CN108932870A - A kind of vehicle early warning method and device - Google Patents
A kind of vehicle early warning method and device Download PDFInfo
- Publication number
- CN108932870A CN108932870A CN201810781101.5A CN201810781101A CN108932870A CN 108932870 A CN108932870 A CN 108932870A CN 201810781101 A CN201810781101 A CN 201810781101A CN 108932870 A CN108932870 A CN 108932870A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- current
- early warning
- distance
- self
- 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
- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000001133 acceleration Effects 0.000 claims abstract description 23
- 230000006378 damage Effects 0.000 claims description 12
- 208000027418 Wounds and injury Diseases 0.000 claims description 4
- 208000014674 injury Diseases 0.000 claims description 4
- 230000035484 reaction time Effects 0.000 claims description 4
- 239000002699 waste material Substances 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present invention provides a kind of vehicle early warning method and device, this method comprises: obtained from the first current location of vehicle；According to the first current location, the second current location from front truck in lane where vehicle is navigated to；According to the first current location and the second current location, obtained from the real-time range of vehicle and front truck；Obtained from the current safety early warning distance of vehicle and front truck；Wherein, current safety early warning distance is, according to the spacing being calculated from the current quality of vehicle and front truck, speed, acceleration and surface friction coefficient；When detecting that real-time range is less than current safety early warning distance, the early warning that there is risk of collision from vehicle and front truck is issued.Vehicle early warning scheme provided by the invention, it is contemplated that the influence of weather conditions advantageously ensures that the accuracy of the vehicle early warning of publication；It has been additionally contemplates that influence of the quality to vehicle brake distance, has avoided the waste of traffic resource, under the premise of guaranteeing vehicle driving safety, improved the effective use of road traffic resource.
Description
Technical Field
The invention relates to the technical field of safe driving of automobiles, in particular to a vehicle early warning method and device.
Background
At present, a safe driving auxiliary system is widely applied to the field of automobiles, and an early warning system for preventing automobile collision is an important application. In order to avoid the traffic accident that the front and rear vehicles collide with each other, the traffic laws and regulations stipulate safe vehicle distances corresponding to different vehicle speeds so as to ensure the driving safety. In the prior art, vehicle early warning can be performed according to the safe vehicle distance, and specifically, when the actual vehicle distance between the vehicle (called the 'own vehicle' for short) and the vehicle in front (called the 'front vehicle' for short) is smaller than the safe vehicle distance, a vehicle early warning prompt can be given so that a driver can take corresponding measures in time.
It is understood that, from the displacement calculation formula in physics, the minimum distance that each vehicle does not collide with the preceding vehicle differs for vehicles of different masses (or weights), even if emergency braking is applied at the same current vehicle speed. That is, in order to ensure the driving safety of most vehicles in traffic regulations, the larger value of the minimum distance corresponding to each vehicle is usually adopted.
Therefore, the scheme of vehicle early warning according to the safety distance specified by the traffic laws in the prior art can certainly reduce the frequency of traffic accidents to a certain extent, but obviously causes the waste of traffic resources when the traffic pressure is more and more serious nowadays.
Disclosure of Invention
The embodiment of the invention aims to provide a vehicle early warning method and device, so as to improve the effective utilization of road traffic resources on the premise of ensuring the driving safety of a vehicle.
In order to achieve the purpose, the embodiment of the invention discloses a vehicle early warning method, which comprises the following steps:
obtaining a first current location from a vehicle;
according to the first current position, positioning to a second current position of a front vehicle in a lane where the self vehicle is located;
obtaining the real-time distance between the self vehicle and the front vehicle along the driving direction according to the first current position and the second current position;
obtaining the current safety early warning distance between the self vehicle and the front vehicle; the current safety early warning distance is a vehicle distance obtained by calculating according to the current mass, the current speed, the current acceleration and the current road surface friction coefficient of the own vehicle and the preceding vehicle;
and when the real-time distance is smaller than the current safety early warning distance, issuing an early warning prompt that the own vehicle and the front vehicle have collision danger.
Preferably, the step of obtaining a first current position of the vehicle comprises:
and obtaining a first current position of the self-vehicle from map data loaded in advance by utilizing a vehicle-mounted GPS navigation module.
Preferably, the step of locating the second current position of the preceding vehicle in the lane in which the own vehicle is located according to the first current position includes:
determining a lane label of the vehicle in the map data according to the first current position;
determining a second current position of a preceding vehicle in the same lane as the own vehicle based on the lane label.
Preferably, the mass, the vehicle speed, the acceleration, and the friction coefficient of the own vehicle and the preceding vehicle are obtained as follows:
obtaining the mass of the self vehicle and the mass of the front vehicle by using a mass sensor; and
acquiring the speeds of the self vehicle and the front vehicle by using a vehicle speed sensor; and
acquiring the acceleration of the self vehicle and the acceleration of the front vehicle by using a gyroscope; and
and measuring the friction coefficients of the self vehicle and the front vehicle by using a friction coefficient tester.
Preferably, the step of obtaining the current safety precaution distance between the own vehicle and the preceding vehicle includes:
calculating the current safety early warning distance D between the self vehicle and the front vehicle according to the following expressionw：
Wherein v issThe current speed v corresponding to the emergency braking of the self-vehiclefFor the corresponding current vehicle when the preceding vehicle takes emergency brakingThe speed T is the reaction time of the instant emergency braking of the self-vehicle when the front-vehicle is in emergency braking, T1The braking time, t, corresponding to the self-vehicle2For the braking time, mu, corresponding to the self-vehicle1Is the friction coefficient corresponding to the first current position, mu2A coefficient of friction corresponding to said second current position, d0The minimum value of the vehicle distance is the minimum value of the vehicle distance when the vehicle is immediately braked emergently when the front vehicle is braked and the vehicle and the front vehicle are stopped.
