CN108608942A - A kind of automobile anti-rear end collision method and early warning system - Google Patents
A kind of automobile anti-rear end collision method and early warning system Download PDFInfo
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- CN108608942A CN108608942A CN201810537658.4A CN201810537658A CN108608942A CN 108608942 A CN108608942 A CN 108608942A CN 201810537658 A CN201810537658 A CN 201810537658A CN 108608942 A CN108608942 A CN 108608942A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to automobile anti-rear end collision method and early warning systems, this method is the installation prior-warning device controller on automobile, know that brake pedal tramples depth and pedal position rate by prior-warning device controller, to identify whether to reach emergency brake car state, and vehicle hazard warning acousto-optic is controlled, reaching prevents by early warning of knocking into the back；In addition, being obtained from vehicle speed, the gradient of track by prior-warning device controller to calculate safe distance, by identifying whether this track has vehicle entrance, while whether the spacing for detecting two vehicles reaches safe distance or less and carries out early warning, prevents from knocking into the back front truck from vehicle.Prior-warning device controller receives brake pedal position sensor, obliquity sensor, the signal exported from vehicle speed acquisition module and visual analysis module, it controls vehicle hazard and alerts acousto-optic, to reminding and giving the driver alert of front and back vehicle from the driver of vehicle, prevent from knocking into the back front truck and by car rear-end, increases traffic safety.
Description
Technical field
The present invention relates to technical field of vehicle safety, especially a kind of automobile prevents from being knocked into the back（Forward and backward vehicle collision）It is pre-
Alarm device.
Background technology
As automobile largely enters daily life, ride safety of automobile increasingly attracts attention and payes attention to.Just often
The rear-end collision seen for rear-end collision, is because after front truck emergency brake mostly, and rear car fails to react in time, from vehicle with
The safe distance that front truck is kept is inadequate, or does not know front truck brake purpose（Emergency brake still gently touches on the brake）, to cause
Braking strength is inadequate, fails to cause rear-end impact accident in finite time and apart from interior timely parking.In order to effectively avoid and
Reduce rear-ended car accident generation, the prior art be usually on automobile installation actively detect radar, when between two vehicles away from
Rear car automatic retarding when from less than safe distance.But such method is that actively detecting, feeling of passivity are answered, by running speed and driving
The influences such as environment, the anti-effect that knocks into the back are barely satisfactory.In addition, existing active arrangement for detecting cost is higher, implementation method is rather multiple
It is miscellaneous, it can only be installed on the automobile of higher gears, popularize and be more not easy.
Invention content
The purpose of the present invention is to provide a kind of automobile anti-rear end collision method and early warning system, realize to the driver from vehicle into
The driver alert of front and back vehicle is reminded and given to row, reduces rear-ended car accident, and system is small and exquisite, cheap, and entrucking is convenient.
In order to achieve the above objectives, the present invention provides a kind of automobile anti-rear end collision method, and this method is that early warning is installed on automobile
Setup Controller knows that brake pedal tramples depth and pedal position rate by prior-warning device controller, is to identify
It is no to reach emergency brake car state, and vehicle hazard warning acousto-optic is controlled, reaching prevents by early warning of knocking into the back；In addition, passing through prior-warning device
Controller is obtained from vehicle speed, the gradient of track to calculate safe distance, by identifying whether this track has vehicle entrance,
Whether the spacing for detecting two vehicles simultaneously reaches safe distance or less and carries out early warning, prevents from knocking into the back front truck from vehicle.
The prior-warning device controller alerts acousto-optic by Bluetooth control vehicle hazard.
