CN109345870A - The method for early warning and device for preventing vehicle collision - Google Patents
The method for early warning and device for preventing vehicle collision Download PDFInfo
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- CN109345870A CN109345870A CN201811046112.5A CN201811046112A CN109345870A CN 109345870 A CN109345870 A CN 109345870A CN 201811046112 A CN201811046112 A CN 201811046112A CN 109345870 A CN109345870 A CN 109345870A
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- vehicle
- lane change
- lane
- abrupt deceleration
- warning
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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
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Abstract
The embodiment of the invention provides a kind of method for early warning and device for preventing vehicle collision, wherein, method include: detection at least side lane vehicle whether lane change, determine lane change vehicle, based on the distance between lane change vehicle and abrupt deceleration vehicle, the emergency braking time of abrupt deceleration vehicle is calculated, then driver is reminded according to the emergency braking time, the accuracy rate of prevention vehicle collision can be improved, improve the accuracy rate that prevention traffic accident occurs.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of method for early warning and device for preventing vehicle collision.
Background technique
With being continuously increased for present public vehicles, the security risk between vehicle be can not be ignored.The prior art uses GPS
(global positioning system, Global Positioning System) positions the position of vehicle in real time, in driving direction before two
Horizontal distance between adjacent vehicle afterwards calculates the tight of latter vehicle according to previous vehicle and the respective speed of latter vehicle
Whether anxious braking time is less than safety time, once the emergency braking time is less than safety time, just carries out early warning, prompts to drive
Member carries out emergency braking to latter vehicle, prevents vehicle collision in this approach.
But condition of road surface is complicated and the drive demand of different vehicle is different, in same lane or different lanes
Vehicle is turned, lane change, braking and deceleration often.If the vehicle lane change in different lanes is to same lane, in the prior art
Horizontal distance in driving direction between the adjacent vehicle in two front and backs, according to previous vehicle and the respective vehicle of latter vehicle
Speed, according to previous vehicle and the respective speed of latter vehicle, when calculating emergency braking time of latter vehicle and whether being less than safe
Between, remind driver to take emergency braking again at this time, it is late.Therefore, the prior art prevents the accuracy rate of vehicle collision not
It is high.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of method for early warning and device for preventing vehicle collision, by detecting extremely
The vehicle in few side lane whether lane change, determine lane change vehicle, be based on the distance between lane change vehicle and abrupt deceleration vehicle, calculate and make
The emergency braking time of motor-car calculates the emergency braking time of abrupt deceleration vehicle, then according to the emergency braking time to driver
It is reminded, to improve the accuracy rate of prevention vehicle collision.Specific technical solution is as follows:
In a first aspect, the embodiment of the invention provides a kind of method for early warning for preventing vehicle collision, comprising:
If changed based on the course angle in the movement state information for having obtained vehicle, it is determined that at least side lane
Any vehicle i.e. by lane change, and the lane after any vehicle lane change is determined, if lane and braking after any vehicle lane change
The lane of vehicle is identical, using any vehicle after lane change as lane change vehicle；Having obtained vehicle is the lane where abrupt deceleration vehicle
Preset range at least side lane vehicle；
Based on the distance between lane change vehicle and abrupt deceleration vehicle, the emergency braking time of abrupt deceleration vehicle is calculated；
According to the emergency braking time, early warning is carried out to abrupt deceleration vehicle and is shown.
Optionally, using following steps, the status information for having obtained vehicle is determined:
Obtain movement speed, running time, longitude and latitude and the course angle in the vehicle of lanes；
The longitude and latitude of vehicle is converted to using Gauss algorithm the coordinate of Gauss plane coordinate system；
Believe the coordinate of the Gauss plane coordinate system of the movement speed of vehicle, running time and vehicle as the state of vehicle
Breath.
Optionally, if changed based on the course angle in the movement state information for having obtained vehicle, it is determined that at least
Any vehicle in side lane determines the lane after any vehicle lane change i.e. by lane change, if the vehicle after any vehicle lane change
Road is identical as the lane of abrupt deceleration vehicle, using any vehicle after lane change as lane change vehicle, comprising:
If the course angle of any vehicle at least side lane changes, any vehicle at least side lane is
By lane change；
The changed any vehicle of course angle is determined as to lane change vehicle；
By to the course angle of lane change vehicle divided by lane change vehicle movement speed as a result, being determined as the angle to lane change vehicle
Speed；
Wherein, angular speed can also be obtained from gyroscope.
If in the predetermined time, the angular speed to lane change vehicle is greater than first threshold, it is determined that lane change in the predetermined time
The maximum angular rate of vehicle；
If in the predetermined time, it is wide that the horizontal displacement to lane change vehicle that maximum angular rate is greater than second threshold is greater than lane
Then to lane change vehicle lane change occurs for degree, determines the lane after lane change vehicle lane change, will be determined as lane change vehicle to lane change vehicle
?；Horizontal displacement to lane change vehicle are as follows: the horizontal distance travelled in the given time to lane change vehicle.