Preferably, when it is detected that the real-time distance is smaller than the current safety warning distance and vehicles run in a lane where the own vehicle is located and an adjacent lane, the vehicle warning method further includes:
acquiring collision severity levels of the front vehicle and each adjacent vehicle, and issuing early warning prompts for a running route with the lowest collision severity level; wherein the collision severity level is a level classified based on a kinetic energy loss when the own vehicle collides with the preceding vehicle or each adjacent vehicle, respectively.
Preferably, the collision severity level is divided as follows:
calculating the damage degree lambda of the front vehicle or each adjacent vehicle when the front vehicle or each adjacent vehicle is collided according to an expression lambda of K.DELTA E;
using a preset first threshold lambda1And a second threshold λ2Classifying said degree of injury λ into mild, moderate and moderate 3 grades;
the method comprises the following steps of obtaining the loss kinetic energy of the self-vehicle, and obtaining the damage degree correlation coefficient of the loss kinetic energy of the self-vehicle on the front vehicle or each adjacent vehicle.
In order to achieve the above object, an embodiment of the present invention discloses a vehicle warning device, including:
the system comprises a self-vehicle position obtaining module, a first position obtaining module and a second position obtaining module, wherein the self-vehicle position obtaining module is used for obtaining a first current position of a self-vehicle;
the front vehicle position obtaining module is used for positioning to a second current position of a front vehicle in the lane where the self vehicle is located according to the first current position;
a real-time distance obtaining module, configured to obtain a real-time distance between the host vehicle and the leading vehicle in a driving direction according to the first current position and the second current position;
the safety distance obtaining module is used for obtaining the current safety early warning distance between the self vehicle and the front vehicle; the current safety early warning distance is a vehicle distance obtained by calculating according to the current mass, the current speed, the current acceleration and the current road surface friction coefficient of the own vehicle and the preceding vehicle;
and the first early warning module is used for issuing an early warning prompt that the own vehicle and the preceding vehicle have collision danger when the real-time distance is smaller than the current safety early warning distance.
Preferably, the self-vehicle position obtaining module is configured to:
and obtaining a first current position of the self-vehicle from map data loaded in advance by utilizing a vehicle-mounted GPS navigation module.
Preferably, the front vehicle position obtaining module comprises a lane number obtaining unit and a front vehicle position positioning unit; wherein,
the lane mark obtaining unit is used for determining a lane mark of the vehicle in the map data according to the first current position;
and the front vehicle position positioning unit is used for determining a second current position of a front vehicle in the same lane with the self vehicle based on the lane mark.
According to the vehicle early warning method and device provided by the embodiment of the invention, in the driving process of a vehicle, the first current position of the vehicle and the second current position of the front vehicle are obtained, the real-time distance between the vehicle and the front vehicle is further obtained, then the current safety early warning distance between the vehicle and the front vehicle is obtained, and the early warning prompt with collision danger is issued when the real-time distance is detected to be smaller than the current safety early warning distance.
It can be seen that, in the vehicle early warning scheme provided by the invention, the current safety early warning distance is the vehicle distance calculated in real time based on the current mass, the current vehicle speed, the current acceleration and the current road surface friction coefficient of the vehicle and the vehicle ahead, and a fixed safety distance is not set only aiming at different vehicle speeds as in the prior art. Furthermore, the current safety early warning distance fully considers relevant information influencing the safety distance except the vehicle speed, such as quality, road surface friction coefficient and the like, and it can be understood that the road surface friction coefficient is different for different weathers; it should be noted that, according to the knowledge of physics, the braking distances of vehicles with different qualities are different, but in the prior art, the maximum braking distance is only used as the safe distance, so that it is obvious that a certain traffic resource waste can be caused for a low-quality vehicle with a smaller actual braking distance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a vehicle warning method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another vehicle warning method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle warning device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another vehicle warning device provided in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to improve the effective utilization of road traffic resources on the premise of ensuring the driving safety of vehicles, the embodiment of the invention provides a vehicle early warning method and a vehicle early warning device.
Before explaining the vehicle early warning method provided by the embodiment of the invention, a simple introduction is firstly made to an application scenario of the embodiment of the invention. First, vehicles traveling on the road may be in the same wireless internet, where the vehicles may include a host vehicle, a front vehicle, an adjacent vehicle (hereinafter referred to as "adjacent vehicle") and a rear vehicle (hereinafter referred to as "rear vehicle"), the wireless internet here may be a VANET (Vehicular Ad-Hoc network), specifically, the VANET refers to an open mobile Ad Hoc (i.e., "point-to-point") network that is formed between vehicles and between vehicles on a road and a fixed access point and is capable of communicating with each other, and is an important component of an intelligent transportation system, in addition, the VANET is a wireless communication network between vehicles which is self-organized, convenient to deploy, low in cost and open in structure, can be used for transmitting real-time information such as driving assistance and accident avoidance, meanwhile, the system can provide services such as vehicle-mounted entertainment, real-time navigation and the like, so that the efficiency and the reliability of transportation are improved. Of course, the VANET mentioned here is only a preferred wireless internet network applied in the vehicle field, and besides, other wireless internet networks may be adopted to group the vehicles in the same network, and the VANET should not be construed as a limitation to the embodiment of the present invention.
