CN108630015A - A kind of driving warning method, device and electronic equipment - Google Patents
A kind of driving warning method, device and electronic equipment Download PDFInfo
- Publication number
- CN108630015A CN108630015A CN201810488458.4A CN201810488458A CN108630015A CN 108630015 A CN108630015 A CN 108630015A CN 201810488458 A CN201810488458 A CN 201810488458A CN 108630015 A CN108630015 A CN 108630015A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- road
- barrier
- emergency braking
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The present embodiments relate to emergency braking fields, in particular to a kind of driving warning method, device and electronic equipment.Obstacle information of the driving warning method first by obtaining vehicle, and initialize the danger coefficient of barrier, then the point cloud data of the pre- direction of advance of vehicle is obtained, then the location information of road information and barrier is obtained out in the point cloud data, finally judge whether vehicle meets emergency braking condition according to the location information of road information and barrier, when vehicle meets emergency braking condition, send out alarm, so that vehicle realizes automatic braking or operator brake vehicle, when vehicle is unsatisfactory for emergency braking condition, the danger coefficient of barrier is reduced to preset safety value.The driving warning method can accurately send out alarm.
Description
Technical field
The present invention relates to emergency braking fields, in particular to a kind of driving warning method, device and electronic equipment.
Background technology
Vehicular intelligent driving technology high speed development at present, auto-alarm function is as the basic type safety based on radar
Sexual function has assembly in many vehicles.From the detection of obstacles and brake alarm method based on single radar of most original,
Melt to radar and camera is nowadays based on
But there is alarm inaccuracy in existing detection of obstacles and brake alarm technology.
Invention content
The purpose of the present invention is to provide a kind of driving warning method, device and electronic equipments, aim to solve the problem that existing skill
The above problem present in art.
An embodiment of the present invention provides a kind of driving warning methods, are applied to vehicle, the method includes：Obtain the vehicle
Obstacle information, and initialize the danger coefficient of barrier；Obtain the point cloud data of the pre- direction of advance of the vehicle；
The location information of road information and the barrier is obtained out in the point cloud data；According to the road information and the obstacle
The location information of object judges whether the vehicle meets emergency braking condition；When the vehicle meets emergency braking condition, hair
Go out alarm；When the vehicle is unsatisfactory for emergency braking condition, the danger coefficient of the barrier is reduced to preset safety value.
As further, the method further includes：When road range is not present in the point cloud data, according to described
The location information of barrier judges whether the vehicle meets emergency braking condition.
The embodiment of the present invention additionally provides a kind of driving prior-warning device, is applied to vehicle, and described device includes：
Barrier module, the obstacle information for obtaining the vehicle are obtained, and initializes the danger coefficient of barrier；
Obtain environmental information module, the point cloud data of the pre- direction of advance for obtaining the vehicle；Obstacle information module is obtained, is used
In the location information for obtaining out road information and the barrier in the point cloud data；First judgement vehicle modules, are used for
Judge whether the vehicle meets emergency braking condition according to the location information of the road information and the barrier；Alarm mould
Block, for when the vehicle meets emergency braking condition, sending out alarm；Danger coefficient module is reduced, for working as the vehicle
When being unsatisfactory for emergency braking condition, the danger coefficient of the barrier is reduced to preset safety value.
As further, the driving prior-warning device further includes：Second judgement vehicle modules, for working as described cloud number
When road range being not present in, judge whether the vehicle meets emergency braking item according to the location information of the barrier
Part.
The embodiment of the present invention additionally provides a kind of electronic equipment, and the electronic equipment includes memory, processor and storage
On a memory and the computer program that can run on a processor, the processor realized when executing the computer program with
Lower step：
The obstacle information of vehicle is obtained, and initializes the danger coefficient of barrier；Obtain the pre- advance side of the vehicle
To point cloud data；The location information of road information and the barrier is obtained out in the point cloud data；According to the road
The location information of road information and the barrier judges whether the vehicle meets emergency braking condition；When the vehicle meets tightly
When anxious braking condition, alarm is sent out；When the vehicle is unsatisfactory for emergency braking condition, the danger coefficient of the barrier is reduced
To preset safety value.