The safe distance refers to from the sum of the corresponding safe distance of speed of vehicle and the modified safe distance of the gradient, speed
Corresponding safe distance is obtained by image analysis calculation, and image, cognitive disorders object are shot using CCD camera（Vehicle）, root
It is calculated indirectly according to the size of barrier area.Can also image analysis calculation combination laser radar range obtain jointly, this calibration
True rate higher；Image analysis calculation is a kind of location algorithm based on Inverse projection, and the principle of the algorithm is：Work as focal lengthOne
Periodically, the product of spacing and vehicle width on image is a constant；IfFor the spacing of previous moment,For later moment in time
Spacing,For the pixel number shared by vehicle width in previous moment image,For vehicle width institute in later moment in time image
The pixel number accounted for, then：
Assuming that the size of image is W, then distance, or；It can by above formula
Know,, this constant is denoted as C, record d is measured by n timesiAnd wiValue, you can ask
Coming from the C values that vehicle is calibrated is：
After obtaining the C values of calibration, the two-dimentional width W of front truck in image can be further utilized, is calculated in real space
From vehicle at a distance from front truck；
The acceleration that vehicle advancesIt is further calculated and can be obtained according to the speed of acquisition by GPS positioning module, vehicle body exists
Up-down vibration displacement at front suspension is Z1, its rotation equation can be written to the square of oscillation center O in each power suffered by pendulum:
In formula:J=mr2, φ=θ-(alpha+beta), g are acceleration of gravity, ；
Above formula again can abbreviation be：
It processes and calculates by further data analysis, can get the approximate formula for calculating road grade angle α：
。
The front truck early warning that prevents from knocking into the back include interior verbal cue driver, hazard warning light work, loudspeaker work or
Its combination of person.
In order to achieve the above objectives, automobile anti-rear end collision early warning system provided by the invention includes the brake for connecting brake pedal
Vehicle pedal position sensor, prior-warning device controller, obliquity sensor, from vehicle speed acquisition module and CCD visual analysis modules,
The image shot by CCD camera, cognitive disorders object calculate spacing indirectly according to the size of barrier area.The early warning
Setup Controller receives the sensor signal, when reaching early-warning conditions, vehicle hazard warning acousto-optic is immediately controlled, to from vehicle
Driver reminds, while giving front and back vehicle driver to warn.
The prior-warning device controller uses highly integrated Car-cam mainboard MSC8328P, with DUAL
600MHZ 32-BIT RISC processors, configure DDR 4G memories and bluetooth sends receiving module；The warning against danger of the automobile
Lamp switch and horn switch are both designed as bluetooth and Manual press controllable pattern simultaneously, and warning against danger lamp switch and horn switch are logical
Bluetooth connection prior-warning device controller is crossed, the signal that warning against danger lamp switch receives the output of prior-warning device controller controls emergency warning lamp
Work；Horn switch receives the signal control car horn work of prior-warning device controller output.
The visual analysis module is the vision system based on monocular CCD camera lenses.
It is described from vehicle speed acquisition module be speed letter that GPS positioning module or In-vehicle networking CAN receive instrument computer
Number module.
The brake pedal position sensor is contactless Hall brake pedal position sensor, has magnet and Hall
IC chip；Hall IC chip is fixed, and magnet is moved with brake pedal, is changed magnetic line of force incident angle, is thereby influenced Hall
The voltage output value of IC chip.
The present invention realizes the driver alert to reminding and giving front and back vehicle from the driver of vehicle, thus both can be to prevent
Only knock into the back front truck, and can be with early warning by car rear-end.System is small and exquisite, cheap, and entrucking is convenient, does not change former vehicle appearance and line
Road is known by prior-warning device controller from vehicle vehicle velocity V, the gradient a of track, calculating safe distance DG, and pass through identification
Whether this track has target vehicle to enter within safe distance in safe distance, reaches to being reminded from the driver of vehicle, prevents
Only knock into the back front truck；In addition, in the case of emergency brake, prior-warning device controller is defeated by receiving brake pedal position sensor
The signal gone out analyzes and determines the degree brought to a halt and then using bluetooth module control warning against danger lamp switch and horn switch, prevents
Hazard warning light and loudspeaker early warning are opened under car rear-end and emergency case prevents second accident, increases traffic safety.
Description of the drawings：
Attached drawing 1 is early warning system structure principle chart of the present invention；
Attached drawing 2 is the early warning system work flow diagram of the present invention；
Attached drawing 3 is that the monocular CCD vision systems of the present invention identify vehicle distances schematic diagram；
Attached drawing 4 is the schematic diagram of the brake pedal position sensor of one embodiment of the present invention；
Attached drawing 5 is the schematic diagram of obliquity sensor；
Attached drawing 6 is the auto model for calculating the gradient.
Specific implementation mode：
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with abundant
Ground understands the purpose of the present invention, feature and effect.