Optionally, if changed based on the course angle in the movement state information for having obtained vehicle, it is determined that described
At least any vehicle in side lane is i.e. by lane change, and determines the lane after any vehicle lane change, comprising:
If the course angle of any vehicle at least side lane changes, any vehicle at least side lane is
By lane change, when determining any vehicle i.e. by lane change, any vehicle course angle lane in the horizontal direction, using the lane as any
Lane after vehicle lane change；Horizontal direction is vertical with the driving direction after any vehicle lane change.
Optionally, according to the emergency braking time, early warning carried out to abrupt deceleration vehicle show include:
Warning grade corresponding with the emergency braking time is inquired, it is aobvious to the carry out early warning of abrupt deceleration vehicle according to warning grade
Show；Abrupt deceleration vehicle be latter vehicle identical as lane change vehicle heading and adjacent with lane change vehicle, or with lane change vehicle
Driving direction is on the contrary, and the previous vehicle adjacent with lane change vehicle.
Optionally, warning grade corresponding with the emergency braking time is inquired, according to warning grade, abrupt deceleration vehicle is carried out pre-
Police is shown
Inquire corresponding second early warning of safe distance of emergency braking time corresponding first warning grade and abrupt deceleration vehicle
Grade；The safe distance of abrupt deceleration vehicle is the coordinate difference of lane change vehicle and abrupt deceleration vehicle；
First warning grade is made comparisons with the second warning grade, according to higher warning grade, abrupt deceleration vehicle is carried out
Early warning is shown.
Second aspect, the embodiment of the invention provides a kind of prior-warning devices for preventing vehicle collision, comprising:
Determining module, if changed based on the course angle in the movement state information for having obtained vehicle, it is determined that extremely
Any vehicle in few side lane determines the lane after any vehicle lane change i.e. by lane change, if after any vehicle lane change
Lane is identical as the lane of abrupt deceleration vehicle, using any vehicle after lane change as lane change vehicle；Having obtained vehicle is in braking vehicle
Where in the preset range in lane at least side lane vehicle；
Computing module, the motion state for coordinate and abrupt deceleration vehicle in the movement state information based on lane change vehicle
Coordinate in information calculates the emergency braking time of abrupt deceleration vehicle；
Warning module, for carrying out early warning to abrupt deceleration vehicle and showing according to the emergency braking time.
Optionally, a kind of prior-warning device preventing vehicle collision provided in an embodiment of the present invention, further includes:
Information determination module, for obtaining the movement speed in the vehicle of lanes, running time, longitude and latitude and course
Angle；
The longitude and latitude of vehicle is converted to using Gauss algorithm the coordinate of Gauss plane coordinate system；
Using the movement speed of vehicle, running time and coordinate as the status information of vehicle.
Optionally, determining module includes: lane change judging submodule, is specifically used for:
Whether the course angle of judgement at least any vehicle in side lane changes；
If the course angle of any vehicle at least side lane changes, any vehicle at least side lane is
By lane change, the changed any vehicle of course angle is determined as to lane change vehicle；
By to the course angle of lane change vehicle divided by lane change vehicle movement speed as a result, being determined as the angle to lane change vehicle
Speed；
Judge in the predetermined time, whether the angular speed to lane change vehicle is greater than first threshold；
If in the predetermined time, the angular speed to lane change vehicle is greater than first threshold, it is determined that lane change in the predetermined time
The maximum angular rate of vehicle；Predetermined time be to lane change vehicle course angle take place the running time of variation with to lane change vehicle
Course angle variation after the completion of running time difference；
Judge in the predetermined time, whether the maximum angular rate to lane change vehicle is greater than second threshold；
If to lane change vehicle maximum angular rate be greater than second threshold, judge to lane change vehicle horizontal displacement whether
Greater than lane width；
If the horizontal displacement to lane change vehicle is greater than lane width, lane change occurs to lane change vehicle, determines to lane change
Lane after vehicle lane change will be determined as lane change vehicle to lane change vehicle；Horizontal displacement to lane change vehicle are as follows: to lane change vehicle
The horizontal distance travelled in the given time；
If the horizontal displacement to lane change vehicle is less than lane width, curved areas is driven into lane change vehicle.
Wherein, the predetermined time behaves as the value set according to industry experience；Predetermined time is greater than the course to lane change vehicle
The difference for the running time that the running time of variation is for the first time 0 with the course angle to lane change vehicle takes place in angle, and predetermined
Time, the running time of variation took place less than the course angle to lane change vehicle and the course angle to lane change vehicle is 0 for the second time
Running time difference.
Optionally, determining module includes: that lane determines submodule, if the boat of any vehicle at least side lane
It changes to angle, then at least any vehicle in side lane is i.e. by lane change, when determining any vehicle i.e. by lane change, any vehicle
Course angle lane in the horizontal direction, using the lane as the lane after any vehicle lane change；Horizontal direction and any vehicle become
Driving direction behind road is vertical.
Optionally, warning module is specifically used for:
Warning grade corresponding with the emergency braking time is inquired, it is aobvious to the carry out early warning of abrupt deceleration vehicle according to warning grade
Show；Abrupt deceleration vehicle is, and latter vehicle that lane change vehicle adjacent identical as lane change vehicle heading, or with lane change vehicle row
Sail contrary, and the previous vehicle that lane change vehicle is adjacent.