The following describes a vehicle warning method provided by an embodiment of the present invention in detail.
As shown in fig. 1, which is a schematic flow chart of a vehicle early warning method provided in an embodiment of the present invention, the vehicle early warning method includes:
s101: a first current location of the vehicle is obtained.
In one implementation, the first current location of the vehicle is obtained as follows:
and obtaining a first current position of the self-vehicle from map data loaded in advance by utilizing a vehicle-mounted GPS navigation module.
It can be understood that, nowadays, a vehicle is usually provided with a GPS navigation module having a positioning function, so that, during the driving process of the vehicle, the vehicle-mounted GPS navigation module of the vehicle can be utilized to position the first current position of the vehicle from the map data; specifically, the map data may be map data provided by an application program such as a Baidu map, a Gade map, or the like, and the higher the accuracy of the map data is, the more accurate the position of the located own vehicle is accordingly, which is more beneficial to improving the accuracy of vehicle early warning in the subsequent steps.
It should be noted that, in the embodiment of the present invention, the "first current position", "second current position", and "third current position" are only used for convenience of describing the distinction of the current position of the own vehicle, the preceding vehicle, or the adjacent vehicle, and should not be construed as a limitation to the current position.
S102: and positioning to a second current position of a front vehicle in the lane where the self vehicle is located according to the first current position.
In one implementation, the second current position of the leading vehicle is located as follows:
a. determining a lane label of the vehicle in the map data according to the first current position;
b. determining a second current position of a preceding vehicle in the same lane as the own vehicle based on the lane label.
It is understood that after the vehicle obtains the first current position according to the GPS navigation module mounted on the vehicle, since the vehicles on the road are in the same wireless internet, the second current position of the preceding vehicle in the lane where the vehicle is located can be determined based on the network communication.
Specifically, the vehicle may broadcast the broadcast signal carrying the lane label of the lane where the vehicle is located to the network, so that other vehicles in the same communication network may obtain the lane label of the vehicle in the broadcast signal, and then the other vehicles may perform feedback for the broadcast signal when determining that the received lane label of the vehicle is the same as the lane label of the vehicle, and may further determine the second current position of the preceding vehicle by using a manner similar to the determination of the first current position in step S101.
It should be noted that the embodiment described herein is only one specific implementation for obtaining the second current position, and other possible implementations may also be possible, and the above-mentioned implementation should not be construed as limiting the invention. In addition, the above-mentioned network communication by sending the broadcast signal is also a specific way of network communication, and there may be other implementation ways, for example, the self-vehicle may also send a request for obtaining the second current position of the vehicle ahead to a background management node in the network, and then the management node issues a request for uploading the current position to another vehicle, and further determines whether the vehicle is in the same lane as the first position information and is traveling ahead of the self-vehicle according to the collected current position information of the other vehicle, and sends the second current position of the vehicle ahead meeting the requirement to a wireless communication terminal in the self-vehicle, for example, a V2X device.
S103: and obtaining the real-time distance between the self vehicle and the front vehicle along the driving direction according to the first current position and the second current position.
It can be understood that, at this time, the own vehicle obtains the first current position of the own vehicle and the second current position of the preceding vehicle, so that the real-time distance between the own vehicle and the preceding vehicle along the driving direction can be easily obtained, and the real-time distance is a key index for subsequently determining whether the collision risk exists.
S104: and obtaining the current safety early warning distance between the self vehicle and the front vehicle.
And the current safety early warning distance is a vehicle distance obtained by calculating according to the current mass, the current speed, the current acceleration and the current road surface friction coefficient of the own vehicle and the preceding vehicle.
In one implementation, the mass, the speed, the acceleration and the friction coefficient of the host vehicle and the lead vehicle can be obtained respectively according to the following modes:
obtaining the mass of the self vehicle and the mass of the front vehicle by using a mass sensor; and
acquiring the speeds of the self vehicle and the front vehicle by using a vehicle speed sensor; and
acquiring the acceleration of the self vehicle and the acceleration of the front vehicle by using a gyroscope; and
and measuring the friction coefficients of the self vehicle and the front vehicle by using a friction coefficient tester.
In a specific implementation manner, the self-vehicle and the self-vehicle can be calculated according to the following expressionThe current safety early warning distance D of the front vehiclew：
Wherein v issThe current speed v corresponding to the emergency braking of the self-vehiclefCorresponding current speed when the front vehicle adopts emergency braking, T is the reaction time of the instant emergency braking of the front vehicle when the front vehicle adopts the emergency braking, T1The braking time, t, corresponding to the self-vehicle2For the braking time, mu, corresponding to the self-vehicle1Is the friction coefficient corresponding to the first current position, mu2A coefficient of friction corresponding to said second current position, d0The minimum value of the vehicle distance is the minimum value of the vehicle distance when the vehicle is immediately braked emergently when the front vehicle is braked and the vehicle and the front vehicle are stopped.
It should be emphasized that the current safety precaution distance calculated here is a variable index, which varies with the mass (or weight) of the vehicle, the vehicle speed, the acceleration and the friction coefficient, it should be noted that the mass and the friction coefficient here represent the difference of the respective vehicles, and even if the vehicles have the same vehicle speed, the braking distances of the vehicles with different masses or running on the roads with different friction coefficients are actually different, but the solution provided by the embodiment of the present invention sufficiently combines the actual specific situation, so that the calculation of the safety distance is more accurate and reasonable.
S105: and when the real-time distance is smaller than the current safety early warning distance, issuing an early warning prompt that the own vehicle and the front vehicle have collision danger.
