CN108932870A - A kind of vehicle early warning method and device - Google Patents
A kind of vehicle early warning method and device Download PDFInfo
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- 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
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- 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
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- 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
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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 present invention relates to vehicle security drive technical field, in particular to a kind of vehicle early warning method and device.
Background technique
Currently, safe driving assistant system is widely used in automotive field, the early warning system of car crass is prevented
System is exactly one of important application.For the traffic accident for avoiding fore-aft vehicle from colliding with each other, defined in traffic law
Corresponding to the safe distance between vehicles of different speeds, to guarantee traffic safety.Vehicle can be carried out according to the safe distance between vehicles in the prior art
Early warning, specifically, when the practical spacing between vehicle (referred to as " from vehicle ") and front vehicles (referred to as " front truck ") is less than peace
When full spacing, vehicle early warning prompt can be provided, so that driver takes corresponding measure in time.
It is understood that according to the displacement calculation formula in physics it is found that the vehicle for different quality (or weight)
For, even if taking emergency braking under identical current vehicle speed, the minimum range that each vehicle does not collide with front truck
It is different.That is, guaranteeing the traffic safety of most vehicles in traffic law, it will usually take each vehicle
The larger value in corresponding minimum spacing.
It follows that the scheme of vehicle early warning is carried out according to the safe distance between vehicles of defined in traffic law in the prior art,
No doubt the frequency of traffic accident generation can be reduced to a certain extent, however when in face of nowadays increasingly severe traffic pressure
When, it is clear that it will cause the waste of traffic resource.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of vehicle early warning method and device, is guaranteeing vehicle driving to realize
Under the premise of safety, the effective use of road traffic resource is improved.
In order to achieve the above objectives, the embodiment of the invention discloses a kind of vehicle early warning method, the vehicle early warning method packets
It includes:
Obtained from the first current location of vehicle；
According to first current location, the second current location of the front truck from lane where vehicle is navigated to；
According to first current location and second current location, obtain described from vehicle and front truck edge traveling side
To real-time range；
Obtain the current safety early warning distance from vehicle and the front truck；Wherein, the current safety early warning distance is,
The spacing being calculated according to quality, speed, acceleration and the surface friction coefficient current from vehicle and the front truck；
When detecting that the real-time range is less than the current safety early warning distance, publication is described from vehicle and the front truck
Early warning with risk of collision.
Preferably, described to include: obtained from the step of the first current location of vehicle
Car borne GPS navigation module is utilized from vehicle described in obtaining, is navigated to from pre-loaded map datum described from vehicle
First current location at place.
Preferably, described according to first current location, it navigates to and described the second of front truck works as from lane where vehicle
The step of front position includes:
According to first current location, the lane label from vehicle in the map datum is determined；
Based on the lane label, determining the second current location with the front truck for being in same lane from vehicle.
Preferably, it obtains in the following way respectively described from the quality of vehicle and the front truck, speed, acceleration, friction
Coefficient:
The quality from vehicle and the front truck is obtained using mass sensor；And
The speed from vehicle and the front truck is obtained using vehicle speed sensor；And
The acceleration from vehicle and the front truck is obtained using gyroscope；And
The coefficient of friction from vehicle and the front truck is measured using friction coefficient tester.
Preferably, include: from the step of current safety early warning distance of vehicle and the front truck described in the acquisition
The current safety early warning distance D from vehicle and the front truck is calculated according to following formulaw:
Wherein, vsFor it is described from vehicle when taking emergency braking corresponding current vehicle speed, vfIt is being taken promptly for the front truck
Corresponding current vehicle speed when braking, when T is the front truck emergency braking described in from the reaction time of vehicle emergency braking immediately, t1For
It is described from the corresponding braking time of vehicle, t2To be described from the corresponding braking time of vehicle, μ1It rubs for first current location is corresponding
Wipe coefficient, μ2For the corresponding coefficient of friction in second current location, d0It is tight immediately from vehicle described in when for the front truck emergency braking
Anxious braking and until it is described stop from vehicle and the front truck when spacing minimum value.
