CN109353343A - A kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle - Google Patents
A kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle Download PDFInfo
- Publication number
- CN109353343A CN109353343A CN201811476026.8A CN201811476026A CN109353343A CN 109353343 A CN109353343 A CN 109353343A CN 201811476026 A CN201811476026 A CN 201811476026A CN 109353343 A CN109353343 A CN 109353343A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- driver
- module
- speed
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000003993 interaction Effects 0.000 title claims abstract description 24
- 238000011156 evaluation Methods 0.000 claims abstract description 69
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims abstract description 7
- 231100001261 hazardous Toxicity 0.000 claims description 51
- 241000209094 Oryza Species 0.000 claims description 45
- 235000007164 Oryza sativa Nutrition 0.000 claims description 45
- 235000009566 rice Nutrition 0.000 claims description 45
- 238000004891 communication Methods 0.000 claims description 15
- 230000003542 behavioural effect Effects 0.000 claims description 8
- 206010039203 Road traffic accident Diseases 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 239000011521 glass Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 244000170916 Paeonia officinalis Species 0.000 claims 1
- 235000006484 Paeonia officinalis Nutrition 0.000 claims 1
- 230000002452 interceptive effect Effects 0.000 claims 1
- 230000008450 motivation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of DAS (Driver Assistant System)s based on the interaction of vehicle vehicle, belong to transit equipment technical field；System is divided into the information transmission system, assessment of risks system, automatic Pilot update the system and driver's evaluation system；The present invention is directed to prevent vehicle from occurring safety problem when overtaking other vehicles with doubling and prevent vehicle rear-end collision and collide his vehicle；When running car, it is information that the information transmission system, which obtains this vehicle range of information and surrounding vehicles one, these information include: speed, steering wheel angle, license board information, distance between complete vehicle curb weight and wheelspan average value and surrounding vehicles and this vehicle；The information that assessment of risks system is obtained according to the information transmission system makes assessment to automobile under different scenes；Automatic Pilot update the system be in driver's driving procedure when something goes wrong, automobile is operated to prevent danger automatically；Driver's evaluation system can be evaluated according to driver's driving behavior, driver's language and driver's expression.
Description
Technical field
The present invention relates to automobile assistant driving systems, belong to transit equipment technical field.
Background technique
With the fast development of economic science and technology, more and more people go out driving, lead to traffic congestion, this makes
There are biggish security risks for traffic；In recent years, increasing due to vehicle, accident quantity, Casualty Vulnerability Number increased significantly；Therefore,
Traffic safety problem increasingly becomes our problems to be solved；In the process of moving, the driver behavior often having has super vehicle
Vehicle, doubling etc., especially family car travel behind commercial vehicle, since two kinds of vehicle volume differences are larger, when certain
Commercial vehicle driver can have vision dead zone and can't see rear automobile, then commercial vehicle does not have when rear automobile is overtaken other vehicles
See the automobile overtaken other vehicles but carried out doubling operation, this will greatly cause traffic accident；Meanwhile how to prevent vehicle from chasing after
Tail, his vehicle of vehicle collision and driver tired driving and urgently to be solved；Driver is relied solely on to reduce traffic accident
Rate, although can reduce to a certain extent, driver's driving ability and quality are irregular, and this promotes auxiliary to drive
The exploitation of system；Although there is many DAS (Driver Assistant System)s at present, there is no the very good solution above problems.
Therefore, it is necessary to a kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle that can more preferably solve the above problems is developed,
To reduce traffic accident rate.
Summary of the invention
The purpose of the present invention is to propose to a kind of DAS (Driver Assistant System)s based on the interaction of vehicle vehicle, pass through the phase of module between system
Mutually cooperation reduces traffic accident rate, improves vehicle safety.