Optionally, warning module is specifically used for:
Inquire corresponding second early warning of safe distance of emergency braking time corresponding first warning grade and abrupt deceleration vehicle
Grade；The safe distance of abrupt deceleration vehicle is the coordinate difference of lane change vehicle and abrupt deceleration vehicle；
First warning grade is made comparisons with the second warning grade, according to higher warning grade, abrupt deceleration vehicle is carried out
Early warning is shown.
The method for early warning and device of prevention vehicle collision provided in an embodiment of the present invention can obtain vehicle by detection
Status information whether change, judgement at least side lane any vehicle whether i.e. by lane change, if at least side vehicle
Any vehicle in road is i.e. by lane change, it is determined that the lane after any vehicle lane change, and using any vehicle after lane change as lane change
Vehicle；Calculate the emergency braking time with the abrupt deceleration vehicle in the same lane of lane change vehicle；According to the emergency braking time, to braking vehicle
Carry out early warning show.The embodiment of the present invention by detection at least side lane vehicle whether lane change, determine lane change vehicle, base
In the distance between lane change vehicle and abrupt deceleration vehicle, calculate the emergency braking time of abrupt deceleration vehicle, then according to emergency braking when
Between driver is reminded, can be improved prevention vehicle collision accuracy rate, improve prevention traffic accident occur accuracy rate.
Certainly, it implements any of the products of the present invention or method does not necessarily require achieving all the advantages described above at the same time.
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 chart for the method for early warning for preventing vehicle collision provided in an embodiment of the present invention；
Fig. 2 is the flow chart for the status information that a kind of determination provided in an embodiment of the present invention has obtained vehicle；
Fig. 3 is the structure chart of the vehicle provided in an embodiment of the present invention in lanes；
Fig. 4 is the flow chart in the lane after determining lane change provided in an embodiment of the present invention；
Fig. 5 be it is provided in an embodiment of the present invention judgement to lane change vehicle whether the structure chart of lane change；
Fig. 6 is a kind of structure chart for the prior-warning device for preventing vehicle collision provided in an embodiment of the present invention；
Fig. 7 is the structure chart of a kind of electronic equipment 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.
The embodiment of the present invention by the vehicle in detection at least side lane whether lane change, it is determining with the same lane of lane change vehicle
And adjacent vehicle is abrupt deceleration vehicle, and calculates the emergency braking time of abrupt deceleration vehicle, then according to the emergency braking time pair
Driver reminds, and the accuracy rate of prevention vehicle collision can be improved, and improves the accuracy rate that prevention traffic accident occurs.
It continues with and a kind of method for early warning for preventing vehicle collision provided in an embodiment of the present invention is briefly described.
A kind of method for early warning preventing vehicle collision provided in an embodiment of the present invention, applied to the electronic equipment of vehicle, into
The electronic equipment of one step vehicle can be server, central control box etc..It is not limited here, any that electronics of the invention may be implemented
Equipment all belongs to the scope of protection of the present invention.
As shown in Figure 1, the embodiment of the invention provides a kind of method for early warning for preventing vehicle collision, comprising:
S101, if changed based on the course angle in the movement state information for having obtained vehicle, it is determined that at least one
Any vehicle in side lane determines the lane after any vehicle lane change i.e. by lane change, if the lane after any vehicle lane change
It is identical as the lane of abrupt deceleration vehicle, using any vehicle after lane change as lane change vehicle；Vehicle has been obtained as in abrupt deceleration vehicle institute
At least vehicle in side lane in the preset range in lane；
Wherein, preset range is according to lane and Calculation of Safety Distance result, it is believed that setting.State of motion of vehicle is used for table
Show the state of the movement of vehicle.At least side lane be at least side of the lane in abrupt deceleration vehicle lane.
With reference to Fig. 2, lane mean breadth is 3.65 meters, and safe distance is 100 meters, it is assumed that 202 lane change of vehicle to vehicle 201
Lane, then vehicle 201 at a distance from the vehicle 201 after lane change should be 100 meters, according to Pythagorean theorem, vehicle 201 and lane change
Preceding vehicle 201 should be that vehicle 201 is 100.066 meters at a distance from the vehicle 201 after lane change, and setting preset range is less than
100.066 rice.
It, can be using following at least one possible in above-mentioned S101 in order to improve the accuracy rate that prevention traffic accident occurs
Implementation determines the status information for having obtained vehicle:
In one possible implementation, as shown in figure 3, following steps can be used, the shape for having obtained vehicle is determined
State information:
S301 obtains movement speed, running time, longitude and latitude and course angle in the vehicle of lanes；
Wherein, running time be vehicle in the process of moving, the time recorded in real time.
For example, the movement speed of 17:01 separating vehicles is 20Km/h, longitude and latitude is (166.561221,39.915599), boat
It is 15 degree to angle；The movement speed of 17:02 separating vehicles is 21Km/h, and longitude and latitude is (166.558634,39.916485), course
Angle is 15 degree.17:01 and 17:02 is running time.
In a kind of possible implementation, the GPS of vehicle-mounted end can periodically obtain the shifting in the vehicle of lanes
Dynamic speed, time, longitude and latitude and course angle, to improve movement speed, time, longitude and latitude and the course angle of the vehicle got
Accuracy rate.