Preferably, when detecting that the real-time range is less than the current safety early warning distance, and described institute is corresponded to from vehicle
Under the premise of there is vehicle driving in lane and adjacent lane, the vehicle early warning method further include:
Obtain the collision menace level for the front truck and each adjacent vehicle, and the row minimum for collision menace level
Sail route publication early warning；Wherein, the collision menace level be based on it is described from vehicle respectively with the front truck or each neighbour
Kinetic energy rejection when vehicle mutually collides and the grade divided.
Preferably, the collision menace level is divided in the following way:
The front truck or each adjacent vehicle are calculated by degree of injury λ when colliding according to expression formula λ=K △ E；
Utilize preset first threshold λ1With second threshold λ2The degree of injury λ is divided into slight, moderate and moderate 3
A grade；
Wherein, △ E is the kinetic energy loss from vehicle and the front truck or when each adjacent vehicle mutually collides；K be it is described from
Degree of injury related coefficient of the vehicle kinetic energy loss to front truck or each adjacent vehicle.
In order to achieve the above objectives, the embodiment of the invention discloses a kind of vehicle early warning device, the vehicle early warning device packets
It includes:
Module is obtained from truck position, for obtained from the first current location of vehicle；
Front vehicle position obtains module, for according to first current location, navigate to it is described from lane where vehicle before
Second current location of vehicle；
Real-time range obtains module, for according to first current location and second current location, described in acquisition
From vehicle with the front truck along the real-time range of driving direction；
Safe distance obtains module, for obtaining the current safety early warning distance from vehicle and the front truck；Wherein, institute
Stating current safety early warning distance is, according to the quality current from vehicle and the front truck, speed, acceleration and pavement friction system
The spacing that number is calculated；
First warning module, for issuing when detecting that the real-time range is less than the current safety early warning distance
The early warning from vehicle and the front truck with risk of collision.
Preferably, described to obtain module from truck position, it is used for:
Car borne GPS navigation module is utilized from vehicle described in obtaining, is navigated to from pre-loaded map datum described from vehicle
First current location at place.
Preferably, the front vehicle position obtains module, including lane label obtaining unit and front vehicle position positioning unit；Its
In,
The lane label obtaining unit, for according to first current location, determine it is described from vehicle in the map
Lane label in data；
The front vehicle position positioning unit, it is determining to be in same lane from vehicle with described for being based on the lane label
Front truck the second current location.
A kind of vehicle early warning method and device provided in an embodiment of the present invention, in vehicle travel process, obtained from vehicle
First current location, front truck the second current location, and then the real-time range between vehicle and front truck, then obtained from vehicle
With the current safety early warning distance of front truck, and detect real-time range be less than current safety early warning distance when publication have collision
Dangerous early warning.
As can be seen that current safety early warning distance is based on from vehicle and front truck in vehicle early warning scheme provided by the invention
The spacing that current quality, speed, acceleration and surface friction coefficient is calculated in real time is not as the prior art
One fixed safe distance is set only for different speeds.Further more, current safety early warning distance has been fully considered except vehicle
The relevant information, such as quality, surface friction coefficient etc. of safe distance are influenced except speed, it is to be understood that for not on the same day
For gas, surface friction coefficient is not also identical, and vehicle early warning scheme provided by the invention has fully considered the influence of weather conditions,
Advantageously ensure that the accuracy of issued vehicle early warning；It should be noted that according to physics knowledge it is found that different quality
Vehicle brake distance is different, and is in the prior art only that braking distance is maximum as safe distance, it is seen that right
In actual brake for lesser low quality vehicle, it is clear that will cause certain traffic resource waste, and of the invention work as
Such influence has been fully taken into account in preceding safe early warning distance, has avoided the waste of traffic resource, and current safety early warning
Distance is also to be realized under the premise of guaranteeing vehicle driving safety according to speed and road conditions real-time update, improves road
The effective use of traffic resource.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of vehicle early warning method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of another vehicle early warning method provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of vehicle early warning device provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of another vehicle early warning device provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order under the premise of guaranteeing vehicle driving safety, improve the effective use of road traffic resource, the present invention is implemented
Example provides a kind of vehicle early warning method and device.