For the present invention in relation to a kind of automobile anti-rear end collision method, this method is the installation prior-warning device controller on automobile, is passed through
Prior-warning device controller knows that brake pedal tramples depth and pedal position rate, to identify whether to reach shape of bringing to a halt
State, and vehicle hazard warning acousto-optic is controlled, reaching prevents by early warning of knocking into the back；And known from vehicle vehicle by prior-warning device controller
Speed, the gradient of track calculate safe distance, and whether this track has target vehicle to enter peace in safe distance by identifying
Carry out preventing from knocking into the back within full distance front truck early warning.Realize the driver to reminding and giving front and back vehicle from the driver of vehicle
Warning, thus can not only prevent the front truck that knocks into the back, but also can be with early warning by car rear-end.
In this method, the prior-warning device controller alerts acousto-optic by Bluetooth control vehicle hazard, facilitates control and biography
It is defeated；The safe distance is the corresponding safe distance D of speedVWith the modified safe distance D of the gradientɑThe sum of, i.e. DG=DV+Dɑ, speed
Corresponding safe distance is obtained by image analysis calculation.The image shot by CCD camera, cognitive disorders object, according to barrier
The size that object plane accumulates is hindered to calculate practical spacing.The front truck early warning that prevents from knocking into the back includes that interior verbal cue is driven
The person of sailing, hazard warning light work, loudspeaker work or its combination.Thus the effect of promoting automobile anti-rear end collision.
Shown in Fig. 3, the method for described image analysis uses monocular CCD visual tokens, is a kind of based on Inverse projection
Location algorithm.This method was both easily achieved, while handling the speed of image.The principle of the algorithm is：Work as focal lengthCentainly
When, the product of spacing and vehicle width on image is a constant.When two following distance differences, front vehicles are imaged in the picture
It is of different sizes.IfFor the spacing of previous moment,For the spacing of later moment in time,For vehicle in previous moment image
Pixel number shared by width,For the pixel number shared by vehicle width in later moment in time image, then：
Assuming that the size of image is W, then distance, or.It can by above formula
Know,, this constant is denoted as C, record d is measured by n timesiAnd wiValue, you can ask
Coming from the C values that vehicle is calibrated is：
After obtaining the C values of calibration, the two-dimentional width W of front truck in image can be further utilized, is calculated in real space
From vehicle and front truck distance D：
。
It is presently preferred embodiments of the present invention schematic diagram shown in refering to fig. 1 ~ 6, automobile anti-rear end collision early warning system of the invention,
Include connect the brake pedal position sensor 1 of brake pedal, prior-warning device controller 2, obliquity sensor 3, from vehicle speed
Acquisition module 4, visual analysis module 5, the prior-warning device controller 2 receive brake pedal position sensor 1, obliquity sensor
3, the signal exported from vehicle speed acquisition module 4 and visual analysis module 5, control vehicle hazard alerts acousto-optic, to being driven from vehicle
The person of sailing is reminded and is given the driver alert of front and back vehicle.Prior-warning device controller 2 uses highly integrated Car-cam mainboards
MSC8328P configures DDR 4G memories and bluetooth transmission receives mould with DUAL 600MHZ 32-BIT RISC processors
Block receives brake pedal position sensor 1, obliquity sensor 3, exports from vehicle speed acquisition module 4 and visual analysis module 5
Then signal and analyzing processing send receiving module output order by bluetooth.The warning against danger lamp switch 6 and loudspeaker of the automobile
Switch 7 is both designed as bluetooth and Manual press controllable pattern simultaneously, and warning against danger lamp switch 6 and horn switch 7 pass through bluetooth
Prior-warning device controller 2 is connected, the signal that warning against danger lamp switch 6 receives 2 output of prior-warning device controller controls emergency warning lamp 61
Work；The signal control car horn 71 that horn switch 7 receives 2 output of prior-warning device controller works.When work, prevent from being chased after
Tail function module tramples depth and pedal position rate signal according to brake pedal, to identify whether to reach emergency brake car state,
It is divided into 2 grades of early warning designs, higher leveled response is that hazard warning light and loudspeaker work at the same time, and the early warning response of low level-one is that only have
Hazard warning light works.The anti-front truck function module design that knocks into the back is responded at 2 grades of early warning, and the early warning response of low level-one is verbal cue
Driver wants Reduced Speed Now, keeps safe distance；Higher leveled early warning response includes two aspects：Interior verbal cue driver and
Hazard warning light works, to remind the driver Ben Che of front truck, rear car to be in hazardous situation.