S302 converts the longitude and latitude of the vehicle to using Gauss algorithm on the coordinate of Gauss plane coordinate system；
S303, using the coordinate of the Gauss plane coordinate system of the movement speed of vehicle, running time and the vehicle as vehicle
Status information.
" coordinate of Gauss plane coordinate system " is hereinafter referred to as " coordinate ".
The longitude and latitude that present embodiment passes through the vehicle in lanes got is converted to, Gauss plane coordinate system
Coordinate obtains the distance between abrupt deceleration vehicle and lane change vehicle, quickly when calculating the emergency braking time so as to mention
Height calculates the efficiency of emergency braking time.
It, can be using following at least one possible in above-mentioned S101 in order to improve the accuracy rate that prevention traffic accident occurs
Implementation, the lane after determining any vehicle lane change:
In a kind of possible embodiment, if the course angle of any vehicle at least side lane changes, until
Any vehicle in few side lane is i.e. by lane change, and when determining any vehicle i.e. by lane change, any vehicle course angle is in the horizontal direction
Lane, using the lane as the lane after any vehicle lane change；Driving direction after horizontal direction and any vehicle lane change is hung down
Directly.
With reference to Fig. 2, if the course angle of vehicle 202 changes, vehicle 202 is i.e. by lane change, by the course angle of vehicle 202
Direction is as shown in dotted line 204, and the lane after 202 lane change of vehicle is the vertical direction of the driving direction of lane change rear vehicle 202, also
It is the lane that vehicle 201 travels.
S102 is based on the distance between lane change vehicle and abrupt deceleration vehicle, calculates the emergency braking time of abrupt deceleration vehicle；
Wherein, abrupt deceleration vehicle is latter vehicle identical as lane change vehicle heading and adjacent with lane change vehicle, or
With lane change vehicle heading on the contrary, and the previous vehicle adjacent with lane change vehicle；
It, can be using following at least one possible in above-mentioned S102 in order to improve the accuracy rate that prevention traffic accident occurs
Implementation calculates the emergency braking time of abrupt deceleration vehicle:
In a kind of possible implementation, following steps can be used, the emergency braking time of abrupt deceleration vehicle is calculated:
Step 1: coordinate in the movement state information based on lane change vehicle and in the movement state information of abrupt deceleration vehicle
Coordinate, calculate the distance between lane change vehicle and abrupt deceleration vehicle；
Step 2: the movement state information of movement speed and abrupt deceleration vehicle in the movement state information based on lane change vehicle
In movement speed, calculate lane change vehicle and abrupt deceleration vehicle relative velocity；
Step 3: by the distance between lane change vehicle and abrupt deceleration vehicle divided by the speed relatively of lane change vehicle and abrupt deceleration vehicle
Degree, calculates the emergency braking time of abrupt deceleration vehicle；Abrupt deceleration vehicle is identical as lane change vehicle heading, and lane change vehicle is adjacent
Latter vehicle, or with lane change vehicle heading on the contrary, and the adjacent previous vehicle of lane change vehicle.
With reference to Fig. 2, if lane change vehicle is 202, course angular direction is 204 directions, then abrupt deceleration vehicle is 201, calculates vehicle
202 and 201 emergency braking time.If lane change vehicle is 202, course angular direction is 205 directions, then abrupt deceleration vehicle is
203, calculate the emergency braking time of vehicle 202 and 203.
Present embodiment is opposite by the distance between lane change vehicle and abrupt deceleration vehicle and lane change vehicle and abrupt deceleration vehicle
Speed calculates the emergency braking time of abrupt deceleration vehicle, improves the accuracy rate for calculating the emergency braking time, so as in order to prevent
The accuracy rate that traffic accident occurs.
In alternatively possible implementation, following steps can be used, when calculating the emergency braking of abrupt deceleration vehicle
Between:
Step 1: judge whether the quantity of lane change vehicle is greater than 1；
Whether the quantity of step 2, lane change vehicle is greater than 1, by the coordinate and system in the movement state information of lane change vehicle
Coordinate in the movement state information of motor-car subtracts each other, and calculates the distance between lane change vehicle and abrupt deceleration vehicle；
Step 3, determining and abrupt deceleration vehicle is apart from the smallest lane change vehicle, for the minimum lane change with abrupt deceleration vehicle distance
Vehicle, by the mobile speed in the movement state information of movement speed and abrupt deceleration vehicle in the movement state information of the lane change vehicle
Degree subtracts each other, and calculates the relative velocity of the lane change vehicle and abrupt deceleration vehicle；
Step 4: being directed to abrupt deceleration vehicle apart from the smallest lane change vehicle, will be between the lane change vehicle and abrupt deceleration vehicle
Distance calculates the emergency braking time of abrupt deceleration vehicle divided by the relative velocity of the lane change vehicle and abrupt deceleration vehicle；Abrupt deceleration vehicle is
It is identical as lane change vehicle heading, and the latter vehicle that lane change vehicle is adjacent, or with lane change vehicle heading on the contrary, and
The adjacent previous vehicle of lane change vehicle.