Before being illustrated to vehicle early warning method provided in an embodiment of the present invention, first to the application of the embodiment of the present invention
Scene does a simple introduction.Firstly, travelling on road vehicle may be in same wireless internet network, vehicle here
It may include the wireless Internet here from vehicle, front truck, Adjacent vehicles (referred to as " adjacent vehicle ") and front vehicle (abbreviation " rear car ")
Network can be VANET (Vehicular ad-hoc network, vehicle self-organizing network), and specifically, VANET refers in road
The open mobile Ad Hoc (i.e. " point that can be in communication with each other formed between upper vehicle and vehicle, between vehicle and fixed access point
To point ") network is the important component of intelligent transportation system, in addition, VANET is a self-organizing, disposes convenient, expense
Cordless communication network between cheap, structure opening vehicle can be used for transmitting auxiliary and drive, and accident avoids waiting real time information, together
When can also provide car entertainment, real-time navigation etc. service, to improve the efficiency and reliability of communications and transportation.Certainly, here
Mentioned VANET is only a kind of preferred wireless internet network applied to vehicular field, in addition to this it is possible to take
Each vehicle group is built in consolidated network by other wireless internet networks, and VANET should not constitute the restriction to the embodiment of the present invention.
A kind of vehicle early warning method provided in an embodiment of the present invention is described in detail below.
As shown in Figure 1, being a kind of flow diagram of vehicle early warning method provided in an embodiment of the present invention, the vehicle is pre-
Alarm method includes:
S101: obtained from the first current location of vehicle.
In a kind of implementation, in the following way obtained from the first current location of vehicle:
Car borne GPS navigation module is utilized from vehicle described in obtaining, is navigated to from pre-loaded map datum described from vehicle
First current location at place.
It is understood that the GPS navigation module with positioning function nowadays would generally be equipped in vehicle, in this way, certainly
In the driving process of vehicle, can use navigated to from map datum from the car borne GPS navigation module of vehicle it is current from the first of vehicle
Position；Specifically, map datum here can be map provided by the application programs such as Baidu map, Amap
Data, in addition, the precision of map datum is higher, the car's location navigated to correspondingly more accurate, after being more advantageous to raising
The accuracy of vehicle early warning in continuous step.
It should also be noted that, the embodiment of the present invention mentioned in " the first current location ", " the second current location " and
It is the differentiation carried out from the current location of vehicle, front truck or adjacent vehicle that " third current location " etc., which is intended merely to facilitate description,
Should not be construed is restriction to current location.
S102: according to first current location, the second current location of the front truck from lane where vehicle is navigated to.
In a kind of implementation, the second current location of front truck is navigated in the following way:
A. according to first current location, the lane label from vehicle in the map datum is determined；
B. the lane label, determining the second current location with the front truck for being in same lane from vehicle are based on.
It is understood that after obtaining the first current location according to vehicle-mounted GPS navigation module from vehicle, due to road
On vehicle in same wireless internet network, in this way, can determine to be located at the vehicle where the vehicle based on network communication
Second current location of front truck in road.
Specifically, the broadcast singal of the lane label in lane where carrying itself can be broadcasted into network from vehicle, this
Sample, other vehicles in same communication network can obtain the lane label in the broadcast singal from vehicle, then other vehicles
The judgement received lane label from vehicle of institute and itself lane label to it is identical when, can be for broadcast singal progress instead
Feedback, and then can determine that the second of the front truck is current by the way of similar with the first current location is determined in step S101
Position.
It should be noted that recited herein is only a kind of specific implementation for obtaining the second current location, also
There can be other feasible implementations, above-mentioned cited mode should not constitute limitation of the invention.In addition, above-mentioned institute
Refer to network communication is carried out in a manner of sending broadcast singal also is a kind of concrete mode of network communication, can also have other
Implementation, for example, from vehicle can also to the back-stage management node in network send obtain front vehicles the second present bit
The request set, then from the management node to other vehicles issue upload current location request, and then according to it is collected its
The current location information of his vehicle, which judges whether, to be same lane with first location information and travels on from vehicle vehicle front, and will
Second current location of satisfactory front truck is sent in from the wireless communication terminal in vehicle, such as V2X equipment.
