CN108944864A - The vehicle collision avoidance devices and methods therefor under situation is shared based on position - Google Patents
The vehicle collision avoidance devices and methods therefor under situation is shared based on position Download PDFInfo
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- CN108944864A CN108944864A CN201810638757.1A CN201810638757A CN108944864A CN 108944864 A CN108944864 A CN 108944864A CN 201810638757 A CN201810638757 A CN 201810638757A CN 108944864 A CN108944864 A CN 108944864A
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- 238000005259 measurement Methods 0.000 claims abstract 8
- 230000003044 adaptive Effects 0.000 claims description 34
- 230000000875 corresponding Effects 0.000 claims description 22
- 206010003736 Attention deficit/hyperactivity disease Diseases 0.000 claims description 6
- 201000006287 attention deficit hyperactivity disease Diseases 0.000 claims description 6
- 230000004397 blinking Effects 0.000 claims description 6
- 206010022114 Injury Diseases 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000001931 thermography Methods 0.000 claims description 3
- 238000004642 transportation engineering Methods 0.000 abstract description 2
- 238000005516 engineering processes Methods 0.000 description 5
- 230000006399 behavior Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
Abstract
The invention discloses a kind of to share vehicle collision avoidance devices and methods therefor under situation based on position, it is installed on vehicle, which includes central control system, barrier measurement module, alarm module, adaptively travels module, self-actuating brake module, information of vehicles sharing module and safety guarantee module.This method includes: S1: the status information of vehicle is obtained by central control system, which includes velocity information, location information, and the measurement module that breaks the barriers obtains barrier geographical location information；And above-mentioned each information is summarized to central control system；S2: the central control system judges the driving status of vehicle according to above- mentioned information, and controls alarm module respectively accordingly, adaptively travels module, self-actuating brake module, information of vehicles sharing module and the work of safety guarantee module.It is an advantage of the invention that it is shared based on bus transportation information, improve car crass problem.
Description
Technical field
The preventing collision of vehicles collision device under situation is shared the invention belongs to technical field of vehicle safety, in particular to based on position
And its method.
Background technique
Automotive crash safety is always Automobile Enterprises and the problem of consumer extremely focuses on, and nearly all driver drives vehicle
All more or less there is road risk of collision during, etesian automobile collision accident cause the massive loss of life and
Economic asset loss, therefore, automobile install more advanced more advanced collision prevention device and propose that more preferably collision-proof method is pole
It is urgent.
Although existing automobile has been mounted with part collision prevention device, and automatic Pilot technology has been displayed talent for the first time,
It is that still cannot effectively avoid automotive crash safety problem.
Summary of the invention
The purpose of the invention is to overcome shortcoming and defect of the existing technology, and provide a kind of shared based on position
Preventing collision of vehicles collision device under situation, while being related to a kind of method that the vehicle collision avoidance under situation is shared based on position.
As the first aspect of the invention, a kind of preventing collision of vehicles collision device shared based on position under situation, technology
Scheme is installed on vehicle for it, which includes central control system, barrier measurement module, alarm mould
Block adaptively travels module, self-actuating brake module, information of vehicles sharing module and safety guarantee module；
The barrier measurement module is used to detect barrier on vehicle running path, and by barrier geographical location
Information passes to central control system；
Alarm module controlled connection is in central control system, for carrying out obstacle distance signal lower than V pairs of current vehicle speed
When the obstacle distance alarm threshold value M1 answered, is collided and alarmed in advance；
Adaptive traveling module, for driving vehicle adaptively to be travelled；
Self-actuating brake module controlled connection is in central control system, for driving vehicle to brake；
Information of vehicles sharing module is connected to central control system, for will barrier geographical location information, work as front truck
Vehicle velocity V and the adaptive travel route that will likely take or self-actuating brake route information pass through information network transmission
To surrounding vehicles；
Safety guarantee module controlled connection provides the master of vehicle in central control system, for occurring under vehicle collision state
The protection of dynamic or passive security；
Central control system is also used to read the status information of vehicle, which includes velocity information, position letter
Breath.
Further setting is that the barrier measurement module is surveyed using laser radar binocular imaging measuring instrument and thermal imaging
Instrument is measured, is object or pedestrian information for disturbance in judgement object geographical location information and barrier.