The embodiment of the present invention additionally provides a kind of driving warning method, device and electronic equipment, the driving warning method
First by obtaining the obstacle information of vehicle, and the danger coefficient of barrier is initialized, then obtains the pre- advance side of vehicle
To point cloud data, the location information of road information and barrier is then obtained out in the point cloud data, finally according to road
The location information of information and barrier judges whether vehicle meets emergency braking condition, when vehicle meets emergency braking condition,
Alarm is sent out, when vehicle is unsatisfactory for emergency braking condition, reduces the danger coefficient of barrier to preset safety value.The driving
Method for early warning can accurately send out alarm.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows that the present invention applies the block diagram of the electronic equipment 100 of example offer.
Fig. 2 shows a kind of flow charts of the driving warning method provided in the embodiment of the present invention.
Fig. 3 shows the flow chart of step S400 in Fig. 2.
Fig. 4 shows the flow chart of step S410 in Fig. 3.
Fig. 5 shows the frame structure schematic diagram of the driving prior-warning device 200 in Fig. 1.
Fig. 6 shows the frame structure schematic diagram of the first judgement vehicle modules 240 in Fig. 5.
The structural schematic diagram that pre- advance route unit 241 is predicted shown in Fig. 6 is shown in Fig. 7.
Icon：100- electronic equipments；101- memories；102- processors；103- Peripheral Interfaces；104- point cloud datas obtain
Device；105- display devices；106- barrier acquisition device；200- drives prior-warning device；210- obtains barrier module；220-
Obtain environmental information module；230- obtains obstacle information module；240- first judges vehicle modules；241- predicts pre- anterior approach
Line unit；2411- judges position relationship subelement；2412- curvature judgment sub-units；2413- judges pre- advance route subelement；
242- disturbance in judgement principle condition units；243- judging units；250- alarm modules；260- reduces danger coefficient module；270-
Two judgement vehicle modules.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Radar and camera are mostly the lengths based on the parameter information to object, such as target at present, vehicle away from
From target lateral and fore-and-aft distance, risk is caused to judge whether current goal can travel vehicle, can not judge to arrive in future 2
The driving whereabouts of 3 seconds vehicles.Thus some unavoidable false triggerings are likely to result in, such as：
1. there are one turnings at vehicle front 40m~50m, turning is vertical, and there are one traffic signs, such as speed(-)limit sign
Board, zig zag sign board etc., or park vehicle standing and have situations such as pedestrian, radar, which can detect vehicle front, at this time one
A target can knock objects ahead if under current running state (higher 60km/h of speed or so) in clock or so more than 2 seconds,
System can be determined with dangerous situation, and sending out alarm sound prompt driver's collision will occur.At this point, the target is set as barrier.
But since front is bend in actual travel, most drivers can drive vehicle steering wheel rotation when entering bend
Turning, continuation that will not be straight are opened to the pedestrian of traffic mark board or the vehicle, standing that park, and therefore, such alarm will
Maximum Possibility can be false alarm, and poor functional experience can be caused to driver.
2. be that driver drives vehicle by T-shaped road junction, it is possible to stop in non-motorized lane region at T-shaped road junction
Vehicle or other objects are put, when vehicle distances objects ahead also has 40m~50m, vehicle speed 60km/h or so, system
It can judge there is clock more than 2 seconds again, vehicle can collide with objects ahead, and then send out alarm sound prompt driver, but absolutely mostly
In the case of number, driver can slow down on a subsequent occasion, and turn round and drive into another road, and will not collide danger, because
This, it can be false alarm that such alarm, which will have Maximum Possibility, and poor functional experience is caused to driver.
To solve the above-mentioned problems, the present invention proposes a kind of driving warning method, device and electronic equipment.The driving is pre-
Alarm method, device can be applied to vehicle, steamer driving warning method, device and electronic equipment, be applied especially to emergency braking
System, the emergency braking system may include the driving prior-warning device 200 and electronic equipment 100.Below to driving early warning
Method, driving prior-warning device 200 and electronic equipment 100 are described in detail.
Referring to Fig. 1, Fig. 1 shows that the present invention applies the block diagram of the electronic equipment 100 of example offer.Electronic equipment
100 may be, but not limited to, smart mobile phone, tablet computer, above-knee pocket computer, vehicle-mounted computer, personal digital assistant
(personal digital assistant, PDA), wearable mobile terminal, desktop computer etc..The electronic equipment 100 wraps
Memory 101, processor 102, Peripheral Interface 103, point cloud data acquisition device 104, display device 105, barrier is included to obtain
Device 106 and driving prior-warning device 200.