S103: it according to first current location and second current location, obtains described from vehicle and the front truck edge
The real-time range of driving direction.
It is understood that at this time from vehicle obtain itself the first current location and front truck the second current location, this
Sample can be readily available the real-time range from vehicle and front truck along driving direction, and the real-time range is subsequent to be used to determine
Whether there is a key index of risk of collision.
S104: the current safety early warning distance from vehicle and the front truck is obtained.
Wherein, the current safety early warning distance is according to the quality current from vehicle and the front truck, speed, to add
The spacing that speed and surface friction coefficient are calculated.
In a kind of implementation, can obtain in the following way respectively it is described from the quality of vehicle and the front truck, speed,
Acceleration, coefficient of friction:
The quality from vehicle and the front truck is obtained using mass sensor；And
The speed from vehicle and the front truck is obtained using vehicle speed sensor；And
The acceleration from vehicle and the front truck is obtained using gyroscope；And
The coefficient of friction from vehicle and the front truck is measured using friction coefficient tester.
In a kind of concrete implementation mode, the current peace from vehicle and the front truck can be calculated according to following formula
Full early warning distance Dw:
Wherein, vsFor it is described from vehicle when taking emergency braking corresponding current vehicle speed, vfIt is being taken promptly for the front truck
Corresponding current vehicle speed when braking, when T is the front truck emergency braking described in from the reaction time of vehicle emergency braking immediately, t1For
It is described from the corresponding braking time of vehicle, t2To be described from the corresponding braking time of vehicle, μ1It rubs for first current location is corresponding
Wipe coefficient, μ2For the corresponding coefficient of friction in second current location, d0It is tight immediately from vehicle described in when for the front truck emergency braking
Anxious braking and until it is described stop from vehicle and the front truck when spacing minimum value.
It is emphasized that current safety early warning distance calculated here is the index of a variation, with vehicle
Quality (or weight), speed, acceleration and coefficient of friction variation and change, it should be pointed out that quality here and rub
Wiping coefficient is to embody the difference of respective vehicle, even in the case where speed having the same, different quality or travelling on not
With the road vehicle of coefficient of friction, braking distance is not actually also identical, and scheme provided in an embodiment of the present invention is filled
Point the concrete condition combined in practice so that being accurately calculated and rationally for safe distance.
S105: when detecting that the real-time range is less than the current safety early warning distance, publication is described from vehicle and institute
State the early warning that front truck has risk of collision.
It is understood that by judging the size relation between real-time range and current safety early warning distance in real time,
When detecting that real-time range is less than the current safety early warning distance at corresponding moment, show if when front truck takes emergency braking,
Vehicle will be unable to avoid the collision with front truck, and therefore, scheme provided in an embodiment of the present invention, which is worked as, detects that real-time range is small
When current safety early warning distance, there is the early warning of risk of collision, certainly, the early warning to driver's publication from vehicle and front truck
Prompt can there are many modes, such as early warning can be carried out in such a way that voice broadcast or screen are shown, the present invention is real
Example is applied not to be defined the concrete mode of early warning.
A kind of vehicle early warning method provided in an embodiment of the present invention, in vehicle travel process, first obtained from vehicle works as
Front position, front truck the second current location, and then the real-time range between vehicle and front truck, then obtained from vehicle and front truck
Current safety early warning distance, and publication has risk of collision when detecting that real-time range is less than current safety early warning distance
Early warning.