The mainboard MSC8328P of Mstar stars at dawn, the Car-cam being a highly integrated is used to solve in the present embodiment
Scheme, master chip are Dual 600MHz 32-bit RISC processors, and built-in DDR can realize record speed by GPS module
And the function of wheelpath.It supports mobile detection function, supports lane detection.CCD is high definition 1920x1080,30fps camera lens,
H.264, support stores compress mode；Can automatic cycle make video recording, each archives can be set and made video recording the time, while supporting NTSC/
PAL.TV output and HDMI outputs.
Fig. 1, shown in 4, in the present embodiment, brake pedal position sensor 1 is to use contactless Hall brake pedal position
Sensor is set, brake pedal position is acquired in real time and calculates brake pedal depth, while being calculated into one and trampling speed, the operation is stable,
Accurately.The sensor has magnet 11 and Hall IC chip 12；Hall IC chip 12 is fixed, and magnet 11 is started shipment with brake pedal one
It is dynamic, change magnetic line of force incident angle, thereby influences the voltage output value of Hall IC chip 12, obtain corresponding output signal.Automobile
Warning against danger lamp switch 6 and horn switch 7 be both designed as bluetooth and Manual press controllable pattern simultaneously, realize hazard warning light
By bluetooth connection prior-warning device controller 2, warning against danger lamp switch 6 receives prior-warning device controller for switch 6 and horn switch 7
The signal control emergency warning lamp 61 of 2 outputs works；The signal that horn switch 7 receives 2 output of prior-warning device controller controls automobile loudspeaker
71 work；Vehicle hazard warning lamp switch 6 and the original manual function of horn switch 7 are remained simultaneously, increase practicability.It is logical
The change rate and pedal for crossing detection brake pedal position sensor 1 trample depth（Position sensor maximum displacement）To identify
Whether emergency brake car state is reached.If it is determined that being to bring to a halt, by the hazard warning light of Bluetooth control automobile, make its work, it is right
Rear car carries out timely early warning.If it is determined that being extra urgent brake in addition to hazard warning light work is outer, loudspeaker warning rear car is also controlled.
Shown in Fig. 1,5,6, in the present embodiment, the obliquity sensor 3 is single pendulum angular displacement sensor, to track slope
Degree measures, and exports grade signal to prior-warning device controller 2.It is described from vehicle speed acquisition module 4 be GPS positioning module
Or In-vehicle networking receives the speed signal module of instrument computer.The visual analysis module 5 is the vision system based on CCD camera lenses
System.It measures leading vehicle distance to obtain using image analysis calculation, the image recognition barrier shot by CCD camera lenses（Vehicle）, root
It is calculated whether within safe distance indirectly according to the size of barrier area, installation is simple and convenient, at low cost, cost-effective.
Shown in Fig. 5, the obliquity sensor includes single pendulum angular displacement sensor and vibration displacement sensor, before being installed on
On vehicle body at suspension, it is θ to measure pivot angle by it.When vehicle on ramp when driving, any moment due to each power influence,
Single pendulum is set to generate a deflection angle theta relative to direction of advance.And the angles θ drift angle β caused by angle of gradient α and vehicle body pitching movement
And inertia force Fjs、FjzDeflection angle caused by collective effectThree parts form, i.e. θ=alpha+beta+φ.
The acceleration that vehicle advancesIt is further calculated and can be obtained according to the speed of acquisition by GPS positioning module, vehicle
Up-down vibration displacement at front suspension is Z1, as shown in Figure 6, each power suffered by pendulum is writeable to the square of oscillation center O
Go out its rotation equation:
In formula：J=mr2, φ=θ-(alpha+beta), g are acceleration of gravity, 。
Above formula again can abbreviation be：
It processes and calculates by further data analysis, can get the approximate formula for calculating road grade angle α：
。
The foundation of safe distance between vehicles Early-warning Model：
《People's Republic of China Road Traffic Safety Law》Regulation：Motor vehicle travels on a highway, and speed is more than per hour
At 100 kilometers, safe distance between vehicles is 100 meters or more, and when speed is less than 100 kilometers per hour, minimum safe spacing must not be less than 50
Rice.Speed is lower in actually driving, and the spacing interval of people can be closer, and present invention design stops when speed is less than 40KM/h
Only prevent the front truck warning function that knocks into the back, it is i.e. effective after the booting of anti-car rear-end warning function, as long as reaching early-warning conditions i.e. early warning.