The memory 101, processor 102, Peripheral Interface 103, point cloud data acquisition device 104,105 and of display device
It is directly or indirectly electrically connected between 106 each element of barrier acquisition device, to realize the transmission or interaction of data.Such as
These elements can be realized by one or more communication bus or signal wire be electrically connected between each other.The driving prior-warning device
200 can be stored in the memory 101 or be solidificated in the form of software or firmware (firmware) including at least one
Software function module in the operating system (operation system, OS) of the electronic equipment 100.The processor 102
For executing the executable module stored in memory 101 or computer program, such as the driving prior-warning device 200 includes
Software function module or computer program.
Wherein, memory 101 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
For memory 101 for storing program, the processor 102 executes described program, the present invention is any after receiving and executing instruction
Method performed by the server for the flow definition that embodiment is explained can be applied in processor 102, or by processor 102
It realizes.
Processor 102 can be a kind of integrated chip, have signal handling capacity.Above-mentioned processor 102 can be logical
With processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network
Processor, NP), speech processor and video processor etc.；It can also be digital processing unit, application-specific integrated circuit, scene
Programmable gate array either other programmable logic device, discrete gate or transistor logic, discrete hardware components.It can be with
Realize or execute each method, step and logic diagram disclosed in the embodiment of the present invention.General processor can be microprocessor
Device or the processor 102 can also be any conventional processor etc..
The Peripheral Interface 103 is used to couple various input/output devices to processor 102 and memory 101.
In some embodiments, Peripheral Interface 103, processor 102 can be realized in one single chip.In some other example, they
It can be realized respectively by independent chip.
Point cloud data acquisition device 104 is used for the point cloud data of scene, and in embodiments of the present invention, point cloud data obtains dress
It sets 104 and may be, but not limited to, radar.In embodiments of the present invention, point cloud data acquisition device 104 can be used for collection vehicle
Pre- direction of advance scene point cloud data.
Barrier acquisition device 106 is used for the obstacle information of collection vehicle.As an implementation, barrier obtains
Device 106 includes radar and camera, and barrier acquisition device 106 is visited by radar obtains the radar data of ambient enviroment
Barrier is measured, barrier is recognized by camera shoots the image of ambient enviroment, passes through obtain radar detection
The barrier that barrier and camera recognize is merged, and obstacle information is exported.Wherein, obstacle information includes barrier
Position, obstacle species and barrier motion state etc..
Display device 105 for realizing the interaction between user and electronic equipment 100, such as, but not limited to, display device
105 can show obstacle information, road information, the location information of the barrier and alarm of vehicle etc..
In embodiments of the present invention, electronic equipment 100 further includes alarm, and alarm is for sending out alarm.
In embodiments of the present invention, prior-warning device 200 is driven for alarming, and driving prior-warning device 200 can be by following
Driving warning method realizes alarm.
Referring to Fig. 2, Fig. 2 shows a kind of flow charts of the driving warning method provided in the embodiment of the present invention.Below
Driving warning method is illustrated in conjunction with Fig. 2.
Step S100：The obstacle information of vehicle is obtained, and initializes the danger coefficient of barrier.In the embodiment of the present invention
In, barrier can be the objects such as the animals such as people, cat, dog and direction board, electric pole, trees.
Step S200：Obtain the point cloud data of the pre- direction of advance of vehicle.
Step S300：The location information of road information and barrier is obtained out in point cloud data.
Step S400：Judge whether vehicle meets emergency braking condition according to the location information of road information and barrier.
In embodiments of the present invention, step S400 includes step S410, step S420 and step S430.Referring to Fig. 3, figure
3 show the flow chart of step S400 in Fig. 2.Step S410, step S420 and step S430 are explained below in conjunction with Fig. 3
It states.
Step S410：The pre- advance route of the vehicle is predicted according to road information.
In embodiments of the present invention, it is 412 and step S413 that step S410, which includes step S411, step,.Referring to Fig. 4,
Fig. 4 shows the flow chart of step S410 in Fig. 3.It is that 412 and step S413 is carried out to step S411, step below in conjunction with Fig. 4
It illustrates.
In embodiments of the present invention, road information includes the present bit confidence of road range, road curvature and the vehicle
Breath, wherein road curvature be vehicle current location information to the setting arc length between road range curvature.
Step S411：Judge vehicle whether in road range correspondence according to the current location information of road range and vehicle
Road on.
In embodiments of the present invention, the specific implementation mode of step S411 can be：Judge the current location information of vehicle
Whether within the scope of road, when the current location information of vehicle is within the scope of road, judgement vehicle is corresponded in the road range
Road on.