As can be seen that current safety early warning distance is based on from vehicle and front truck in vehicle early warning scheme provided by the invention
The spacing that current quality, speed, acceleration and surface friction coefficient is calculated in real time is not as the prior art
One fixed safe distance is set only for different speeds.Further more, current safety early warning distance has been fully considered except vehicle
The relevant information, such as quality, surface friction coefficient etc. of safe distance are influenced except speed, it is to be understood that for not on the same day
For gas, surface friction coefficient is not also identical, and vehicle early warning scheme provided by the invention has fully considered the influence of weather conditions,
Advantageously ensure that the accuracy of issued vehicle early warning；It should be noted that according to physics knowledge it is found that different quality
Vehicle brake distance is different, and is in the prior art only that braking distance is maximum as safe distance, it is seen that right
In actual brake for lesser low quality vehicle, it is clear that will cause certain traffic resource waste, and of the invention work as
Such influence has been fully taken into account in preceding safe early warning distance, has avoided the waste of traffic resource, and current safety early warning
Distance is also to be realized under the premise of guaranteeing vehicle driving safety according to speed and road conditions real-time update, improves road
The effective use of traffic resource.
Further, as shown in Fig. 2, the process for another vehicle early warning method provided in an embodiment of the present invention is illustrated
Figure, when detecting that the real-time range is less than the current safety early warning distance, and it is described from vehicle it is corresponding where lane and adjacent
Under the premise of there is vehicle driving in lane, on the basis of embodiment of the method shown in Fig. 1, can with the following steps are included:
S106: the collision menace level for the front truck and each adjacent vehicle is obtained；
S107: early warning is issued for the minimum travel route of collision menace level；Wherein, the collision menace level
Be based on it is described mutually collided with the front truck or each adjacent vehicle respectively from vehicle when kinetic energy rejection and the grade that divides.
In a kind of implementation, the collision menace level is divided in the following way:
(1) front truck or each adjacent vehicle are calculated by degree of injury λ when colliding according to expression formula λ=K △ E.
(2) preset first threshold λ is utilized1With second threshold λ2By the degree of injury λ be divided into slight, moderate and in
Spend 3 grades；
Wherein, △ E is the kinetic energy loss from vehicle and the front truck or when each adjacent vehicle mutually collides；K be it is described from
Degree of injury related coefficient of the vehicle kinetic energy loss to front truck or each adjacent vehicle.
It is calculated when mutually being collided from vehicle and front truck or each adjacent vehicle it should be noted that having been disclosed in the prior art
The concrete mode of kinetic energy loss △ E, for example, may refer to the concrete mode of inelastic collision in physics to calculate from vehicle with before
Kinetic energy loss △ E when vehicle or each Adjacent vehicles mutually collide, details are not described herein again.
It should be noted that showing from vehicle and front vehicles not when real-time range is not less than current safety early warning distance
With risk of collision, if driver in the case where no lane change demand, can not spend the neighbour that concern travels on adjacent lane
The concrete condition of vehicle.However, only prompt has collision in the case where detecting that real-time range is less than current safety early warning distance
It is dangerous ideal not enough, therefore, the embodiment of the present invention can by further by step S106 and S107 in a manner of will collide
Caused by lose and minimize, need to consider whether adjacent lane has vehicle driving at this time, if not provided, direct change can be taken
The mode in road reduces the risk of collision with front truck；But when having vehicle driving from the corresponding place lane of vehicle and adjacent lane
In the case where, then the collision menace level for front truck and each adjacent vehicle can be obtained by step S106 and S107, into
And early warning can be issued for the minimum travel route of collision menace level, so not only to driver's prompt and front vehicle
Have risk of collision, the mode that collision loss can also be prompted minimum to driver so that vehicle early warning more it is intuitive accurately, from
And driver can be allowed to be unlikely to be nervously fumbled at the critical moment, it also may further ensure that traffic safety, improve driver's
Driving experience.
A kind of vehicle early warning device provided in an embodiment of the present invention is introduced again below.
As shown in figure 3, being a kind of structural schematic diagram of vehicle early warning device provided in an embodiment of the present invention, the vehicle is pre-
Alarm device comprises the following modules:
Module 210 is obtained from truck position, for obtained from the first current location of vehicle.
Front vehicle position obtains module 220, described from lane where vehicle for navigating to according to first current location
Second current location of front truck.