It can be understood that the magnitude relation between the real-time distance and the current safety early warning distance is judged in real time, and when the real-time distance is detected to be smaller than the current safety early warning distance at the corresponding moment, it is indicated that the vehicle cannot avoid collision with the front vehicle if the front vehicle is braked emergently.
According to the vehicle early warning method provided by the embodiment of the invention, in the driving process of a vehicle, the first current position of the vehicle and the second current position of the front vehicle are obtained, the real-time distance between the vehicle and the front vehicle is further obtained, then the current safety early warning distance between the vehicle and the front vehicle is obtained, and the early warning prompt with collision danger is issued when the real-time distance is detected to be smaller than the current safety early warning distance.
It can be seen that, in the vehicle early warning scheme provided by the invention, the current safety early warning distance is the vehicle distance calculated in real time based on the current mass, the current vehicle speed, the current acceleration and the current road surface friction coefficient of the vehicle and the vehicle ahead, and a fixed safety distance is not set only aiming at different vehicle speeds as in the prior art. Furthermore, the current safety early warning distance fully considers relevant information influencing the safety distance except the vehicle speed, such as quality, road surface friction coefficient and the like, and it can be understood that the road surface friction coefficient is different for different weathers; it should be noted that, according to the knowledge of physics, the braking distances of vehicles with different qualities are different, but in the prior art, the maximum braking distance is only used as the safe distance, so that it is obvious that a certain traffic resource waste can be caused for a low-quality vehicle with a smaller actual braking distance.
Further, as shown in fig. 2, a schematic flow chart of another vehicle warning method provided in the embodiment of the present invention is shown, where on the premise that the real-time distance is smaller than the current safety warning distance and vehicles are traveling in both the lane where the own vehicle is located and the adjacent lane, based on the embodiment of the method shown in fig. 1, the method may further include the following steps:
s106: obtaining collision severity levels for the leading vehicle and each neighboring vehicle;
s107: issuing an early warning prompt aiming at a running route with the lowest collision severity level; wherein the collision severity level is a level classified based on a kinetic energy loss when the own vehicle collides with the preceding vehicle or each adjacent vehicle, respectively.
In one implementation, the collision severity level is divided as follows:
(1) and calculating the damage degree lambda of the front vehicle or each adjacent vehicle when the front vehicle or each adjacent vehicle is collided according to an expression lambda of K.
(2) Using a preset first threshold lambda1And a second threshold λ2Classifying said degree of injury λ into mild, moderate and moderate 3 grades;
the method comprises the following steps of obtaining the loss kinetic energy of the self-vehicle, and obtaining the damage degree correlation coefficient of the loss kinetic energy of the self-vehicle on the front vehicle or each adjacent vehicle.
it should be noted that, a specific manner for calculating the lost kinetic energy △ E when the own vehicle collides with the preceding vehicle or each adjacent vehicle has been disclosed in the prior art, for example, the lost kinetic energy △ E when the own vehicle collides with the preceding vehicle or each adjacent vehicle can be calculated by referring to a specific manner of inelastic collision in physics, and details thereof are not repeated herein.
It should be noted that, when the real-time distance is not less than the current safety precaution distance, it indicates that the own vehicle and the vehicle ahead do not have a collision risk, and if the driver does not need to pay attention to the specific situation of the adjacent vehicle running on the adjacent lane under the condition of no lane change requirement. However, when it is detected that the real-time distance is smaller than the current safety warning distance, it is not ideal enough to merely indicate that there is a collision risk, so the embodiment of the present invention may further reduce the loss caused by collision to the minimum by the way of steps S106 and S107, at this time, it is necessary to consider whether there is a vehicle running in the adjacent lane, and if not, the collision risk with the preceding vehicle may be reduced by adopting a way of directly changing lanes; however, when the vehicle runs in the lane where the vehicle is located and the adjacent lane, the collision severity level for the preceding vehicle and each adjacent vehicle can be obtained through steps S106 and S107, and then the warning prompt can be issued for the running route with the lowest collision severity level, so that not only is the danger of collision with the preceding vehicle prompted to the driver, but also the mode with the lowest collision loss can be prompted to the driver, so that the vehicle warning is more intuitive and accurate, the driver is unlikely to be in an urgent close position, the running safety can be further ensured, and the driving experience of the driver is improved.
The following describes a vehicle warning device according to an embodiment of the present invention.
As shown in fig. 3, which is a schematic structural diagram of a vehicle warning device provided in an embodiment of the present invention, the vehicle warning device includes the following modules:
the vehicle location obtaining module 210 is configured to obtain a first current location of the vehicle.
And a front vehicle position obtaining module 220, configured to, according to the first current position, locate a second current position of a front vehicle in the lane where the self vehicle is located.
A real-time distance obtaining module 230, configured to obtain a real-time distance between the self-vehicle and the front-vehicle along a driving direction according to the first current position and the second current position.
A safety distance obtaining module 240, configured to obtain a current safety warning distance between the current vehicle and the preceding vehicle; and the current safety early warning distance is a vehicle distance obtained by calculating according to the current mass, the current speed, the current acceleration and the current road surface friction coefficient of the own vehicle and the preceding vehicle.
And the first early warning module 250 is configured to issue an early warning prompt that the own vehicle and the preceding vehicle have a collision risk when it is detected that the real-time distance is smaller than the current safety early warning distance.
In one implementation, the self-location obtaining module 210 is configured to:
and obtaining a first current position of the self-vehicle from map data loaded in advance by utilizing a vehicle-mounted GPS navigation module.
