deng the accuracy of raising calculating this vehicle running orbit, to predict danger that may be present.
It is further alternative, in an alternative embodiment of the invention, to advanced optimize vehicle position information, precision is improved,
After obtaining related data, following steps are also performed：
1st, the GPS information of this vehicle vehicle is obtained；
In the present embodiment, GPS is the abbreviation of English Global Positioning System (global positioning system), is
Using GPS positioning satellite, the system positioned in real time in the world, navigated.The basic principle of GPS positioning is according to height
The satellite instantaneous position of speed movement, using the method for space length resection, determines tested point as known known date
Location information and phase information for correcting the location information.
2nd, processing is adjusted GPS information based on related data, obtains the first position information of this vehicle vehicle.
In the present embodiment, since the related data of inertial navigator measurement is not by external interference, and in the presence of GPS information
Empty, atmospheric effect equal error, thus processing is adjusted to the GPS information for including this truck position information by related data,
Namely by the data of measurement, the location information error that may be present of satellite positioning this vehicle vehicle is eliminated or by used
Property this truck position information for calculating of navigator and this truck position information of satellite positioning map match is carried out on map, and then
Obtain this truck position information of higher precision.
Further, treated that location information can be as the first position information of this vehicle for GPS information and adjustment；But it adjusts
Whole treated fusion results of a variety of data that information comes from GPS and inertial navigator measure, thus with higher essence
Degree, it is therefore preferable that will adjustment treated location information as first position information, and then accurately this truck position.
It is further alternative, when in the communication range where this vehicle vehicle is located at nearby vehicle, by first position information
And/or GPS information is sent to nearby vehicle with the forms of broadcasting.
In the present embodiment, in view of vehicle running environment is complicated, for example the factors such as speed is too fast, bad weather influence, therefore,
It is preferably communicated between vehicle and vehicle using the forms of broadcasting.In addition, in the process of moving, vehicle is to continue movement, because
And driver is general only it should be understood that the location information of the nearest nearby vehicle of this vehicle, you can carry out safe.Nearby vehicle,
Such as relative to this vehicle, in the vehicle with this vehicle distance probably between 50m~500m.Since driver is without understanding with spacing
Location information from other vehicles farther out, therefore transmission power is set, it can be effectively wireless for current vehicle is avoided to send
Vehicle other than signal interference to following distance, for example can be communicated within ± 500m centered on this vehicle.Using broadcast
Mode carries out data transmission, and the stability of data transmission is effectively ensured, meanwhile, by controlling the communication range of vehicle, can reduce
It the reception of unnecessary data and/or issues, improves the accuracy of data transmission.
It is further alternative, it in an alternative embodiment of the invention, is positioned by phase difference, this vehicle and periphery can be improved
The precision of position between vehicle reduces error, avoids emergency case and cause the collision between vehicle.When receiving nearby vehicle
During the information of the second position, also need to receive the GPS information of this vehicle and nearby vehicle, wherein, GPS information include at least phase information and
Location information passes through phase information adjustable location information.Based on first position information, second position information and GPS information into
The processing of row phase difference, obtains relative position information of the nearby vehicle relative to this vehicle vehicle, is exactly briefly according to two
The phase difference of multiple GPS satellite signals of position measurement determines relative position between the two, so based on this truck position with
Relative position carries out map denotation on local voice screen, so that car owner intuitively recognizes the vehicle itself driven by screen
Position relationship between nearby vehicle so as to carry out active safety hedging, for example replaces driving lane, slows down road speed
Deng.
With reference to Fig. 5, Fig. 5 is the flow diagram of one preferred embodiment of vehicle driving safety method for early warning of the present invention.