The braking distance of safe distance between vehicles and automobile has important relationship, braking distance S=V2/2gμ（g=9.8m/s2）, mainly take
Frictional force certainly between speed and tire and ground, braking distance and speed it is square directly proportional, be inversely proportional with friction coefficient.
When automobile travels on conventional asphalt road, friction coefficient takes 0.8, and brake subtracts acceleration and takes 6m/s2.Braking distance depends on
The speed of automobile, if speed increases by 1 times, braking distance will increase to 4 times, the above-mentioned braking distance theoretically to calculate, separately
It needs to consider there are one highly important factor in external brake process：Exactly see that danger is slowed down to touching on the brake from people, needs
One section of reaction time is wanted, this period includes person's development time and the response time of automobile, we take being averaged for majority anti-
It it is 1 second between seasonable, the practical emergency brake range data thus calculated is as follows：
One group of data of 1 speed of table and emergency brake distance：
| Speed/km/h | 40 | 50 | 60 | 70 | 80 | 90 | 100 | 110 | 120 | 130 | 140 | 150 |
| Corresponding speed brake stops required time/s | 1.9 | 2.3 | 2.8 | 3.2 | 3.7 | 4.2 | 4.6 | 5.1 | 5.6 | 6.0 | 6.5 | 6.9 |
| Required distance/m between the above-mentioned brake stopping time | 10.3 | 16.1 | 23.1 | 31.5 | 41.2 | 52.1 | 64.3 | 77.8 | 92.6 | 108.7 | 126.0 | 144.7 |
| Include the emergency brake distance/m in people's vehicle reaction time | 19.0 | 26.2 | 34.4 | 43.6 | 53.7 | 64.9 | 77.0 | 90.1 | 104.2 | 119.3 | 135.3 | 152.4 |
| Increased distance/m | 8.7 | 10.1 | 11.2 | 12.0 | 12.6 | 12.8 | 12.7 | 12.3 | 11.6 | 10.6 | 9.3 | 7.7 |
| Extinction time/s of above-mentioned safe distance | 1.7 | 1.9 | 2.1 | 2.2 | 2.4 | 2.6 | 2.8 | 2.9 | 3.1 | 3.3 | 3.5 | 3.7 |
The speed of automobile can be obtained by GPS module, and the spacing of real vehicle is to be analyzed to calculate by CCD vision modules to obtain.The present invention
The front truck investigated can be marked other than safe distance with green rectangle frame in CCD measures image, work as spacing by design
Emergency brake when less than or equal to corresponding speed apart from when start advanced early warning, rectangle frame can also become three color of red, green, blue
Alarm type flashes prompt.
In order to reduce the risk for the front truck that knocks into the back, the emergency brake of above-mentioned calculating is insufficient apart from relative safety, therefore it
It is set as high-level early warning.Before advanced early warning, need according to driving experience data, the corresponding emergency brake of each speed away from
It is as shown in table 2 from the braking distance after upper increase 0.6S（Subtract acceleration 6m/s2）, when the spacing investigated is other than safe distance
It is marked with green rectangle frame, starts rudimentary early warning when spacing is less than or equal to the safe distance of corresponding speed, and rectangle frame becomes
Prompt is flashed for red.Coupled system verbal cue at this time can remind driver to brake in time reduction of speed, keep reasonable vehicle in advance
Away from.
2 speed of table and safe distance（It is obtained according to empirical value）One group of data：
| Speed/km/h | 40 | 50 | 60 | 70 | 80 | 90 | 100 | 110 | 120 | 130 | 140 | 150 |
| Increase the safety shut-down distance/m in reaction time | 25 | 35 | 45 | 55 | 65 | 80 | 95 | 105 | 125 | 140 | 155 | 175 |
| Increase extinction time/s after safe distance | 2.3 | 2.5 | 2.7 | 2.8 | 2.9 | 3.2 | 3.4 | 3.4 | 3.8 | 3.9 | 4.0 | 4.2 |
| The reaction time increased /s | 0.5 | 0.6 | 0.6 | 0.6 | 0.5 | 0.6 | 0.6 | 0.5 | 0.6 | 0.6 | 0.5 | 0.5 |
Certainly, the present invention is elaborated above in association with embodiment, only technical concepts and features to illustrate the invention,
It is therefore, all according to spirit of that invention its object is to allow person skilled in the art to understand present disclosure and be implemented
The equivalent change or modification that essence is done should all cover within the scope of the present invention.