In one implementation, the front vehicle position obtaining module 220 includes a lane number obtaining unit and a front vehicle position positioning unit; wherein,
the lane mark obtaining unit is used for determining a lane mark of the vehicle in the map data according to the first current position;
and the front vehicle position positioning unit is used for determining a second current position of a front vehicle in the same lane with the self vehicle based on the lane mark.
In a specific implementation manner, the mass, the speed, the acceleration and the friction coefficient of the self vehicle and the front vehicle can be obtained respectively according to the following modes:
obtaining the mass of the self vehicle and the mass of the front vehicle by using a mass sensor; and
acquiring the speeds of the self vehicle and the front vehicle by using a vehicle speed sensor; and
acquiring the acceleration of the self vehicle and the acceleration of the front vehicle by using a gyroscope; and
and measuring the friction coefficients of the self vehicle and the front vehicle by using a friction coefficient tester.
In one implementation, the safe distance obtaining module 240 is configured to calculate the current safe early warning distance D between the host vehicle and the preceding vehicle according to the following expressionw：
Wherein v issThe current speed v corresponding to the emergency braking of the self-vehiclefCorresponding current speed when the front vehicle adopts emergency braking, T is the reaction time of the instant emergency braking of the front vehicle when the front vehicle adopts the emergency braking, T1The braking time, t, corresponding to the self-vehicle2For the braking time, mu, corresponding to the self-vehicle1Is the friction coefficient corresponding to the first current position, mu2A coefficient of friction corresponding to said second current position, d0The minimum value of the vehicle distance is the minimum value of the vehicle distance when the vehicle is immediately braked emergently when the front vehicle is braked and the vehicle and the front vehicle are stopped.
According to the vehicle early warning device provided by the embodiment of the invention, in the driving process of a vehicle, the first current position of the vehicle and the second current position of the front vehicle are obtained, the real-time distance between the vehicle and the front vehicle is further obtained, then the current safety early warning distance between the vehicle and the front vehicle is obtained, and the early warning prompt with collision danger is issued when the real-time distance is detected to be smaller than the current safety early warning distance.
It can be seen that, in the vehicle early warning scheme provided by the invention, the current safety early warning distance is the vehicle distance calculated in real time based on the current mass, the current vehicle speed, the current acceleration and the current road surface friction coefficient of the vehicle and the vehicle ahead, and a fixed safety distance is not set only aiming at different vehicle speeds as in the prior art. Furthermore, the current safety early warning distance fully considers relevant information influencing the safety distance except the vehicle speed, such as quality, road surface friction coefficient and the like, and it can be understood that the road surface friction coefficient is different for different weathers; it should be noted that, according to the knowledge of physics, the braking distances of vehicles with different qualities are different, but in the prior art, the maximum braking distance is only used as the safe distance, so that it is obvious that a certain traffic resource waste can be caused for a low-quality vehicle with a smaller actual braking distance.
Further, as shown in fig. 4, which is a schematic structural diagram of another vehicle warning device provided in the embodiment of the present invention, on the basis of the embodiment of the device shown in fig. 3, the vehicle warning device may further include the following modules:
a collision grade obtaining module 260, configured to obtain collision severity grades for the front vehicle and each neighboring vehicle on the premise that the real-time distance is smaller than the current safety warning distance and vehicles are running in a lane where the own vehicle is located and in an adjacent lane;
the second early warning module 270 is configured to issue an early warning prompt for a driving route with the lowest collision severity level; wherein the collision severity level is a level classified based on a kinetic energy loss when the own vehicle collides with the preceding vehicle or each adjacent vehicle, respectively.
in a specific implementation manner, the collision grade obtaining module 260 is configured to calculate a damage degree λ of the preceding vehicle or each neighboring vehicle when the preceding vehicle or each neighboring vehicle suffers a collision according to an expression λ ═ K ·Δe, and utilize a preset first threshold λ1And a second threshold λ2Classifying said degree of injury λ into mild, moderate and moderate 3 grades;
the method comprises the following steps of obtaining the loss kinetic energy of the self-vehicle, and obtaining the damage degree correlation coefficient of the loss kinetic energy of the self-vehicle on the front vehicle or each adjacent vehicle.
It should be noted that, when the real-time distance is not less than the current safety precaution distance, it indicates that the own vehicle and the vehicle ahead do not have a collision risk, and if the driver does not need to pay attention to the specific situation of the adjacent vehicle running on the adjacent lane under the condition of no lane change requirement. However, when the real-time distance is detected to be smaller than the current safety early warning distance, only the fact that the collision danger is presented is not ideal enough, so that the embodiment of the invention can further reduce the loss caused by collision to the minimum, whether vehicles run in the adjacent lanes or not needs to be considered at the moment, and if not, the collision danger with the front vehicle can be reduced by adopting a direct lane changing mode; however, when the vehicle runs in the lane where the vehicle is located and the adjacent lane, the collision severity level of the vehicle to the front vehicle and the collision severity level of each adjacent vehicle can be obtained, and then the early warning prompt can be issued according to the running route with the lowest collision severity level, so that not only is the collision danger between the vehicle and the front vehicle prompted to the driver, but also the mode with the lowest collision loss can be prompted to the driver, the vehicle early warning is more visual and accurate, the driver can be prevented from being in an urgent state of hand and foot, the running safety can be further ensured, and the driving experience of the driver is improved.