1. the related data that inertial navigator measures is obtained, wherein, related data includes at least initial position, speed, boat
To angle；
2. obtain the GPS information of this vehicle vehicle；
3. being adjusted processing to the GPS information of this vehicle vehicle based on related data, the first position of this vehicle vehicle is obtained
Information；
In the present embodiment, by inertial navigator, the related data for measurement, such as position, speed, course can be obtained
The data such as angle and attitude angle.In the process of moving, the acceleration by initial position and measurement carrier in itself, by integration
The data such as speed, this truck position are obtained with operation.The GPS information of satellite positioning this vehicle vehicle is obtained, and by GPS information and inertia
A variety of data that navigator measures are merged, this truck position after being calibrated, accurately with being reliably better than GPS information
The location information measured with inertial navigator.
4. the accurate running orbit based on this vehicle of first position information Yu correlation data calculation；
5. when in the communication range where this vehicle vehicle is located at nearby vehicle, by first position information and GPS information with
The forms of broadcasting are sent to nearby vehicle；
In the present embodiment, in view of vehicle running environment is complicated, for example the factors such as speed is too fast, bad weather influence, therefore,
It is preferably communicated between vehicle and vehicle using the forms of broadcasting.By controlling the communication range of vehicle, inessential number can be reduced
According to reception and/or issue, improve the accuracy of data transmission.
6. it receives the second position information of nearby vehicle and calculates nearby vehicle running orbit, and redirect the 7th and the 9th step；
7. judge whether this vehicle running orbit intersects with nearby vehicle running orbit, if so, continuing, if otherwise not doing any
Operation；
8. if so, based on predetermined level, send out corresponding safe early warning to car owner and prompt；
9. receiving the GPS information of nearby vehicle, phase is carried out based on first position information, second position information and GPS information
Position difference processing, obtains relative position information of the nearby vehicle relative to this vehicle vehicle；
10. map denotation is carried out on local voice screen with relative position information based on first position information.
In the present embodiment, vehicle is based on preset locating rule, positions the position of this vehicle.Position is measured particular by GPS
Confidence ceases, and the data and/or map for recycling inertial navigation measurement are adjusted, and obtain the first position information of current vehicle.Then
The second position information and GPS information of nearby vehicle are received, and is believed based on first position information, second position information and GPS
Breath carry out calculate with phase difference handle, obtain this vehicle vehicle and nearby vehicle running orbit and nearby vehicle relative to
The relative position information of this vehicle vehicle.Carry out ground on local voice screen with relative position according to running orbit or this truck position
Figure shows and/or sends out corresponding safe early warning to car owner and prompts, so as to which driver be made also can in the unopen region of sight
Know whether nearby vehicle has this vehicle the position for threatening and grasping nearby vehicle in real time, and carry out active dodge, so as to
It improves drive safety, reduce traffic congestion, improve traffic efficiency.
It is further alternative, to achieve the above object, the present invention also provides a kind of computer readable storage medium, in this reality
It applies and vehicle driving safety early warning program is stored on the computer readable storage medium proposed in example, including positioning, receiving position
Information and map denotation etc..The vehicle driving safety early warning program of storage can be read out by the processor, understand and perform, so as to real
The step of showing the vehicle driving safety method for early warning in any of the above-described vehicle driving safety method for early warning embodiment.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements not only include those elements, and
And it further includes other elements that are not explicitly listed or further includes intrinsic for this process, method, article or device institute
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
Also there are other identical elements in the process of element, method, article or device.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be embodied in the form of software product, which is stored in a readable storage medium
In matter (such as ROM/RAM, magnetic disc, CD), used including some instructions so that a station terminal (can be mobile phone, computer services
Device, air conditioner or network equipment etc.) method that performs each embodiment of the present invention.
The embodiment of the present invention is described above in conjunction with attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned specific embodiment is only schematical rather than restricted, those of ordinary skill in the art
Under the enlightenment of the present invention, present inventive concept and scope of the claimed protection are not being departed from, can also made very much
Form, every equivalent structure or equivalent flow shift made using description of the invention and accompanying drawing content, directly or indirectly
Other related technical areas are used in, these are belonged within the protection of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of vehicle driving safety method for early warning, which is characterized in that the vehicle driving safety method for early warning includes following step
Suddenly：
Based on preset locating rule, position the first position information of this vehicle vehicle and calculate this vehicle running orbit；
It receives the second position information of nearby vehicle and calculates nearby vehicle running orbit；
Judge whether this vehicle running orbit intersects with nearby vehicle running orbit；
If so, based on predetermined level, send out corresponding safe early warning to car owner and prompt.