Claims (10)
1. a kind of automobile anti-rear end collision method, it is characterised in that：This method is the installation prior-warning device controller on automobile, by pre-
Alarm device controller knows that brake pedal tramples depth and pedal position rate, to identify whether to reach emergency brake car state,
And vehicle hazard warning acousto-optic is controlled, reaching prevents by early warning of knocking into the back；And by prior-warning device controller know from vehicle speed,
The gradient of track calculates safe distance, and whether this track has target to enter safe distance in safe distance by identifying
Within carry out preventing from knocking into the back front truck early warning.
2. a kind of automobile anti-rear end collision method according to claim 1, it is characterised in that：The prior-warning device controller passes through
Bluetooth control vehicle hazard alerts acousto-optic.
3. a kind of automobile anti-rear end collision method according to claim 1, it is characterised in that：The safe distance is that speed corresponds to
Safe distance and the sum of the modified safe distance of the gradient, the corresponding safe distance of speed is obtained by image analysis calculation, is made
The image shot with CCD camera, cognitive disorders object calculate indirectly according to the size of barrier area；Or use image point
Analysis calculations incorporated laser radar range obtains jointly；Image analysis calculation is a kind of location algorithm based on Inverse projection, should
The principle of algorithm is：Work as focal lengthOne timing, the product of spacing and vehicle width on image is a constant；IfWhen being previous
The spacing at quarter,For the spacing of later moment in time,For the pixel number shared by vehicle width in previous moment image,It is rear
Pixel number in one time chart picture shared by vehicle width, then：
Assuming that the size of image is W, then distance, or；It can by above formula
Know,, this constant is denoted as C, record d is measured by n timesiAnd wiValue, you can ask
Coming from the C values that vehicle is calibrated is：
After obtaining the C values of calibration, the two-dimentional width W of front truck in image can be further utilized, is calculated in real space
From vehicle at a distance from front truck；
The acceleration that vehicle advancesIt is further calculated and can be obtained according to the speed of acquisition by GPS positioning module, vehicle body is preceding
Up-down vibration displacement at suspension is Z1, its rotation equation can be written to the square of oscillation center O in each power suffered by pendulum:
In formula:J=mr2, φ=θ-(alpha+beta), g are acceleration of gravity, ；
Above formula again can abbreviation be：
It processes and calculates by further data analysis, can get the approximate formula for calculating road grade angle α：
。
4. a kind of automobile anti-rear end collision method according to claim 1, it is characterised in that：It is described to prevent the front truck early warning packet that knocks into the back
Include interior verbal cue driver, hazard warning light work, loudspeaker work or its combination.
5. a kind of automobile anti-rear end collision early warning system, it is characterised in that：It include the brake pedal position sensing for connecting brake pedal
Device（1）, prior-warning device controller（2）, obliquity sensor（3）, from vehicle speed acquisition module（4）, visual analysis module（5）, institute
State prior-warning device controller（2）Receive brake pedal position sensor（1）, obliquity sensor（3）, from vehicle speed acquisition module
（4）And visual analysis module（5）The signal of output, control vehicle hazard alert acousto-optic, to being reminded from the driver of vehicle and
Give the driver alert of front and back vehicle.
6. a kind of automobile anti-rear end collision early warning system according to claim 5, it is characterised in that：The prior-warning device controller
（2）Matched with DUAL 600MHZ 32-BIT RISC processors using highly integrated Car-cam mainboard MSC8328P
It sets DDR 4G memories and bluetooth sends receiving module；The warning against danger lamp switch of the automobile（6）And horn switch（7）Design
For bluetooth and Manual press while controllable pattern, warning against danger lamp switch（6）And horn switch（7）It is filled by bluetooth connection early warning
Set controller（2）, warning against danger lamp switch（6）Receive prior-warning device controller（2）The signal of output controls emergency warning lamp（61）Work
Make；Horn switch（7）Receive prior-warning device controller（2）The signal of output controls car horn（71）Work.