Real-time range obtains module 230, for obtaining institute according to first current location and second current location
State the real-time range from vehicle with the front truck along driving direction.
Safe distance obtains module 240, for obtaining the current safety early warning distance from vehicle and the front truck；Its
In, the current safety early warning distance is, according to quality, speed, acceleration and the road surface current from vehicle and the front truck
The spacing that coefficient of friction is calculated.
First warning module 250, for sending out when detecting that the real-time range is less than the current safety early warning distance
There is described in cloth from vehicle and the front truck early warning of risk of collision.
It is described to obtain module 210 from truck position in a kind of implementation, it is used for:
Car borne GPS navigation module is utilized from vehicle described in obtaining, is navigated to from pre-loaded map datum described from vehicle
First current location at place.
In a kind of implementation, the front vehicle position obtains module 220, including lane label obtaining unit and front vehicle position
Positioning unit；Wherein,
The lane label obtaining unit, for according to first current location, determine it is described from vehicle in the map
Lane label in data；
The front vehicle position positioning unit, it is determining to be in same lane from vehicle with described for being based on the lane label
Front truck the second current location.
In a kind of specific implementation, can obtain in the following way respectively it is described from the quality of vehicle and the front truck,
Speed, acceleration, coefficient of friction:
The quality from vehicle and the front truck is obtained using mass sensor；And
The speed from vehicle and the front truck is obtained using vehicle speed sensor；And
The acceleration from vehicle and the front truck is obtained using gyroscope；And
The coefficient of friction from vehicle and the front truck is measured using friction coefficient tester.
In a kind of implementation, the safe distance obtains module 240, described from vehicle for calculating according to following formula
With the current safety early warning distance D of the front truckw:
Wherein, vsFor it is described from vehicle when taking emergency braking corresponding current vehicle speed, vfIt is being taken promptly for the front truck
Corresponding current vehicle speed when braking, when T is the front truck emergency braking described in from the reaction time of vehicle emergency braking immediately, t1For
It is described from the corresponding braking time of vehicle, t2To be described from the corresponding braking time of vehicle, μ1It rubs for first current location is corresponding
Wipe coefficient, μ2For the corresponding coefficient of friction in second current location, d0It is tight immediately from vehicle described in when for the front truck emergency braking
Anxious braking and until it is described stop from vehicle and the front truck when spacing minimum value.
A kind of vehicle early warning device provided in an embodiment of the present invention, in vehicle travel process, first obtained from vehicle works as
Front position, front truck the second current location, and then the real-time range between vehicle and front truck, then obtained from vehicle and front truck
Current safety early warning distance, and publication has risk of collision when detecting that real-time range is less than current safety early warning distance
Early warning.
As can be seen that current safety early warning distance is based on from vehicle and front truck in vehicle early warning scheme provided by the invention
The spacing that current quality, speed, acceleration and surface friction coefficient is calculated in real time is not as the prior art
One fixed safe distance is set only for different speeds.Further more, current safety early warning distance has been fully considered except vehicle
The relevant information, such as quality, surface friction coefficient etc. of safe distance are influenced except speed, it is to be understood that for not on the same day
For gas, surface friction coefficient is not also identical, and vehicle early warning scheme provided by the invention has fully considered the influence of weather conditions,
Advantageously ensure that the accuracy of issued vehicle early warning；It should be noted that according to physics knowledge it is found that different quality
Vehicle brake distance is different, and is in the prior art only that braking distance is maximum as safe distance, it is seen that right
In actual brake for lesser low quality vehicle, it is clear that will cause certain traffic resource waste, and of the invention work as
Such influence has been fully taken into account in preceding safe early warning distance, has avoided the waste of traffic resource, and current safety early warning
Distance is also to be realized under the premise of guaranteeing vehicle driving safety according to speed and road conditions real-time update, improves road
The effective use of traffic resource.