Step is 412：When vehicle is on the corresponding road of road range, judge that the corresponding road of the road range is bent
Whether rate is less than preset value.
Step S413：When the corresponding road curvature of road range is less than preset value, judge that the road range institute is right
The road answered is the pre- advance route of vehicle.
In embodiments of the present invention, preset value can be set in real time, specifically, according to the speed of vehicle, acceleration
Etc. information set preset value, for example, the speed when vehicle is 40 kilometer per hours, when acceleration is 0, which is 50
Rice, when the speed of vehicle is 40 kilometer per hours, when acceleration is 3, which is 110 meters, etc..
By using above scheme, it is capable of the pre- advance route of Accurate Prediction vehicle.
Step S420：According to the location information disturbance in judgement object of barrier whether in the pre- advance route of vehicle.
Step S430：When barrier is in the pre- advance route of the vehicle, judgement vehicle meets emergency braking condition；
When barrier is not in the pre- advance route of vehicle, judgement vehicle is unsatisfactory for emergency braking condition.
In embodiments of the present invention, what the point cloud data of the pre- direction of advance of vehicle indicated is that the pre- direction of advance of vehicle is set
The point cloud data for determining the scene in range is made up of the reflectance signature data that radar returns, in general, the point cloud data can
It is point cloud information in the range of vehicle setpoint distance with what is indicated.When detecting barrier within the scope of this, and should
For barrier when in the pre- advance route of vehicle, vehicle traveling can cause danger, judge that vehicle meets emergency braking condition at this time.
In embodiments of the present invention, driving warning method further includes：When road range is not present in point cloud data, according to
The location information of barrier judges the step of whether vehicle meets emergency braking condition.Judge vehicle according to the location information of barrier
The step of whether meeting emergency braking condition, specifically, can be：The location information of barrier is obtained to the present bit of vehicle
The distance between confidence breath, when distance is less than setting value, judgement vehicle meets emergency braking condition.
In embodiments of the present invention, the location information of barrier to the distance between the current location information of vehicle can be by
Radar directly detection obtains.
In embodiments of the present invention, when vehicle goes out road, the point cloud data of the pre- direction of advance of collected vehicle
In road is not present, then do not detect the presence of road, i.e., do not include then road range in road information.At this point, according to position
Information judges whether vehicle meets emergency braking condition to the distance between the current location information of vehicle, is set when distance is less than
When definite value, illustrate that vehicle continues preceding guild and brings danger, at this time, it may be necessary to remind timely abrupt deceleration vehicle.
In embodiments of the present invention, setting value can be set in real time, specifically, according to the speed of vehicle, acceleration
Etc. information set setting value, for example, the speed when vehicle is 60 kilometer per hours, when acceleration is 0, which is
100 meters, when the speed of vehicle is 40 kilometer per hours, when acceleration is 3, which is 110 meters, etc..
In embodiments of the present invention, road range refers to the location information occupied by the road detected in point cloud data
Set.
Step S500：When vehicle meets emergency braking condition, alarm is sent out.
In embodiments of the present invention, driver or vehicle can effectively reduce thing according to the alarm abrupt deceleration vehicle sent out
Therefore incidence.
Step S600：When vehicle is unsatisfactory for emergency braking condition, the danger coefficient of barrier is reduced to preset safety
Value.
In embodiments of the present invention, the obstacle information acquiescence for the vehicle that barrier acquisition device 106 detects is to make vehicle
Meet emergency braking condition, then the danger coefficient of the barrier initialized is more than preset safety value.When vehicle is unsatisfactory for
When emergency braking condition, the danger coefficient of barrier is reduced to preset safety value, at this point, indicating that barrier will not be to vehicle
Form brings accident.
By using above scheme, alarm can be accurately sent out, reduces car accident, reduces rate of false alarm, reduces vehicle
Traveling interference, further, improve traffic efficiency.
Referring to Fig. 5, Fig. 5 shows the frame structure schematic diagram of the driving prior-warning device 200 in Fig. 1.Of the invention real
It applies in example, it includes obtaining barrier module 210, obtaining environmental information module 220, obtain barrier letter to drive prior-warning device 200
Module 230, first is ceased to judge vehicle modules 240, alarm modules 250, reduce danger coefficient module 260 and the second judgement vehicle mould
Block 270 obtains barrier module 210, obtains environmental information module 220, obtains obstacle information module the 230, first judgement vehicle
Module 240, alarm modules 250 are reduced and are sequentially connected between danger coefficient module 260 and the second judgement vehicle modules 270.With
Lower combination Fig. 5 sentences to obtaining barrier module 210, acquisition environmental information module 220, obtaining obstacle information module 230, first
Determine vehicle modules 240, alarm modules 250, reduction danger coefficient module 260 and the second judgement vehicle modules 270 to be illustrated.