The second aspect of the invention is to provide a kind of vehicle collision avoidance method shared under situation based on position, this method
Based on the preventing collision of vehicles collision device, this method includes:
S1: obtaining the status information of vehicle by central control system, which includes velocity information, position letter
Breath, the measurement module that breaks the barriers obtain barrier geographical location information；And above-mentioned each information is summarized to central control system；
S2: the central control system judges the driving status of vehicle according to above- mentioned information, and control is reported respectively accordingly
Alert module adaptively travels module, self-actuating brake module, information of vehicles sharing module and the work of safety guarantee module.
Further setting is that the central control system in barrier measurement module detects that vehicle front has barrier,
And under the conditions of not obtaining the correct driver behavior of driver, the adaptive traveling module or/and described automatic is controlled
Brake module enters working condition.
It includes anticollision air bag and anticollision seat that further setting, which is the safety guarantee module,.
Further setting is central control system combination obstacle distance signal and the corresponding obstacle distance of current vehicle speed V
Alarm threshold value M1 controls the working condition of alarm module.
Further setting is the center control system after the feedback information that central control system does not obtain vehicle correct operation
The adaptive traveling module of system control or the starting of self-actuating brake module can not be controlled in central control system judgement under conditions of avoidance
Safety guarantee module will open.
Further setting is that the alarm module working forms include:
W0: non-alarm condition, obstacle distance d are greater than the obstacle distance alarm threshold value M1 of corresponding speed, alarm module
It does not work；
W1: primary alarm, obstacle distance d are less than the obstacle distance alarm threshold value M1 of corresponding speed, instrument board red light
Flashing display barrier real-time range d, vehicle electric sound equipment voice reminder driver's attention deficit disorder object space to and obstacle distance；
W2: secondary alarm, obstacle distance d are less than the second level obstacle distance alarm threshold value M2 of corresponding current vehicle speed, instrument
Dial plate blinking red lamp shows barrier real-time range d, and vehicle electric sound equipment voice reminder driver's attention deficit disorder object space is to, obstacle
Object distance simultaneously reminds the correct avoidance mobility operation of driver, while broadcasting automobile after time s second and will open and adaptively travelling module
Or self-actuating brake module；
W3: danger warning, obstacle distance d are less than the risk of collision distance threshold M3 of corresponding speed, and instrument board red light dodges
Bright frequency increases, and vehicle electric sound equipment voice reminder driver vehicle enters adaptive traveling module or self-actuating brake module,
When adaptive traveling module is opened, turn signal is opened under steering operation situation；When self-actuating brake module is opened, brake lamp is opened,
When braking stopping, hazard warning lamp flashes.
Further setting is that if barrier measurement module detects that barrier belongs to and suddenly appears in vehicle heading, and
If obstacle distance alarm threshold value M1 or obstacle distance d that obstacle distance d is less than corresponding speed are less than correspondence and work as front truck
Second level the obstacle distance alarm threshold value M2 or obstacle distance d of speed are less than the risk of collision distance threshold M3 of corresponding speed,
Each module of vehicle works according to the workflow.
If further setting is that barrier belongs to and suddenly appears in vehicle heading, and obstacle distance d is less than and corresponds to
The safety margins distance threshold M4 of speed, vehicle belong to can not avoidance state, the adaptive traveling module of central control system control
Either self-actuating brake module plans travel route or brake route with driver and pedestrian's injury minimum, meanwhile, vehicle
Safety guarantee module work protection driver, information of vehicles sharing module send barrier geographical location information, current vehicle vehicle
Fast V and the adaptive travel route taken or self-actuating brake route information are sent to surrounding vehicles.
Advantages of the present invention includes:
(1) by information of vehicles sharing module, for will barrier geographical location information, current vehicle vehicle velocity V and
The adaptive travel route or self-actuating brake route information that will likely take are sent to surrounding vehicles by information network；By
This, in the case of being shared based on bus transportation information, the collision prevention device of automobile installation protection pedestrian and driver, car crass
Safety problem will be greatly improved.
(2) it by the setting of alarm module, so that vehicle is when driving, can be reported for actual conditions specific aim
It is alert, it is calm to reduce wrong report or do not conform to actual alarm, improve the flexibility that vehicle uses.
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 any creative labor, according to
These attached drawings obtain other attached drawings and still fall within scope of the invention.
Fig. 1 present system functional block diagram；
The schematic diagram of Fig. 2 collision-proof method of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.
Since road traffic is live complicated, vehicle collision unsafe condition is varied, provides this hair below in conjunction with attached drawing
The specific anticollision embodiment of bright 2.