Present embodiment is directed to abrupt deceleration vehicle apart from the smallest lane change vehicle, by by the lane change vehicle and abrupt deceleration vehicle
The distance between divided by the lane change vehicle and abrupt deceleration vehicle relative velocity, when can accurately calculate the emergency braking of abrupt deceleration vehicle
Between, improve the accuracy rate that prevention traffic accident occurs.
S103 carries out early warning to abrupt deceleration vehicle and shows according to the emergency braking time.
The embodiment of the present invention by the vehicle in detection at least side lane whether lane change, it is determining with the same lane of lane change vehicle
And adjacent vehicle is abrupt deceleration vehicle, and calculates the emergency braking time of abrupt deceleration vehicle, then according to the emergency braking time pair
Driver reminds, and the accuracy rate of prevention vehicle collision can be improved, and improves the accuracy rate that prevention traffic accident occurs.
It, can be using following at least one possible realization in above-mentioned S103 in order to prevent the accuracy rate of traffic accident generation
Mode carries out early warning to abrupt deceleration vehicle and shows according to the emergency braking time:
In a kind of possible implementation, by inquiring warning grade corresponding with the emergency braking time, according to early warning etc.
Grade, shows the carry out early warning of abrupt deceleration vehicle, the experience of driver can be improved.
In alternatively possible implementation, following steps can be used, according to the emergency braking time, to abrupt deceleration vehicle into
Row early warning is shown:
Step 1: the safe distance of inquiry emergency braking time corresponding first warning grade and abrupt deceleration vehicle corresponding the
Two warning grades；The safe distance of abrupt deceleration vehicle is the coordinate difference of lane change vehicle and abrupt deceleration vehicle；
Step 2: the first warning grade is made comparisons with the second warning grade, according to higher warning grade, to braking vehicle
Carry out early warning show.
Wherein, the first warning grade is warning grade corresponding with the emergency braking time, and the first warning grade thinks basis
Industry experience setting；Second warning grade is warning grade corresponding with safe distance, and the second warning grade is thought according to industry
Experience setting.
Such as: T1, T2, T3 are the time threshold of setting warn；D1, D2, D3 be setting warn away from
From threshold value.If emergency braking time t meets 0 < t < T1, the first warning grade is 3 grades；T1 < t < T2, then the first warning grade be
2 grades；T2 < t < T3, then the first warning grade is 1 grade；T3 < t, then the first warning grade is 0 grade；If two vehicle distance d meet D3 < d,
Then the second warning grade is 0 grade；D2 < d < D3, then the second warning grade is 1 grade；D1 < d < D2, then the second warning grade is 2 grades；0
< d < D1, then the second warning grade is 3 grades.First warning grade is made comparisons with the second warning grade, according to higher early warning etc.
Grade carries out early warning to abrupt deceleration vehicle and shows.
Present embodiment selects higher ranked early warning by comparing the warning grade of safe distance and emergency braking time
Grade carries out early warning to abrupt deceleration vehicle and shows, compared to according to emergency braking time corresponding warning grade, to abrupt deceleration vehicle
The mode that early warning is shown is carried out, while present embodiment improves the experience of driver, prevention vehicle collision can also be improved
Accuracy rate improves the accuracy rate that prevention traffic accident occurs.
It, can be using following at least one possible realization in above-mentioned S101 in order to prevent the accuracy rate of traffic accident generation
Mode, the lane after determining any vehicle lane change in lane change vehicle and at least side lane:
In a kind of possible implementation, such as Fig. 4, following steps can be used, determine lane change vehicle and at least side vehicle
Lane after any vehicle lane change in road:
Whether the course angle of S401, judgement at least any vehicle in side lane change；
S402, if the course angle of any vehicle at least side lane changes, at least any in side lane
The changed any vehicle of course angle is determined as to lane change vehicle by vehicle i.e. by lane change；
S403, by the course angle of lane change vehicle divided by lane change vehicle movement speed as a result, being determined as to lane change vehicle
Angular speed；
S404 judges in the predetermined time whether the angular speed to lane change vehicle is greater than first threshold；
S405, if the angular speed to lane change vehicle is greater than first threshold in the predetermined time, it is determined that in the predetermined time to
The maximum angular rate of lane change vehicle；
Wherein, the predetermined time behaves as the value set according to industry experience；Predetermined time is greater than the course to lane change vehicle
The difference for the running time that the running time of variation is for the first time 0 with the course angle to lane change vehicle takes place in angle, and predetermined
Time, the running time of variation took place less than the course angle to lane change vehicle and the course angle to lane change vehicle is 0 for the second time
Running time difference.
Wherein, first threshold is behaved as the angular speed numerical value set according to experience.
S405 judges in the predetermined time whether the maximum angular rate to lane change vehicle is greater than second threshold；
S406 judges the horizontal position to lane change vehicle if the maximum angular rate to lane change vehicle is greater than second threshold
It moves and whether is greater than lane width；
S407, if to lane change vehicle horizontal displacement be greater than lane width, to lane change vehicle occur lane change, determine to
Lane after lane change vehicle lane change will be determined as lane change vehicle to lane change vehicle；Horizontal displacement to lane change vehicle are as follows: to lane change
The horizontal distance that vehicle travels in the given time；
S409 drives into curved areas to lane change vehicle if the horizontal displacement to lane change vehicle is less than lane width.