Barrier module 210, the obstacle information for obtaining vehicle are obtained, and initializes the danger coefficient of barrier.
In embodiments of the present invention, barrier module 210 is obtained to can be used in described in execution above-mentioned steps S100, above-mentioned steps S100
It accommodates for obtaining barrier module 210, details are not described herein.
Obtain environmental information module 220, the point cloud data of the pre- direction of advance for obtaining vehicle.
In embodiments of the present invention, environmental information module 220 is obtained to can be used for executing above-mentioned steps S200, above-mentioned steps
Content described in S200 is suitable for obtaining environmental information module 220, and details are not described herein.
Obstacle information module 230 is obtained, the position for obtaining out road information and barrier in point cloud data is believed
Breath.
In embodiments of the present invention, obstacle information module 230 is obtained to can be used for executing above-mentioned steps S300, above-mentioned step
Content described in rapid S300 is suitable for obtaining obstacle information module 230, and details are not described herein.
First judgement vehicle modules 240, for judging whether vehicle is full according to the location information of road information and barrier
Sufficient emergency braking condition.
In embodiments of the present invention, the first judgement vehicle modules 240 can be used for executing above-mentioned steps S400, above-mentioned steps
Content described in S400 is suitable for the first judgement vehicle modules 240, and details are not described herein.
In embodiments of the present invention, the first judgement vehicle modules 240 include predicting pre- advance route unit 241, judging barrier
Hinder principle condition unit 242 and judging unit 243.Referring to Fig. 6, Fig. 6 shows the side of the first judgement vehicle modules 240 in Fig. 5
Mount structure schematic diagram.It predicts between pre- advance route unit 241, disturbance in judgement principle condition unit 242 and judging unit 243 successively
Connection.Below in conjunction with Fig. 6 to predict pre- advance route unit 241, disturbance in judgement principle condition unit 242 and judging unit 243 into
Row illustrates.
Predict pre- advance route unit 241, the pre- advance route for predicting vehicle according to road information.
In embodiments of the present invention, predict that pre- advance route unit 241 can be used for executing above-mentioned steps S410, above-mentioned step
Content described in rapid S410 is suitable for the first judgement vehicle modules 240, and details are not described herein.
In embodiments of the present invention, predict that pre- advance route unit 241 includes judging position relationship subelement 2411, curvature
Judgment sub-unit 2412 and judge pre- advance route subelement 2413.It is predicted shown in Fig. 6 referring to Fig. 7, being shown in Fig. 7
The structural schematic diagram of pre- advance route unit 241.Judge position relationship subelement 2411, curvature judgment sub-unit 2412 and judgement
It is sequentially connected between pre- advance route subelement 2413.Below in conjunction with Fig. 7 to judging that position relationship subelement 2411, curvature judge
Subelement 2412 and judge that pre- advance route subelement 2413 is illustrated.
Position relationship subelement 2411 is judged, for judging that vehicle is according to the current location information of road range and vehicle
It is no on the corresponding road of road range.
In embodiments of the present invention, judge that position relationship subelement 2411 can be used for executing above-mentioned steps S411, it is above-mentioned
Content described in step S411 is suitable for judging position relationship subelement 2411, and details are not described herein.
Curvature judgment sub-unit 2412, for when vehicle is on the corresponding road of road range, judging the road model
Enclose whether corresponding road curvature is less than preset value.
In embodiments of the present invention, curvature judgment sub-unit 2412 can be used for executing above-mentioned steps S412, above-mentioned steps
Content described in S412 is suitable for curvature judgment sub-unit 2412, and details are not described herein.
Judge pre- advance route subelement 2413, preset value is less than for working as the corresponding road curvature of road range
When, judge that the road corresponding to the road range is the pre- advance route of the vehicle.
In embodiments of the present invention, judge that pre- advance route subelement 2413 can be used for executing above-mentioned steps S413, on
It states content described in step S413 to be suitable for judging pre- advance route subelement 2413, details are not described herein.
Whether disturbance in judgement principle condition unit 242 is used for the location information disturbance in judgement object according to barrier in vehicle
In pre- advance route.