7. a kind of automobile anti-rear end collision early warning system according to claim 5, it is characterised in that：The brake pedal position passes
Sensor（1）It is contactless Hall brake pedal position sensor, there is magnet（11）With Hall IC chip（12）；Hall IC core
Piece（12）It is fixed, magnet（11）It is moved with brake pedal, changes magnetic line of force incident angle, thereby influence Hall IC chip
（12）Voltage output value.
8. a kind of automobile anti-rear end collision early warning system according to claim 5, it is characterised in that：The obliquity sensor（3）
It is single pendulum angular displacement sensor.
9. a kind of automobile anti-rear end collision early warning system according to claim 5, it is characterised in that：It is described to obtain mould from vehicle speed
Block（4）It is the speed signal module that GPS positioning module or In-vehicle networking receive instrument computer.
10. a kind of automobile anti-rear end collision early warning system according to claim 5, it is characterised in that：The visual analysis module
（5）It is the vision system based on monocular CCD camera lenses or laser radar formation in combination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810537658.4A CN108608942A (en) | 2018-05-30 | 2018-05-30 | A kind of automobile anti-rear end collision method and early warning system |
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| CN201810537658.4A CN108608942A (en) | 2018-05-30 | 2018-05-30 | A kind of automobile anti-rear end collision method and early warning system |
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| CN (1) | CN108608942A (en) |
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| CN109466447A (en) * | 2018-11-30 | 2019-03-15 | 南昌与德软件技术有限公司 | A kind of driving reminding method, device, automobile and storage medium |
| CN109808492A (en) * | 2019-02-15 | 2019-05-28 | 辽宁工业大学 | A kind of trailer-mounted radar prior-warning device and method for early warning |
| CN110304056A (en) * | 2019-07-29 | 2019-10-08 | 广州小鹏汽车科技有限公司 | Vehicle and its control method and device |
| CN110316056A (en) * | 2019-05-29 | 2019-10-11 | 文远知行有限公司 | Prevent traffic object overtaking-collision method, device, computer equipment and storage medium |
| CN110682907A (en) * | 2019-10-17 | 2020-01-14 | 四川大学 | Automobile rear-end collision prevention control system and method |
| CN113401050A (en) * | 2020-12-26 | 2021-09-17 | 重庆广播电视大学重庆工商职业学院 | Vehicle-mounted silent horn system |
| CN114187782A (en) * | 2022-02-16 | 2022-03-15 | 陕西易合交通科技有限公司 | Vehicle operation monitoring and road operation risk early warning device based on Internet of things |
| CN116996990A (en) * | 2023-07-20 | 2023-11-03 | 新唐信通(北京)科技有限公司 | Traffic control acousto-optic warning method and system for triangular warning board |
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| CN109466447A (en) * | 2018-11-30 | 2019-03-15 | 南昌与德软件技术有限公司 | A kind of driving reminding method, device, automobile and storage medium |
| CN109808492A (en) * | 2019-02-15 | 2019-05-28 | 辽宁工业大学 | A kind of trailer-mounted radar prior-warning device and method for early warning |
| CN110316056A (en) * | 2019-05-29 | 2019-10-11 | 文远知行有限公司 | Prevent traffic object overtaking-collision method, device, computer equipment and storage medium |
| CN110304056A (en) * | 2019-07-29 | 2019-10-08 | 广州小鹏汽车科技有限公司 | Vehicle and its control method and device |
| CN110304056B (en) * | 2019-07-29 | 2021-06-04 | 广州小鹏汽车科技有限公司 | Vehicle and control method and device thereof |
| CN110682907A (en) * | 2019-10-17 | 2020-01-14 | 四川大学 | Automobile rear-end collision prevention control system and method |
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| CN113401050A (en) * | 2020-12-26 | 2021-09-17 | 重庆广播电视大学重庆工商职业学院 | Vehicle-mounted silent horn system |
| CN114187782A (en) * | 2022-02-16 | 2022-03-15 | 陕西易合交通科技有限公司 | Vehicle operation monitoring and road operation risk early warning device based on Internet of things |
| CN116996990A (en) * | 2023-07-20 | 2023-11-03 | 新唐信通(北京)科技有限公司 | Traffic control acousto-optic warning method and system for triangular warning board |
| CN116996990B (en) * | 2023-07-20 | 2024-03-29 | 新唐信通(浙江)科技有限公司 | Traffic control acousto-optic warning method and system for triangular warning board |
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Application publication date: 20181002 |