Installation practice
As shown in Figure 1, the vehicle collision device includes central control system 10, barrier measurement module 20, alarm mould
Block 30, adaptive traveling module 40, self-actuating brake module 50, information of vehicles sharing module 60 and safety guarantee module 70.
The barrier measurement module 20 is used to detect barrier on vehicle running path, and by barrier geography position
Confidence breath passes to central control system 10；Barrier measurement module 20 described in the present embodiment uses laser radar binocular imaging
Measuring instrument and thermal imaging measuring instrument are object or pedestrian information for disturbance in judgement object geographical location information and barrier.
30 controlled connection of alarm module is in central control system 10, for carrying out obstacle distance signal lower than working as
When the corresponding obstacle distance alarm threshold value M1 of preceding vehicle velocity V, is collided and alarmed in advance；
The adaptive traveling module 40, for driving vehicle adaptively to be travelled；It is adaptive described in the present embodiment
Module 40, which should be travelled, can be used the more mature adaptive learning algorithms of current technology (Adaptive Cruise Control) mould
Block, and can be described as intelligent cruise control module, abbreviation ACC module.
50 controlled connection of self-actuating brake module is in central control system 10, for driving vehicle to brake；This
The embodiment dynamic brake module 50 preferably uses commercially available ACS (low speed driving safety system) module.
In addition, the information of vehicles sharing module 60 is connected to central control system 10, being used for will be barrier geography
Location information, current vehicle vehicle velocity V and the adaptive travel route that will likely take or self-actuating brake route information are logical
It crosses information network and is sent to surrounding vehicles；Information of vehicles sharing module 60 described in the present embodiment is total for the information based on Internet of Things
Enjoy module.
Safety guarantee module (70) controlled connection is in central control system (10), for vehicle collision state to occur
It is lower that the actively or passively security protection of vehicle is provided；The conventional securities such as anticollision air bag, anticollision seat described in the present embodiment
Ensure that component is constituted.
The central control system (10) is also used to read the status information of vehicle, which includes speed letter
Breath, location information.
Application Example one:
In normal vehicle operation, the Traffic Information that barrier measurement module 20 will test is sent to center control system
System 10, central control system 10 determine that the detection signal of barrier measurement module 20 belongs to clear or obstacle distance d
The obstacle distance alarm threshold value M1 of > correspondence vehicle velocity V, alarm module 30 are in WO off working state, and vehicle continues to travel；
When automobile moves closer to barrier, and obstacle distance alarm threshold value M1 < obstacle distance of the corresponding vehicle velocity V of satisfaction
D < correspondence vehicle velocity V second level obstacle distance alarm threshold value M2, automobile ECU control alarm module 30 are in W1 working condition, instrument
Dial plate blinking red lamp show barrier real-time range d, vehicle electric sound equipment voice reminder driver's attention deficit disorder object space to and barrier
Hinder object distance；
When automobile moves closer to barrier, and second level obstacle distance alarm threshold value M2 <barrier of the corresponding vehicle velocity V of satisfaction
Distance d < correspondence vehicle velocity V risk of collision distance threshold M3, automobile ECU control alarm module 30 are in W2 working condition, instrument
Disk blinking red lamp shows barrier real-time range d, and vehicle electric sound equipment voice reminder driver's attention deficit disorder object space is to, barrier
Distance simultaneously reminds the correct avoidance mobility operation of driver, while broadcasting automobile after time s second and will open and adaptively travelling module 40
Or self-actuating brake module 50, simultaneously with this, information of vehicles sharing module 60 will be barrier geographical location information, current vehicle
Vehicle velocity V and the adaptive travel route or self-actuating brake route information that will likely take are sent to surrounding vehicles, remind
Other vehicles pay attention to giving way and traffic route situation.Once automobile ECU receive driver take correct driver behavior as slow down,
The behaviors such as steering, lane change, alarm module 3 stop to open the voice of adaptive traveling module 40 or self-actuating brake module 50
Casting, other danger warnings continue；
When automobile moves closer to barrier, and meet risk of collision distance threshold M3 < obstacle distance d of corresponding vehicle velocity V <
The safety margins distance threshold M4 of corresponding vehicle velocity V, automobile ECU control alarm module 30 are in W3 working condition, instrument board red light
Flicker frequency increases, and vehicle electric sound equipment voice reminder driver vehicle enters adaptive traveling module 40 or self-actuating brake mould
Block 50.When adaptive traveling module 40 is opened, turn signal is opened under steering operation situation.When self-actuating brake module 50 is opened, stop
Car light is opened, and when braking stopping, hazard warning lamp flashes.Simultaneously with this, information of vehicles sharing module 60 will be barrier