Wherein, second threshold is behaved as the angular speed numerical value set according to experience.
With reference to Fig. 5, using the running time of vehicle as abscissa, using the angular speed of vehicle as the longitudinal axis.When vehicle enters currently
The two sides lane in lane, including left-hand lane and right-hand lane.When vehicle enters right-hand lane, angular speed can generate negative reading
Number；When vehicle enters left-hand lane, angular speed can generate positive reading.
In Fig. 5, to lane change vehicle once left-hand rotation lane change be presented as SIN function preceding half period figure.For vehicle
Lane change occurs and meets three constraint conditions: (1) reading of angular speed needs bigger than first threshold；(2) the maximum value ratio of angular speed
Second threshold is big；(3) duration of angular speed variation needs longer than predetermined time.Determined according to this 3 constraint conditions to
The state of few side lane vehicle.The state of at least side lane vehicle is divided into no lane change state, lane change judges state, lane change
Wait state.
If angular speed absolute value reaches first threshold, then it is assumed that enter lane change and judge state.It is exhausted when angular speed
When falling back to first threshold or less to value, then lane change judges that state terminates.If the duration of angular speed variation needs than pre-
It fixes time length, and within the duration of angular speed variation, maximum angular rate value is greater than second threshold, then lane change judges state
For lane change, then enter lane change wait state.If constraint condition is unsatisfactory for, return without lane change state.
Under lane change wait state, angular speed absolute value reaches first threshold again, likewise enters lane change and judges state.Such as
The current angular speed of fruit and previous angular speed are contrary signs, then vehicle carries out a lane change, then judge vehicle actually
It is to carry out lane change, still along a S- type road driving.
If the horizontal displacement to lane change vehicle that maximum angular rate is greater than second threshold is greater than lane width, to lane change
Lane change occurs for vehicle, it is assumed that lane mean breadth is about 3.65 meters, and the horizontal displacement of lane change vehicle should be greater than 3.65 meters.If
It is a bend, the horizontal displacement to lane change vehicle can be less than 3.65 meters.
It is right as follows if the vehicle at least side lane does not have lane change in a kind of possible implementation
Abrupt deceleration vehicle carries out early warning:
It is target vehicle by detecting previous vehicle identical with the same lane of abrupt deceleration vehicle and driving direction；
Coordinate in status information based on target vehicle and the coordinate in the status information of abrupt deceleration vehicle calculate braking vehicle
The distance between with abrupt deceleration vehicle, the emergency braking time of abrupt deceleration vehicle is calculated；
According to warning grade, the carry out early warning of abrupt deceleration vehicle is shown.
It continues with and a kind of prior-warning device for preventing vehicle collision provided in an embodiment of the present invention is briefly described.
As shown in fig. 6, the embodiment of the invention provides a kind of prior-warning devices for preventing vehicle collision, comprising:
Determining module 601, if changed based on the course angle in the movement state information for having obtained vehicle, it is determined that
At least any vehicle in side lane is i.e. by lane change, and determines the lane after any vehicle lane change, if after any vehicle lane change
Lane it is identical as the lane of abrupt deceleration vehicle, using any vehicle after lane change as lane change vehicle；Having obtained vehicle is to brake
At least vehicle in side lane in the preset range in lane where vehicle；
Computing module 602, the movement for coordinate and abrupt deceleration vehicle in the movement state information based on lane change vehicle
Coordinate in status information calculates the emergency braking time of abrupt deceleration vehicle；
Warning module 603, for carrying out early warning to abrupt deceleration vehicle and showing according to the emergency braking time.
Optionally, a kind of prior-warning device preventing vehicle collision provided in an embodiment of the present invention, further includes:
Information determination module, for obtaining the movement speed in the vehicle of lanes, running time, longitude and latitude and course
Angle；
The longitude and latitude of vehicle is converted to using Gauss algorithm the coordinate of Gauss plane coordinate system；
Using the movement speed of vehicle, running time and coordinate as the status information of vehicle.
Optionally, determining module includes: lane change judging submodule, is specifically used for:
Whether the course angle of judgement at least any vehicle in side lane changes；
If the course angle of any vehicle at least side lane changes, any vehicle at least side lane is
By lane change, the changed any vehicle of course angle is determined as to lane change vehicle；
By to the course angle of lane change vehicle divided by lane change vehicle movement speed as a result, being determined as the angle to lane change vehicle
Speed；
Judge in the predetermined time, whether the angular speed to lane change vehicle is greater than first threshold；
If in the predetermined time, the angular speed to lane change vehicle is greater than first threshold, it is determined that lane change in the predetermined time
The maximum angular rate of vehicle；Predetermined time be to lane change vehicle course angle take place the running time of variation with to lane change vehicle
Course angle variation after the completion of running time difference；
Judge in the predetermined time, whether the maximum angular rate to lane change vehicle is greater than second threshold；
If to lane change vehicle maximum angular rate be greater than second threshold, judge to lane change vehicle horizontal displacement whether
Greater than lane width；
If the horizontal displacement to lane change vehicle is greater than lane width, lane change occurs to lane change vehicle, determines to lane change
Lane after vehicle lane change will be determined as lane change vehicle to lane change vehicle；Horizontal displacement to lane change vehicle are as follows: to lane change vehicle
The horizontal distance travelled in the given time；
If the horizontal displacement to lane change vehicle is less than lane width, curved areas is driven into lane change vehicle.