For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to some descriptions of the method embodiment for relevant points.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that all or part of the steps in the above method embodiments may be implemented by a program to instruct relevant hardware to perform the steps, and the program may be stored in a computer-readable storage medium, referred to herein as a storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A vehicle early warning method is characterized by comprising the following steps:
obtaining a first current location from a vehicle;
according to the first current position, positioning to a second current position of a front vehicle in a lane where the self vehicle is located;
obtaining the real-time distance between the self vehicle and the front vehicle along the driving direction according to the first current position and the second current position;
obtaining the current safety early warning distance between the self vehicle and the front vehicle; the current safety early warning distance is a vehicle distance obtained by calculating according to the current mass, the current speed, the current acceleration and the current road surface friction coefficient of the own vehicle and the preceding vehicle;
and when the real-time distance is smaller than the current safety early warning distance, issuing an early warning prompt that the own vehicle and the front vehicle have collision danger.
2. The vehicle warning method of claim 1, wherein the step of obtaining the first current location of the vehicle comprises:
and obtaining a first current position of the self-vehicle from map data loaded in advance by utilizing a vehicle-mounted GPS navigation module.
3. The vehicle early warning method according to claim 2, wherein the step of locating the second current position of the preceding vehicle in the lane of the own vehicle according to the first current position comprises:
determining a lane label of the vehicle in the map data according to the first current position;
determining a second current position of a preceding vehicle in the same lane as the own vehicle based on the lane label.
4. The vehicle early warning method according to claim 1, wherein the mass, the vehicle speed, the acceleration, and the friction coefficient of the own vehicle and the preceding vehicle are obtained as follows:
obtaining the mass of the self vehicle and the mass of the front vehicle by using a mass sensor; and
acquiring the speeds of the self vehicle and the front vehicle by using a vehicle speed sensor; and
acquiring the acceleration of the self vehicle and the acceleration of the front vehicle by using a gyroscope; and
and measuring the friction coefficient of the self vehicle or the front vehicle by using a friction coefficient tester.
5. The vehicle warning method according to claim 1, wherein the step of obtaining the current safety warning distance between the own vehicle and the preceding vehicle comprises:
calculating the current safety early warning distance D between the self vehicle and the front vehicle according to the following expressionw：
Wherein v issThe current speed v corresponding to the emergency braking of the self-vehiclefCorresponding current speed when the front vehicle adopts emergency braking, T is the reaction time of the instant emergency braking of the front vehicle when the front vehicle adopts the emergency braking, T1The braking time, t, corresponding to the self-vehicle2For the braking time, mu, corresponding to the self-vehicle1Is the friction coefficient corresponding to the first current position, mu2A coefficient of friction corresponding to said second current position, d0The minimum value of the vehicle distance is the minimum value of the vehicle distance when the vehicle is immediately braked emergently when the front vehicle is braked and the vehicle and the front vehicle are stopped.
6. The vehicle early warning method according to any one of claims 1 to 5, wherein when it is detected that the real-time distance is smaller than the current safety early warning distance and vehicles run in a lane where the own vehicle is located and an adjacent lane, the vehicle early warning method further comprises:
acquiring collision severity levels of the front vehicle and each adjacent vehicle, and issuing early warning prompts for a running route with the lowest collision severity level; wherein the collision severity level is a level classified based on a kinetic energy loss when the own vehicle collides with the preceding vehicle or each adjacent vehicle, respectively.
7. The vehicle warning method as claimed in claim 6, wherein the collision severity level is classified as follows:
calculating the damage degree lambda of the front vehicle or each adjacent vehicle when the front vehicle or each adjacent vehicle is collided according to an expression lambda of K.DELTA E;
using a preset first threshold lambda1And a second threshold λ2Classifying said degree of injury λ into mild, moderate and moderate 3 grades;
the method comprises the following steps of obtaining the loss kinetic energy of the self-vehicle, and obtaining the damage degree correlation coefficient of the loss kinetic energy of the self-vehicle on the front vehicle or each adjacent vehicle.
8. A vehicle warning device, characterized by comprising:
the system comprises a self-vehicle position obtaining module, a first position obtaining module and a second position obtaining module, wherein the self-vehicle position obtaining module is used for obtaining a first current position of a self-vehicle;
the front vehicle position obtaining module is used for positioning to a second current position of a front vehicle in the lane where the self vehicle is located according to the first current position;
a real-time distance obtaining module, configured to obtain a real-time distance between the host vehicle and the leading vehicle in a driving direction according to the first current position and the second current position;
the safety distance obtaining module is used for obtaining the current safety early warning distance between the self vehicle and the front vehicle; the current safety early warning distance is a vehicle distance obtained by calculating according to the current mass, the current speed, the current acceleration and the current road surface friction coefficient of the own vehicle and the preceding vehicle;
and the first early warning module is used for issuing an early warning prompt that the own vehicle and the preceding vehicle have collision danger when the real-time distance is smaller than the current safety early warning distance.
9. The vehicle early warning device of claim 8, wherein the vehicle location acquisition module is configured to:
and obtaining a first current position of the self-vehicle from map data loaded in advance by utilizing a vehicle-mounted GPS navigation module.