In embodiments of the present invention, disturbance in judgement principle condition unit 242 can be used for executing above-mentioned steps S420, above-mentioned step
Content is suitable for disturbance in judgement principle condition unit 242 described in rapid S420, and details are not described herein.
Judging unit 243, for when barrier is in the pre- advance route of the vehicle, judgement vehicle to meet urgent system
Dynamic condition；When barrier is not in the pre- advance route of vehicle, judgement vehicle is unsatisfactory for emergency braking condition.
In embodiments of the present invention, judging unit 243 can be used for described in execution above-mentioned steps S430, above-mentioned steps S430
Content is suitable for judging unit 243, and details are not described herein.
Alarm modules 250, for when vehicle meets emergency braking condition, sending out alarm.
In embodiments of the present invention, alarm modules 250 can be used for described in execution above-mentioned steps S500, above-mentioned steps S500
Content is suitable for alarm modules 250, and details are not described herein.
Danger coefficient module 260 is reduced, the dangerous system for when vehicle is unsatisfactory for emergency braking condition, reducing barrier
It counts to preset safety value.
In embodiments of the present invention, danger coefficient module 260 is reduced to can be used for executing above-mentioned steps S600, above-mentioned steps
Content described in S600 is suitable for reducing danger coefficient module 260, and details are not described herein.
Second judgement vehicle modules 270, are used for when road range is not present in point cloud data, according to the position of barrier
Information judges whether vehicle meets emergency braking condition.
In embodiments of the present invention, the second judgement vehicle modules 270 can be used for executing above-mentioned when in the point cloud data
There is no when road range, judge whether the vehicle meets the step of emergency braking condition according to the location information of the barrier
Suddenly, above-mentioned when road range is not present in the point cloud data, the vehicle is judged according to the location information of the barrier
The step of whether the meeting emergency braking condition content is suitable for the second judgement vehicle modules 270, and details are not described herein.
In conclusion the embodiment of the present invention additionally provides a kind of driving warning method, device and electronic equipment, the driving
Method for early warning initializes the danger coefficient of barrier first by obtaining the obstacle information of vehicle, then obtains vehicle
Then the point cloud data of pre- direction of advance obtains out the location information of road information and barrier, finally in the point cloud data
Judge whether vehicle meets emergency braking condition according to the location information of road information and barrier, when vehicle meets emergency braking
When condition, alarm is sent out, when vehicle is unsatisfactory for emergency braking condition, reduces the danger coefficient of barrier to preset safety
Value.The driving warning method can accurately send out alarm, reduce car accident, reduce rate of false alarm, reduce vehicle traveling
Interference further improves traffic efficiency.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part for the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can execute in the opposite order, this is depended on the functions involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use function or the dedicated base of action as defined in executing
It realizes, or can be realized using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
Claims (10)
1. a kind of driving warning method, is applied especially to emergency braking system, the driving warning method includes：Obtain the vehicle
Obstacle information, and initialize the danger coefficient of barrier；It is characterized in that, the driving warning method further includes：
Obtain the point cloud data of the pre- direction of advance of the vehicle；
The location information of road information and the barrier is obtained out in the point cloud data；
Judge whether the vehicle meets emergency braking condition according to the location information of the road information and the barrier；
When the vehicle meets emergency braking condition, alarm is sent out；
When the vehicle is unsatisfactory for emergency braking condition, the danger coefficient of the barrier is reduced to preset safety value.
2. driving warning method according to claim 1, which is characterized in that according to the road information and the barrier
Location information judge the step of whether vehicle meets emergency braking condition, including：
The pre- advance route of the vehicle is predicted according to the road information；
Judge the barrier whether in the pre- advance route of the vehicle according to the location information of the barrier；
When the barrier is in the pre- advance route of the vehicle, judge that the vehicle meets emergency braking condition；
When the barrier is not in the pre- advance route of the vehicle, judge that the vehicle is unsatisfactory for emergency braking condition.
3. driving warning method according to claim 2, which is characterized in that predict the vehicle according to the road information
Pre- advance route the step of, including；
The road information include road range, road curvature and the vehicle current location information, wherein the road is bent
Rate be the vehicle current location information to the setting arc length between the road range curvature；
Judge the vehicle whether in road range correspondence according to the current location information of the road range and the vehicle
Road on；
When the vehicle is on the corresponding road of road range, judge whether the corresponding road curvature of road range is less than
Preset value；
When the corresponding road curvature of road range is less than preset value, judge that the road corresponding to the road range is described
The pre- advance route of vehicle.