Further, as shown in figure 4, being the structural representation of another vehicle early warning device provided in an embodiment of the present invention
Scheme, on the basis of Installation practice shown in Fig. 3, the vehicle early warning device can also be comprised the following modules:
It collides grade and obtains module 260, detect that the real-time range is less than the current safety early warning distance for working as,
And it is described from vehicle it is corresponding where under the premise of lane and adjacent lane have vehicle driving, obtain and be directed to the front truck and each neighbour
The collision menace level of vehicle；
Second warning module 270, for issuing early warning for the minimum travel route of collision menace level；Wherein,
The collision menace level be based on it is described mutually collided with the front truck or each adjacent vehicle respectively from vehicle when kinetic energy rejection and
Divide obtained grade.
In a kind of specific implementation, the collision grade obtains module 260, based on according to expression formula λ=K △ E
The front truck or each adjacent vehicle are calculated by degree of injury λ when colliding；Utilize preset first threshold λ1With second threshold λ2By institute
It states degree of injury λ and is divided into slight, 3 grades of moderate and moderate；
Wherein, △ E is the kinetic energy loss from vehicle and the front truck or when each adjacent vehicle mutually collides；K be it is described from
Degree of injury related coefficient of the vehicle kinetic energy loss to front truck or each adjacent vehicle.
It should be noted that showing from vehicle and front vehicles not when real-time range is not less than current safety early warning distance
With risk of collision, if driver in the case where no lane change demand, can not spend the neighbour that concern travels on adjacent lane
The concrete condition of vehicle.However, only prompt has collision in the case where detecting that real-time range is less than current safety early warning distance
Dangerous ideal not enough, therefore, the embodiment of the present invention can also further minimize loss caused by collision, need at this time
Consider whether adjacent lane has vehicle driving, if not provided, the mode of direct lane change can be taken to reduce the collision danger with front truck
Danger；It, then can be by being directed to but in the case where having vehicle driving from the corresponding place lane of vehicle and adjacent lane
The collision menace level of front truck and each adjacent vehicle, and then can be mentioned for the minimum travel route publication early warning of collision menace level
Show not only there is risk of collision with front vehicles to driver's prompt in this way, collision loss can also be prompted minimum to driver
Mode, can also be with so as to allow driver to be unlikely to be nervously fumbled at the critical moment so that vehicle early warning is more intuitive accurate
It is further ensured that traffic safety, improves the driving experience of driver.
For device embodiment, since it is substantially similar to the method embodiment, related so describing fairly simple
Place illustrates referring to the part of embodiment of the method.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Those of ordinary skill in the art will appreciate that all or part of the steps in realization above method embodiment is can
It is completed with instructing relevant hardware by program, the program can store in computer-readable storage medium,
Storage medium designated herein, such as: ROM/RAM, magnetic disk, CD.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of vehicle early warning method, which is characterized in that the vehicle early warning method includes:
Obtained from the first current location of vehicle；
According to first current location, the second current location of the front truck from lane where vehicle is navigated to；
According to first current location and second current location, obtain it is described from vehicle and the front truck along driving direction
Real-time range；
Obtain the current safety early warning distance from vehicle and the front truck；Wherein, the current safety early warning distance is, according to
The spacing that quality, speed, acceleration and the surface friction coefficient current from vehicle and the front truck are calculated；
When detecting that the real-time range is less than the current safety early warning distance, publication is described to be had from vehicle and the front truck
The early warning of risk of collision.
2. vehicle early warning method according to claim 1, which is characterized in that first current location obtained from vehicle
Step includes:
Car borne GPS navigation module is utilized from vehicle described in obtaining, is navigated to from pre-loaded map datum described from where vehicle
The first current location.
3. vehicle early warning method according to claim 2, which is characterized in that it is described according to first current location, it is fixed
Position includes: the step of the second current location of front truck from lane where vehicle to described
According to first current location, the lane label from vehicle in the map datum is determined；
Based on the lane label, determining the second current location with the front truck for being in same lane from vehicle.