10. The vehicle early warning device according to claim 9, wherein the front position obtaining module comprises a lane number obtaining unit and a front position positioning unit; wherein
The lane mark obtaining unit is used for determining a lane mark of the vehicle in the map data according to the first current position;
and the front vehicle position positioning unit is used for determining a second current position of a front vehicle in the same lane with the self vehicle based on the lane mark.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810781101.5A CN108932870A (en) | 2018-07-16 | 2018-07-16 | A kind of vehicle early warning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810781101.5A CN108932870A (en) | 2018-07-16 | 2018-07-16 | A kind of vehicle early warning method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108932870A true CN108932870A (en) | 2018-12-04 |
Family
ID=64447828
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810781101.5A Pending CN108932870A (en) | 2018-07-16 | 2018-07-16 | A kind of vehicle early warning method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108932870A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109448384A (en) * | 2018-12-27 | 2019-03-08 | 中交第公路勘察设计研究院有限公司 | A kind of highway danger traffic behavior recognition methods |
| CN110194169A (en) * | 2019-05-31 | 2019-09-03 | 惠州华阳通用智慧车载系统开发有限公司 | A kind of vehicle lane change householder method |
| CN111243291A (en) * | 2020-01-22 | 2020-06-05 | 长安大学 | Method for early warning vehicles behind traffic abnormal points on sharp-curved highway sections |
| CN111833622A (en) * | 2020-05-29 | 2020-10-27 | 广东中科臻恒信息技术有限公司 | Automatic driving warning method, equipment and storage medium based on environment perception and mobile edge calculation |
| CN113112865A (en) * | 2021-04-13 | 2021-07-13 | 哈尔滨工业大学 | Interaction system and method for regional vehicle collaborative early warning and risk avoidance |
| CN114056327A (en) * | 2022-01-13 | 2022-02-18 | 国网山东省电力公司泰安供电公司 | Vehicle safety control method, system and terminal |
| CN115273550A (en) * | 2022-07-29 | 2022-11-01 | 郑州工程技术学院 | Vehicle collision early warning method and system based on Internet of vehicles |
| CN116142180A (en) * | 2023-04-14 | 2023-05-23 | 北京裕峻汽车技术研究院有限公司 | Collision risk determination method based on millimeter wave radar |
| CN116238498A (en) * | 2023-02-28 | 2023-06-09 | 哈尔滨市川冠年机电科技有限公司 | Multi-mode perception-based motorcade following distance optimization calculation method |
| CN116994436A (en) * | 2023-09-26 | 2023-11-03 | 青岛慧拓智能机器有限公司 | Intelligent mine road collision early warning method |
| CN117734655A (en) * | 2024-02-19 | 2024-03-22 | 中汽研汽车检验中心(广州)有限公司 | Real-time brake pedal force prompting method and device, electronic equipment and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101425228A (en) * | 2007-10-29 | 2009-05-06 | 三菱扶桑卡客车株式会社 | Monitoring target detecting apparatus associated with collision damage reducing apparatus |
| CN102622875A (en) * | 2012-03-31 | 2012-08-01 | 天津港(集团)有限公司 | Method for evaluating traffic safety of signal intersection during phase switching facing operation management stage |
| CN102792351A (en) * | 2010-03-12 | 2012-11-21 | 优迪卡汽车股份有限公司 | Safe vehicle driving facilitating system |
| CN105291965A (en) * | 2015-11-04 | 2016-02-03 | 石海水 | Automobile anti-collision method and device |
| CN105774650A (en) * | 2016-03-03 | 2016-07-20 | 胡良 | Motor vehicle anti-collision early-warning method and system based on satellite navigation |
| CN106379316A (en) * | 2016-09-06 | 2017-02-08 | 江苏大学 | Vehicle active collision avoidance mode switching method |
| CN106956677A (en) * | 2017-04-10 | 2017-07-18 | 重庆大学 | A kind of automotive safety method for early warning and system |
| CN107305744A (en) * | 2016-04-25 | 2017-10-31 | 山东理工大学 | A kind of device of variable inertia vehicle safe velocity prompting |
| US9898931B1 (en) * | 2016-09-26 | 2018-02-20 | GM Global Technology Operations LLC | Method and apparatus for detecting hazards and transmitting alerts |
| CN108010383A (en) * | 2017-09-29 | 2018-05-08 | 北京车和家信息技术有限公司 | Blind zone detection method, device, terminal and vehicle based on driving vehicle |
-
2018
- 2018-07-16 CN CN201810781101.5A patent/CN108932870A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101425228A (en) * | 2007-10-29 | 2009-05-06 | 三菱扶桑卡客车株式会社 | Monitoring target detecting apparatus associated with collision damage reducing apparatus |
| CN102792351A (en) * | 2010-03-12 | 2012-11-21 | 优迪卡汽车股份有限公司 | Safe vehicle driving facilitating system |
| CN102622875A (en) * | 2012-03-31 | 2012-08-01 | 天津港(集团)有限公司 | Method for evaluating traffic safety of signal intersection during phase switching facing operation management stage |
| CN105291965A (en) * | 2015-11-04 | 2016-02-03 | 石海水 | Automobile anti-collision method and device |
| CN105774650A (en) * | 2016-03-03 | 2016-07-20 | 胡良 | Motor vehicle anti-collision early-warning method and system based on satellite navigation |
| CN107305744A (en) * | 2016-04-25 | 2017-10-31 | 山东理工大学 | A kind of device of variable inertia vehicle safe velocity prompting |
| CN106379316A (en) * | 2016-09-06 | 2017-02-08 | 江苏大学 | Vehicle active collision avoidance mode switching method |
| US9898931B1 (en) * | 2016-09-26 | 2018-02-20 | GM Global Technology Operations LLC | Method and apparatus for detecting hazards and transmitting alerts |
| CN106956677A (en) * | 2017-04-10 | 2017-07-18 | 重庆大学 | A kind of automotive safety method for early warning and system |