4. driving warning method according to claim 3, which is characterized in that the method further includes：
When road range is not present in the point cloud data, whether the vehicle is judged according to the location information of the barrier
Meet emergency braking condition.
5. driving warning method according to claim 4, which is characterized in that judged according to the location information of the barrier
Whether the vehicle meets the step of emergency braking condition, including：
The location information of the barrier is obtained to the distance between the current location information of the vehicle；
When the distance is less than setting value, judge that the vehicle meets emergency braking condition.
6. a kind of driving prior-warning device is applied especially to emergency braking system, described device includes obtaining barrier module, is used for
The obstacle information of the vehicle is obtained, and initializes the danger coefficient of barrier；It is characterized in that, described device further includes：
Obtain environmental information module, the point cloud data of the pre- direction of advance for obtaining the vehicle；
Obstacle information module is obtained, the position for obtaining out road information and the barrier in the point cloud data is believed
Breath；
First judgement vehicle modules, for judging that the vehicle is according to the location information of the road information and the barrier
It is no to meet emergency braking condition；
Alarm modules, for when the vehicle meets emergency braking condition, sending out alarm；
Danger coefficient module is reduced, for when the vehicle is unsatisfactory for emergency braking condition, reducing the danger of the barrier
Coefficient is to preset safety value.
7. driving prior-warning device according to claim 6, which is characterized in that described first judges that vehicle modules include：
Predict pre- advance route unit, the pre- advance route for predicting the vehicle according to the road information；
Disturbance in judgement principle condition unit, for judging the barrier whether in the vehicle according to the location information of the barrier
Pre- advance route on；
Judging unit, for when the barrier is in the pre- advance route of the vehicle, judging that it is urgent that the vehicle meets
Braking condition；When the barrier is not in the pre- advance route of the vehicle, judge that the vehicle is unsatisfactory for emergency braking
Condition.
8. driving prior-warning device according to claim 7, which is characterized in that described to predict that pre- advance route unit includes；
The road information include road range, road curvature and the vehicle current location information, wherein the road is bent
Rate be the vehicle current location information to the setting arc length between the road range curvature；
Position relationship subelement is judged, for judging the vehicle according to the current location information of the road range and the vehicle
Whether on the corresponding road of road range；
Curvature judgment sub-unit, for when the vehicle is on the corresponding road of road range, judging the road range pair
Whether the road curvature answered is less than preset value；
Pre- advance route subelement is judged, for when the corresponding road curvature of road range is less than preset value, judgement should
Road corresponding to road range is the pre- advance route of the vehicle.
9. driving prior-warning device according to claim 8, which is characterized in that described device further includes：
Second judgement vehicle modules, are used for when road range is not present in the point cloud data, according to the position of the barrier
Confidence breath judges whether the vehicle meets emergency braking condition.
10. a kind of electronic equipment, which is characterized in that the electronic equipment includes memory, processor and stores on a memory
And the computer program that can be run on a processor, the processor realize following steps when executing the computer program：
The obstacle information of vehicle is obtained, and initializes the danger coefficient of barrier；
Obtain the point cloud data of the pre- direction of advance of the vehicle；
The location information of road information and the barrier is obtained out in the point cloud data；
Judge whether the vehicle meets emergency braking condition according to the location information of the road information and the barrier；
When the vehicle meets emergency braking condition, alarm is sent out；
When the vehicle is unsatisfactory for emergency braking condition, the danger coefficient of the barrier is reduced to preset safety value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810488458.4A CN108630015A (en) | 2018-05-21 | 2018-05-21 | A kind of driving warning method, device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810488458.4A CN108630015A (en) | 2018-05-21 | 2018-05-21 | A kind of driving warning method, device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108630015A true CN108630015A (en) | 2018-10-09 |
Family