Wherein, the predetermined time behaves as the value set according to industry experience；Predetermined time is greater than the course to lane change vehicle
The difference for the running time that the running time of variation is for the first time 0 with the course angle to lane change vehicle takes place in angle, and predetermined
Time, the running time of variation took place less than the course angle to lane change vehicle and the course angle to lane change vehicle is 0 for the second time
Running time difference.
Optionally, determining module includes:
Lane determines submodule, if the course angle of any vehicle at least side lane changes, at least
Any vehicle in side lane is i.e. by lane change, and when determining any vehicle i.e. by lane change, any vehicle course angle is in the horizontal direction
Lane, using the lane as the lane after any vehicle lane change；Horizontal direction is vertical with the driving direction after any vehicle lane change.
Optionally, warning module is specifically used for:
Warning grade corresponding with the emergency braking time is inquired, it is aobvious to the carry out early warning of abrupt deceleration vehicle according to warning grade
Show；Abrupt deceleration vehicle is, and latter vehicle that lane change vehicle adjacent identical as lane change vehicle heading, or with lane change vehicle row
Sail contrary, and the previous vehicle that lane change vehicle is adjacent.
Optionally, warning module is specifically used for:
Inquire corresponding second early warning of safe distance of emergency braking time corresponding first warning grade and abrupt deceleration vehicle
Grade；The safe distance of abrupt deceleration vehicle is the coordinate difference of lane change vehicle and abrupt deceleration vehicle；
First warning grade is made comparisons with the second warning grade, according to higher warning grade, abrupt deceleration vehicle is carried out
Early warning is shown.
The embodiment of the invention also provides a kind of electronic equipment, as shown in fig. 7, comprises processor 701, communication interface 702,
Memory 703 and communication bus 704, wherein processor 701, communication interface 702, memory 703 are complete by communication bus 704
At mutual communication,
Memory 703, for storing computer program；
Processor 701 when for executing the program stored on memory 703, realizes following steps:
If changed based on the course angle in the movement state information for having obtained vehicle, it is determined that at least side lane
Any vehicle i.e. by lane change, and the lane after any vehicle lane change is determined, if lane and braking after any vehicle lane change
The lane of vehicle is identical, using any vehicle after lane change as lane change vehicle；Having obtained vehicle is the lane where abrupt deceleration vehicle
Preset range at least side lane vehicle；
Coordinate in movement state information based on lane change vehicle and the coordinate in the movement state information of abrupt deceleration vehicle,
Calculate the emergency braking time of abrupt deceleration vehicle；Abrupt deceleration vehicle is identical as lane change vehicle heading, and lane change vehicle is adjacent
Latter vehicle, or with lane change vehicle heading on the contrary, and the adjacent previous vehicle of lane change vehicle；
According to the emergency braking time, early warning is carried out to abrupt deceleration vehicle and is shown.
The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component
Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard
Architecture, EISA) bus etc..The communication bus can be divided into address bus, data/address bus, control bus etc..For just
It is only indicated with a thick line in expression, figure, it is not intended that an only bus or a type of bus.
Communication interface is for the communication between above-mentioned electronic equipment and other equipment.
Memory may include random access memory (Random Access Memory, RAM), also may include non-easy
The property lost memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory may be used also
To be storage device that at least one is located remotely from aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital Signal
Processing, DSP), it is specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing
It is field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete
Door or transistor logic, discrete hardware components.
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.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
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 method for early warning for preventing vehicle collision, which is characterized in that the described method includes:
If changed based on the course angle in the movement state information for having obtained vehicle, it is determined that at least times in side lane
One vehicle determines the lane after any vehicle lane change i.e. by lane change, if the lane after any vehicle lane change with
The lane of abrupt deceleration vehicle is identical, using any vehicle after lane change as lane change vehicle；The vehicle that obtained is to brake
At least vehicle in side lane in the preset range in lane where vehicle；
Based on the distance between the lane change vehicle and the abrupt deceleration vehicle, the emergency braking time of abrupt deceleration vehicle is calculated；
According to the emergency braking time, early warning is carried out to abrupt deceleration vehicle and is shown.
2. the method according to claim 1, wherein determining the state letter for having obtained vehicle using following steps
Breath:
Obtain movement speed, running time, longitude and latitude and the course angle in the vehicle of lanes；
The longitude and latitude of the vehicle is converted to using Gauss algorithm the coordinate of Gauss plane coordinate system；
Believe the coordinate of the Gauss plane coordinate system of the movement speed of vehicle, running time and the vehicle as the state of vehicle
Breath.