Geographical location information, current vehicle vehicle velocity V and the adaptive travel route that will likely take or self-actuating brake route letter
Breath is sent to surrounding vehicles, other vehicles is reminded to pay attention to giving way and traffic route situation.Adaptive traveling module 40 and automatic brake
The working condition of vehicle module 50 is depending on by specific traffic conditions, particularly, when automobile ECU is according to real-time traffic signal and this vehicle
Driving information determines that road traffic does not have suitable road for vehicle lane-changing, and self-actuating brake module 50 is preferentially opened, and automobile ECU is
Self-actuating brake module 50 matches optimal self-actuating brake route and braking distance.Particularly, when automobile ECU is according to real-time traffic signal
Determine that road traffic does not have safety shut-down condition with this vehicle traveling information, the adaptive module 40 that travels preferentially is opened, automobile ECU
Optimal adaptive travel route is matched adaptively to travel module 40.Particularly, when automobile ECU is according to real-time traffic signal and this
Vehicle traveling information determines that road traffic does not have suitable road for vehicle lane-changing and do not have safety shut-down condition, adaptive to travel
The working condition of module 40 and self-actuating brake module 50, adaptive travel route, brake route and braking distance will with pedestrian and
Driver's personal safety threatens smallest match.
Application Example two:
Vehicle heading is suddenly appeared in when barrier belongs to, and obstacle distance d < correspondence vehicle velocity V safety margins
Distance threshold M4, Central Control Center, that is, ECU assert vehicle belong to can not avoidance state, central control system 10 controls adaptively
Module 40 or self-actuating brake module 50 are travelled with driver and pedestrian's injury minimum planning travel route or brake road
Line, meanwhile, the work protection driver of vehicle safety assurance module 70, information of vehicles sharing module 60 sends barrier geographical location
Information, current vehicle vehicle velocity V and the adaptive travel route taken or self-actuating brake route information are sent to vehicle around
?.
Those of ordinary skill in the art will appreciate that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, the program can be stored in a computer readable storage medium,
The storage medium, such as ROM/RAM, disk, CD.
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (10)
1. a kind of preventing collision of vehicles collision device shared under situation based on position, is installed on vehicle, it is characterised in that: the vehicle
Crash device includes central control system (10), barrier measurement module (20), alarm module (30), adaptively travels module
(40), self-actuating brake module (50), information of vehicles sharing module (60) and safety guarantee module (70)；
The barrier measurement module (20) is used to detect barrier on vehicle running path, and by barrier geographical location
Information passes to central control system (10)；
Alarm module (30) controlled connection is in central control system (10), for carrying out obstacle distance signal lower than current vehicle speed
When the corresponding obstacle distance alarm threshold value M1 of V, is collided and alarmed in advance；
Adaptive traveling module (40), for driving vehicle adaptively to be travelled；
Self-actuating brake module (50) controlled connection is in central control system (10), for driving vehicle to brake；
Information of vehicles sharing module (60) is connected to central control system (10), for will barrier geographical location information, when
Vehicle in front vehicle velocity V and the adaptive travel route or self-actuating brake route information that will likely take pass through information network
It is sent to surrounding vehicles；
Safety guarantee module (70) controlled connection provides vehicle under vehicle collision state in central control system (10), for occurring
Actively or passively security protection；
Central control system (10) is also used to read the status information of vehicle, which includes velocity information, position letter
Breath.
2. a kind of preventing collision of vehicles collision device shared based on position under situation according to claim 1, it is characterised in that: institute
The barrier measurement module (20) stated uses laser radar binocular imaging measuring instrument and thermal imaging measuring instrument, is used for disturbance in judgement object
Geographical location information and barrier are object or pedestrian information.
3. a kind of vehicle collision avoidance method shared based on position under situation, it is characterised in that: this method is based on claim 1 institute
The preventing collision of vehicles collision device stated, this method includes:
S1: obtaining the status information of vehicle by central control system (10), which includes velocity information, position letter
Breath, the measurement module that breaks the barriers (20) obtain barrier geographical location information；And above-mentioned each information is summarized to center and is controlled
System (10)；
S2: the central control system (10) judges the driving status of vehicle according to above- mentioned information, and control is reported respectively accordingly
Alert module (30) adaptively travel module (40), self-actuating brake module (50), information of vehicles sharing module (60) and safety guarantee
Module (70) work.