4. vehicle early warning method according to claim 1, which is characterized in that obtain in the following way respectively described from vehicle
With the quality of the front truck, speed, acceleration, coefficient of friction:
The quality from vehicle and the front truck is obtained using mass sensor；And
The speed from vehicle and the front truck is obtained using vehicle speed sensor；And
The acceleration from vehicle and the front truck is obtained using gyroscope；And
The coefficient of friction from vehicle or the front truck is measured and stated using friction coefficient tester.
5. vehicle early warning method according to claim 1, which is characterized in that from vehicle and the front truck described in the acquisition
The step of current safety early warning distance includes:
The current safety early warning distance D from vehicle and the front truck is calculated according to following formulaw:
Wherein, vsFor it is described from vehicle when taking emergency braking corresponding current vehicle speed, vfEmergency braking is being taken for the front truck
When corresponding current vehicle speed, when T is the front truck emergency braking described in from the reaction time of vehicle emergency braking immediately, t1It is described
From the corresponding braking time of vehicle, t2To be described from the corresponding braking time of vehicle, μ1For the corresponding friction system in first current location
Number, μ2For the corresponding coefficient of friction in second current location, d0It is promptly made immediately described in when for the front truck emergency braking from vehicle
It is dynamic and until it is described stop from vehicle and the front truck when spacing minimum value.
6. vehicle early warning method according to claim 1-5, which is characterized in that when detecting the real-time range
Less than the current safety early warning distance, and where the correspondence from vehicle, lane and adjacent lane have the premise of vehicle driving
Under, the vehicle early warning method further include:
Obtain the collision menace level for the front truck and each adjacent vehicle, and the traveling road minimum for collision menace level
Line issues early warning；Wherein, the collision menace level be based on it is described from vehicle respectively with the front truck or each adjacent vehicle phase
Mutually kinetic energy rejection when collision and the grade that divides.
7. vehicle early warning method according to claim 6, which is characterized in that it is serious to divide the collision in the following way
Grade:
The front truck or each adjacent vehicle are calculated by degree of injury λ when colliding according to expression formula λ=K △ E；
Utilize preset first threshold λ1With second threshold λ2The degree of injury λ is divided into slight, moderate and moderate 3 etc.
Grade；
Wherein, △ E is the kinetic energy loss from vehicle and the front truck or when each adjacent vehicle mutually collides；K is described from vehicle damage
Kinetic energy is lost to the degree of injury related coefficient of front truck or each adjacent vehicle.
8. a kind of vehicle early warning device, which is characterized in that the vehicle early warning device includes:
Module is obtained from truck position, for obtained from the first current location of vehicle；
Front vehicle position obtains module, for according to first current location, navigating to the front truck from lane where vehicle
Second current location；
Real-time range obtains module, for obtaining described from vehicle according to first current location and second current location
With the front truck along the real-time range of driving direction；
Safe distance obtains module, for obtaining the current safety early warning distance from vehicle and the front truck；Wherein, described to work as
Preceding safe early warning distance is, according to the quality current from vehicle and the front truck, speed, acceleration and surface friction coefficient meter
Obtained spacing；
First warning module, for when detecting that the real-time range is less than the current safety early warning distance, described in publication
There is the early warning of risk of collision from vehicle and the front truck.
9. vehicle early warning device according to claim 8, which is characterized in that it is described to obtain module from truck position, it is used for:
Car borne GPS navigation module is utilized from vehicle described in obtaining, is navigated to from pre-loaded map datum described from where vehicle
The first current location.
10. vehicle early warning device according to claim 9, which is characterized in that the front vehicle position obtains module, including vehicle
Track label obtaining unit and front vehicle position positioning unit；Wherein
The lane label obtaining unit, for according to first current location, determine it is described from vehicle in the map datum
In lane label；
The front vehicle position positioning unit, for being based on the lane label, it is determining with it is described be in same lane from vehicle before
Second current location of vehicle.
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| CN201810781101.5A CN108932870A (en) | 2018-07-16 | 2018-07-16 | A kind of vehicle early warning method and device |
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| CN201810781101.5A CN108932870A (en) | 2018-07-16 | 2018-07-16 | A kind of vehicle early warning method and device |
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| 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 |
| 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 |
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| 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 |
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| 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 |
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