3. if the method according to claim 1, wherein described based on the movement state information for having obtained vehicle
In course angle change, it is determined that any vehicle in at least side lane determines any vehicle i.e. by lane change
Lane after lane change, if the lane after any vehicle lane change is identical as the lane of abrupt deceleration vehicle, by the institute after lane change
Any vehicle is stated as lane change vehicle, comprising:
If the course angle of any vehicle at least side lane changes, any vehicle in at least side lane is
By lane change；
The changed any vehicle of course angle is determined as to lane change vehicle；
By the course angle to lane change vehicle divided by it is described to lane change vehicle movement speed as a result, being determined as described to lane change
The angular speed of vehicle；
If in the predetermined time, the angular speed to lane change vehicle is greater than first threshold, it is determined that lane change vehicle in the predetermined time
Maximum angular rate；
If in the predetermined time, it is wide that the horizontal displacement to lane change vehicle that maximum angular rate is greater than second threshold is greater than lane
Then to lane change vehicle lane change occurs for degree, determines the lane after lane change vehicle lane change, is determined as described to lane change vehicle
Lane change vehicle；The horizontal displacement to lane change vehicle are as follows: the horizontal distance travelled in the given time to lane change vehicle.
4. if the method according to claim 1, wherein described based on the movement state information for having obtained vehicle
In course angle change, it is determined that any vehicle in at least side lane determines any vehicle i.e. by lane change
Lane after lane change, comprising:
If the course angle of any vehicle at least side lane changes, any vehicle in at least side lane is
By lane change, when determining any vehicle i.e. by lane change, any vehicle course angle lane in the horizontal direction, by the lane
As the lane after any vehicle lane change；The horizontal direction is vertical with the driving direction after any vehicle lane change.
5. being carried out to abrupt deceleration vehicle the method according to claim 1, wherein described according to the emergency braking time
Early warning, which is shown, includes:
Warning grade corresponding with the emergency braking time is inquired, it is aobvious to the carry out early warning of abrupt deceleration vehicle according to the warning grade
Show；The abrupt deceleration vehicle is, and with the lane change vehicle adjacent latter vehicle identical as the lane change vehicle heading, or
Person is with the lane change vehicle heading on the contrary, and the previous vehicle adjacent with the lane change vehicle.
6. according to the method described in claim 5, it is characterized in that, inquiry early warning corresponding with the emergency braking time etc.
Grade, according to the warning grade, early warning carried out to abrupt deceleration vehicle show include:
Inquire corresponding second warning grade of safe distance of emergency braking time corresponding first warning grade and abrupt deceleration vehicle；
The safe distance of the abrupt deceleration vehicle is the coordinate difference of lane change vehicle and abrupt deceleration vehicle；
First warning grade is made comparisons with the second warning grade, according to higher warning grade, early warning is carried out to abrupt deceleration vehicle
Display.
7. a kind of prior-warning device for preventing vehicle collision, which is characterized in that described device includes:
Determining module, if for being changed based on the course angle in the movement state information for having obtained vehicle, it is determined that institute
Any vehicle at least side lane is stated i.e. by lane change, and determines the lane after any vehicle lane change, if described any
Lane after vehicle lane change is identical as the lane of abrupt deceleration vehicle, using any vehicle after lane change as lane change vehicle；It is described
Having obtained vehicle is at least vehicle in side lane in the preset range in lane where abrupt deceleration vehicle；
Computing module is based on the distance between the lane change vehicle and the abrupt deceleration vehicle, calculates the emergency braking of abrupt deceleration vehicle
Time；
Warning module, for carrying out early warning to abrupt deceleration vehicle and showing according to the emergency braking time.
8. device according to claim 7, which is characterized in that the determining module is specifically used for:
If the course angle of any vehicle at least side lane changes, any vehicle in at least side lane is
By lane change；
The changed any vehicle of course angle is determined as to lane change vehicle；
By the course angle to lane change vehicle divided by lane change vehicle movement speed as a result, being determined as the angle to lane change vehicle
Speed；
If in the predetermined time, the angular speed to lane change vehicle is greater than first threshold, it is determined that lane change vehicle in the predetermined time
Maximum angular rate；
If in the predetermined time, it is wide that the horizontal displacement to lane change vehicle that maximum angular rate is greater than second threshold is greater than lane
Degree, then it is described that lane change occurs to lane change vehicle, determine the lane after lane change vehicle lane change, it will be described true to lane change vehicle
It is set to lane change vehicle；The horizontal displacement to lane change vehicle are as follows: the horizontal distance travelled in the given time to lane change vehicle.
9. device according to claim 7, which is characterized in that the warning module is specifically used for:
Warning grade corresponding with the emergency braking time is inquired, it is aobvious to the carry out early warning of abrupt deceleration vehicle according to the warning grade
Show；The abrupt deceleration vehicle is, and latter vehicle that lane change vehicle adjacent identical as lane change vehicle heading, or with lane change vehicle
Driving direction is on the contrary, and the adjacent previous vehicle of lane change vehicle.
10. device according to claim 9, which is characterized in that the warning module is specifically used for:
Inquire corresponding second warning grade of safe distance of emergency braking time corresponding first warning grade and abrupt deceleration vehicle；
The safe distance of the abrupt deceleration vehicle is the coordinate difference of lane change vehicle and abrupt deceleration vehicle；
First warning grade is made comparisons with the second warning grade, according to higher warning grade, early warning is carried out to abrupt deceleration vehicle
Display.
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