4. a kind of vehicle collision avoidance method shared based on position under situation according to claim 3, it is characterised in that: institute
The central control system (10) stated detects that vehicle front has barrier in barrier measurement module (20), and is not driven
Member correctly under the conditions of driver behavior, controls the adaptive traveling module (40) or/and the self-actuating brake module
(50) enter working condition.
5. a kind of vehicle collision avoidance method shared based on position under situation according to claim 3, it is characterised in that: institute
The safety guarantee module (70) stated includes anticollision air bag and anticollision seat.
6. a kind of vehicle collision avoidance method shared based on position under situation according to claim 3, it is characterised in that: in
Control system (10) are entreated to combine obstacle distance signal and the corresponding obstacle distance alarm threshold value M1 of current vehicle speed V, control report
The working condition of alert module (30).
7. a kind of vehicle collision avoidance method shared based on position under situation according to claim 3, it is characterised in that:
After central control system (10) does not obtain the feedback information of vehicle correct operation, central control system (10) controls adaptive row
Module (40) or self-actuating brake module (50) starting are sailed, determines that peace can not be controlled under conditions of avoidance in central control system (10)
All risk insurance barrier module (70) will open.
8. a kind of vehicle collision avoidance method shared based on position under situation according to claim 7, it is characterised in that institute
Alarm module (30) working forms stated include:
W0: non-alarm condition, obstacle distance d are greater than the obstacle distance alarm threshold value M1 of corresponding speed, alarm module (30)
It does not work；
W1: primary alarm, obstacle distance d are less than the obstacle distance alarm threshold value M1 of corresponding speed, instrument board blinking red lamp
Show barrier real-time range d, vehicle electric sound equipment voice reminder driver's attention deficit disorder object space to and obstacle distance；
W2: secondary alarm, obstacle distance d are less than the second level obstacle distance alarm threshold value M2 of corresponding current vehicle speed, instrument board
Blinking red lamp shows barrier real-time range d, vehicle electric sound equipment voice reminder driver's attention deficit disorder object space to, barrier away from
From and remind the correct avoidance mobility operation of driver, while broadcasting automobile after time s second and will open adaptive traveling module (40)
Or self-actuating brake module (50)；
W3: danger warning, obstacle distance d are less than the risk of collision distance threshold M3 of corresponding speed, instrument board blinking red lamp frequency
Rate increases, and vehicle electric sound equipment voice reminder driver vehicle enters adaptive traveling module (40) or self-actuating brake module
(50), when adaptively traveling module (40) is opened, turn signal is opened under steering operation situation；Self-actuating brake module (50) is opened
When, brake lamp is opened, and when braking stopping, hazard warning lamp flashes.
9. a kind of vehicle collision avoidance method shared based on position under situation according to claim 8, it is characterised in that: if
Barrier measurement module (20) detects that barrier belongs to and suddenly appears in vehicle heading, and if obstacle distance d be less than
The obstacle distance alarm threshold value M1 or obstacle distance d of corresponding speed be less than the second level barrier of corresponding current vehicle speed away from
From the risk of collision distance threshold M3 that alarm threshold value M2 or obstacle distance d is less than corresponding speed, each module of vehicle is according to power
Benefit require 7 described in workflow work.
10. a kind of vehicle collision avoidance method shared based on position under situation according to claim 9, it is characterised in that:
If barrier, which belongs to, suddenly appears in vehicle heading, and obstacle distance d is less than the safety margins of corresponding speed apart from threshold
Value M4, vehicle belongs to can not avoidance state, adaptive traveling module (40) of central control system (10) control or self-actuating brake
Module (50) plans travel route or brake route with driver and pedestrian's injury minimum, meanwhile, vehicle safety guarantee
Module (70) work protection driver, information of vehicles sharing module (60) send barrier geographical location information, current vehicle vehicle
Fast V and the adaptive travel route taken or self-actuating brake route information are sent to surrounding vehicles.
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| CN110335556A (en) * | 2019-07-03 | 2019-10-15 | 桂林电子科技大学 | It is mobile to explain platform and its control method, control system, computer media |
| CN112758067A (en) * | 2021-01-22 | 2021-05-07 | 北京中科慧眼科技有限公司 | Emergency braking method and system based on binocular stereo camera and intelligent terminal |
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