ID=63693787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810488458.4A Pending CN108630015A (en) | 2018-05-21 | 2018-05-21 | A kind of driving warning method, device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108630015A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114882717A (en) * | 2022-03-16 | 2022-08-09 | 仓擎智能科技(上海)有限公司 | Object detection system and method based on vehicle-road cooperation |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104071109A (en) * | 2013-03-27 | 2014-10-01 | 株式会社电装 | Driving support system |
| CN104931977A (en) * | 2015-06-11 | 2015-09-23 | 同济大学 | Obstacle identification method for smart vehicles |
| CN104969275A (en) * | 2013-02-07 | 2015-10-07 | 丰田自动车株式会社 | Drive assist device |
| CN105957145A (en) * | 2016-04-29 | 2016-09-21 | 百度在线网络技术（北京）有限公司 | Road barrier identification method and device |
| CN106882172A (en) * | 2015-12-15 | 2017-06-23 | 现代自动车株式会社 | Emergency braking system and its control method |
| CN106997049A (en) * | 2017-03-14 | 2017-08-01 | 奇瑞汽车股份有限公司 | A kind of method and apparatus of the detection barrier based on laser point cloud data |
| CN107480638A (en) * | 2017-08-16 | 2017-12-15 | 北京京东尚科信息技术有限公司 | Vehicle obstacle-avoidance method, controller, device and vehicle |
-
2018
- 2018-05-21 CN CN201810488458.4A patent/CN108630015A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104969275A (en) * | 2013-02-07 | 2015-10-07 | 丰田自动车株式会社 | Drive assist device |
| CN104071109A (en) * | 2013-03-27 | 2014-10-01 | 株式会社电装 | Driving support system |
| CN104931977A (en) * | 2015-06-11 | 2015-09-23 | 同济大学 | Obstacle identification method for smart vehicles |
| CN106882172A (en) * | 2015-12-15 | 2017-06-23 | 现代自动车株式会社 | Emergency braking system and its control method |
| CN105957145A (en) * | 2016-04-29 | 2016-09-21 | 百度在线网络技术（北京）有限公司 | Road barrier identification method and device |
| CN106997049A (en) * | 2017-03-14 | 2017-08-01 | 奇瑞汽车股份有限公司 | A kind of method and apparatus of the detection barrier based on laser point cloud data |
| CN107480638A (en) * | 2017-08-16 | 2017-12-15 | 北京京东尚科信息技术有限公司 | Vehicle obstacle-avoidance method, controller, device and vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114882717A (en) * | 2022-03-16 | 2022-08-09 | 仓擎智能科技(上海)有限公司 | Object detection system and method based on vehicle-road cooperation |
| CN114882717B (en) * | 2022-03-16 | 2024-05-17 | 仓擎智能科技(上海)有限公司 | Object detection system and method based on vehicle-road cooperation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108839615A (en) | A kind of driving warning method, device and electronic equipment | |
| CN109817021B (en) | Method and device for avoiding traffic participants in roadside blind areas of laser radar | |
| JP7499256B2 (en) | System and method for classifying driver behavior - Patents.com | |
| CN108682174A (en) | A kind of driving warning method, device and electronic equipment | |
| CN111932881A (en) | Traffic intersection management method and device, terminal device and storage medium | |
| CN112287801A (en) | Vehicle-mounted data processing method and device, server and readable storage medium | |
| CN115017742B (en) | Automatic driving test scene generation method, device, equipment and storage medium | |
| CN117022323A (en) | Intelligent driving vehicle behavior analysis and prediction system and method | |
| WO2023123172A1 (en) | Driving assistance method and related device | |
| US20220114815A1 (en) | Moving body collision avoidance device, collision avoidance method and electronic device | |
| CN109887321B (en) | Unmanned vehicle lane change safety judgment method and device and storage medium | |
| US20220219729A1 (en) | Autonomous driving prediction method based on big data and computer device | |
| CN110228476A (en) | A kind of control method for vehicle, controller of vehicle and electronic equipment | |
| CN108630015A (en) | A kind of driving warning method, device and electronic equipment | |
| JP6732053B2 (en) | Method, apparatus, and system for detecting reverse-drive drivers | |
| CN108428368A (en) | Driving early warning system based on data-link and method | |
| JP7008515B2 (en) | Information processing method and information processing equipment | |
| CN113963574B (en) | Traffic road participant collision early warning method and device and electronic equipment | |
| CN114333414A (en) | Parking yield detection device, parking yield detection system, and recording medium | |
| CN111612140A (en) | Automatic driving safety discrimination method, equipment and storage medium based on road side unit | |
| CN111754781A (en) | Method, device and system for detecting vehicle violation and camera | |
| CN115981344B (en) | Automatic driving method and device | |
| CN112735105A (en) | Parking lot early warning system, method and device, server and storage medium | |
| CN113933854A (en) | Method for automatically driving vehicle to dynamically acquire drive test data and automatically driving vehicle | |
| CN115100844A (en) | Emergency lane occupation behavior recognition system and method and terminal equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181009 |