2. vehicle driving safety method for early warning as described in claim 1, which is characterized in that the vehicle is equipped with inertial navigation
Instrument, it is described based on preset locating rule, it positions the first position information of this vehicle vehicle and calculates this vehicle running orbit and include：
The related data that inertial navigator measures is obtained, wherein, the related data includes at least initial position, speed, course
Angle；
Based on the related data, the first position information of this vehicle vehicle is calculated；
Accurate running orbit based on the first position information Yu described this vehicle of correlation data calculation.
3. vehicle driving safety method for early warning as claimed in claim 2, which is characterized in that it is described to be based on the related data,
The first position information for calculating this vehicle vehicle includes：
Obtain the GPS information of this vehicle vehicle；
Processing is adjusted to the GPS information based on the related data, obtains the first position information of this vehicle vehicle.
4. vehicle driving safety method for early warning as claimed in claim 3, which is characterized in that advised described based on preset positioning
Then, after positioning the first position information of this vehicle vehicle and calculating this vehicle running orbit, the vehicle driving safety method for early warning
It further includes：
When in the communication range where this vehicle vehicle is located at nearby vehicle, the first position information and/or the GPS are believed
Breath is sent to nearby vehicle with the forms of broadcasting.
5. vehicle driving safety method for early warning as described in claim 1, which is characterized in that receive the of nearby vehicle described
Two location informations and after calculating nearby vehicle running orbit, the vehicle driving safety method for early warning further includes：
The GPS information of this vehicle vehicle and nearby vehicle is received, based on the first position information, the second position information and institute
It states GPS information and carries out phase difference processing, obtain relative position information of the nearby vehicle relative to this vehicle vehicle；
Map denotation is carried out on local voice screen based on the first position information and the relative position information.
6. a kind of safety early warning device, which is characterized in that the safety early warning device includes：
It is stored with the memory of vehicle driving safety early warning program；
Processor is configured to perform the vehicle driving safety early warning program to perform operations described below：
Based on preset locating rule, position the first position information of this vehicle vehicle and calculate this vehicle running orbit；
It receives the second position information of nearby vehicle and calculates nearby vehicle running orbit；
Judge whether this vehicle running orbit intersects with nearby vehicle running orbit；
If so, based on predetermined level, send out corresponding safe early warning to car owner and prompt.
7. safety early warning device as claimed in claim 6, which is characterized in that perform described based on preset locating rule, positioning
The first position information of this vehicle vehicle simultaneously calculates the operation of this vehicle running orbit and includes：
The related data that inertial navigator measures is obtained, wherein, the related data includes at least initial position, speed, course
Angle；
Based on the related data, the first position information of this vehicle vehicle is calculated；
Accurate running orbit based on the first position information Yu described this vehicle of correlation data calculation.
8. safety early warning device as claimed in claim 6, which is characterized in that performing the second for receiving nearby vehicle
After confidence ceases and calculates the operation of nearby vehicle running orbit, the processor also performs following operation：
The GPS information of this vehicle vehicle and nearby vehicle is received, based on the first position information, the second position information and institute
It states GPS information and carries out phase difference processing, obtain relative position information of the nearby vehicle relative to this vehicle vehicle；
Map denotation is carried out on local voice screen based on the first position information and the relative position information.
9. a kind of vehicle driving safety early warning system, including several vehicles, which is characterized in that the vehicle is equipped with inertial navigation
Instrument, the vehicle further include the safety early warning device as described in any one of claim 6 to 8.
10. a kind of computer readable storage medium, which is characterized in that vehicle row is stored on the computer readable storage medium
Safe early warning program is sailed, is realized when the vehicle driving safety early warning program is executed by processor as any in claim 1 to 5
Described in vehicle driving safety method for early warning the step of.
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