| CN108010383A (en) * | 2017-09-29 | 2018-05-08 | 北京车和家信息技术有限公司 | Blind zone detection method, device, terminal and vehicle based on driving vehicle |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109448384A (en) * | 2018-12-27 | 2019-03-08 | 中交第公路勘察设计研究院有限公司 | A kind of highway danger traffic behavior recognition methods |
| CN110194169A (en) * | 2019-05-31 | 2019-09-03 | 惠州华阳通用智慧车载系统开发有限公司 | A kind of vehicle lane change householder method |
| CN111243291A (en) * | 2020-01-22 | 2020-06-05 | 长安大学 | Method for early warning vehicles behind traffic abnormal points on sharp-curved highway sections |
| CN111243291B (en) * | 2020-01-22 | 2021-05-14 | 长安大学 | Method for early warning vehicles behind traffic abnormal points on sharp-curved highway sections |
| CN111833622A (en) * | 2020-05-29 | 2020-10-27 | 广东中科臻恒信息技术有限公司 | Automatic driving warning method, equipment and storage medium based on environment perception and mobile edge calculation |
| CN113112865A (en) * | 2021-04-13 | 2021-07-13 | 哈尔滨工业大学 | Interaction system and method for regional vehicle collaborative early warning and risk avoidance |
| CN113112865B (en) * | 2021-04-13 | 2021-11-16 | 哈尔滨工业大学 | Interaction system and method for regional vehicle collaborative early warning and risk avoidance |
| CN114056327A (en) * | 2022-01-13 | 2022-02-18 | 国网山东省电力公司泰安供电公司 | Vehicle safety control method, system and terminal |
| CN115273550A (en) * | 2022-07-29 | 2022-11-01 | 郑州工程技术学院 | Vehicle collision early warning method and system based on Internet of vehicles |
| CN115273550B (en) * | 2022-07-29 | 2023-10-24 | 郑州工程技术学院 | Vehicle collision early warning method and system based on Internet of vehicles |
| CN116238498A (en) * | 2023-02-28 | 2023-06-09 | 哈尔滨市川冠年机电科技有限公司 | Multi-mode perception-based motorcade following distance optimization calculation method |
| CN116238498B (en) * | 2023-02-28 | 2023-11-28 | 哈尔滨市川冠年机电科技有限公司 | Multi-mode perception-based motorcade following distance optimization calculation method |
| CN116142180A (en) * | 2023-04-14 | 2023-05-23 | 北京裕峻汽车技术研究院有限公司 | Collision risk determination method based on millimeter wave radar |
| CN116994436A (en) * | 2023-09-26 | 2023-11-03 | 青岛慧拓智能机器有限公司 | Intelligent mine road collision early warning method |
| CN116994436B (en) * | 2023-09-26 | 2024-02-20 | 青岛慧拓智能机器有限公司 | Intelligent mine road collision early warning method |
| CN117734655A (en) * | 2024-02-19 | 2024-03-22 | 中汽研汽车检验中心(广州)有限公司 | Real-time brake pedal force prompting method and device, electronic equipment and storage medium |
| CN117734655B (en) * | 2024-02-19 | 2024-06-21 | 中汽研汽车检验中心(广州)有限公司 | Real-time brake pedal force prompting method and device, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108932870A (en) | A kind of vehicle early warning method and device | |
| US10053067B2 (en) | Vehicle safety assist system | |
| US9487212B1 (en) | Method and system for controlling vehicle with automated driving system | |
| CN104269073B (en) | A kind of reverse track based on truck traffic method for early warning of overtaking other vehicles | |
| CN101926198B (en) | Vehicle-mounted communication device | |
| CN105788369B (en) | Overtake other vehicles control method and device for automatic driving vehicle | |
| US20180086263A1 (en) | Method For Detecting Forward Collision | |
| EP3118079A1 (en) | Road surface submergence estimation device | |
| JP5953716B2 (en) | Vehicle control apparatus, specific object determination apparatus, specific object determination method, specific object determination program | |
| US20120101704A1 (en) | Method for operating at least one sensor of a vehicle and vehicle having at least one sensor | |
| CN104143269B (en) | Vehicle is brought to a halt warning devicess and its method | |
| KR20150029471A (en) | Apparatus for passing danger warning of vehicle and method thereof | |
| CN113327458B (en) | Vehicle collision prediction method, vehicle collision prediction system, and electronic device | |
| EP3657461A1 (en) | Information processing system and server | |
| KR20180078985A (en) | Control apparatus and method for improving fuel efficiency in cacc system | |
| JP2007109001A (en) | Road environment estimation system | |
| JP2009080659A (en) | Driving support system, driving support method and statistical program | |
| KR20200070854A (en) | Apparatus and method for identificating short cut-in vehicle and vehicle including the same | |
| JP6326968B2 (en) | Driving support system and driving support method | |
| CN109455183A (en) | Vehicle collision pre-judging method and system | |
| CN110235187A (en) | Controller of vehicle and management system | |
| KR101768639B1 (en) | System and method for notifying the occurrence of accident | |
| JP2018205971A (en) | Road surface information collection system | |
| US11718317B2 (en) | Vehicle location correction using roadside devices | |
| Stübing et al. | Car-to-X communication: System architecture and applications |
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 | ||
| CB02 | Change of applicant information |
Address after: 230601 No. 99 Ziyun Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd Address before: 230601 No. 669 Shixin Road, Taohua Industrial Park, Hefei City, Anhui Province Applicant before: Anhui Jianghuai Automobile Group Limited by Share Ltd |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181204 |
|
| RJ01 | Rejection of invention patent application after publication |