In order to achieve the above objectives, the present invention adopts the following technical scheme: by the DAS (Driver Assistant System) point based on the interaction of vehicle vehicle
For the information transmission system, assessment of risks system, automatic Pilot update the system and driver's evaluation system；The information transmission system is divided into
Wireless transport module, voice module, sound module, photographing module and radar module；Assessment of risks system is divided into vehicle doubling danger
Dangerous evaluation module, vehicle cut-ins assessment of risks module, vehicle rear-end collision assessment of risks module and vehicle intelligent collision evaluation module；Automatically it drives
Update the system is sailed to be divided into stopping vehicle doubling behavioral module, stop vehicle cut-ins behavioral module, prevent vehicle rear-end collision module and prevent
Only fatigue driving module；Driver's evaluation system be divided into driver's driving behavior evaluation module, driver's PASCAL evaluation PASCAL module and
Driver's expression evaluation module；Vehicle travels on highway, speed sensor signal, steering wheel angle signal, license board information,
Complete vehicle curb weight and wheelspan average value are stored in the wireless transport module in the information transmission system, for other vehicles into
Row information interaction；Radar module is used to detect surrounding vehicles position, surrounding vehicles at a distance from this vehicle and determines hazardous vehicles, together
Shi Leida installation site is different according to the difference of engine arrangement form；Photographing module is used to detect driver's expression, is used for
The driver's expression evaluation module prevented in fatigue driving module and driver's evaluation system in automatic Pilot update the system；Institute
The DAS (Driver Assistant System) based on the interaction of vehicle vehicle stated is equipped with an intelligent sound assistant；It completes after driving, the auxiliary drives
System automatically uploads driver's evaluation information；In vehicle traveling process, the DAS (Driver Assistant System) moment connects with internet
Enter.
The DAS (Driver Assistant System) based on the interaction of vehicle vehicle is loaded onto the auxiliary suitable for all driving vehicles on road and is driven
Sail the vehicle group of system；The wireless transport module moment in the information transmission system, radius was in the region of R with using this vehicle as the center of circle
Vehicle carries out information exchange, and the moment sends the information stored in wireless transport module and receives the wireless transport module that his vehicle is sent
The information of middle storage；
Wherein:
R=40 × arctan (m/v)
R unit is rice in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, unit kilogram；V is this vehicle speed, unit
km/h。
Photographing module is installed in the vehicle, and is fixed on front windshield of vehicle upper edge, and be in pilot set pair
On title face；Voice module includes voice input and voice communication；Voice input is that driver is helped by voice wake-up intelligent sound
Hand carries out voice input by the microphone be furnished on vehicle, to intelligent sound assistant inquire other vehicles of vehicle periphery position,
Speed and possible potential hazardous vehicles；Voice communication is driver and may potentially hazardous vehicles driver progress voice lead to
Words；Sound module includes automatic speech prompting and audible alert；When radar detection to distance between surrounding vehicles and this vehicle in S1
Between S2, between S2 and S and within S when these three different situations, automatic speech prompting and audible alert can make difference
Response；
Wherein:
S1=100 × arctan (m/vL)
S2=40 × arctan (m/v)
S=10 × arcsin (5 × v × L/m)
S1, S2, S unit are rice in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, units/kg；V is this vehicle speed,
Unit km/h；L is automobile wheel track average value, unit rice.
The intelligent sound assistant that automatic speech prompting and audible alert are furnished with by the DAS (Driver Assistant System) passes through vehicle
On sound equipment complete hint and caveat.
For engine behind front wheel automobile, radar is mounted on the roof at K1 meters of automobile front end, and is in vapour
On the longitudinally asymmetric face of vehicle；For engine at extreme rear automobile, radar is mounted on the roof at K2 meters of automobile front end, and
On the automobile longitudinal plane of symmetry；
Wherein:
K1=1.5/qk
K2=1.8/qk
K1 in above-mentioned expression formula, K2 unit are rice；Q is the length of shield glass lower edge, and unit is rice；K is
Automobile front end height, unit are rice.
When A vehicle radar detects left forward side or there is a vehicle B on right side, and the distance between two vehicles are within L1, then A vehicle
The information that wireless transport module receives will be matched with vehicle B；If B vehicle is on the left of the front side A, when A vehicle radio transmits mould
Block detects B vehicle steering wheel angle signal and is more than threshold value e and is the steering wheel angle signal for making B vehicle turn right or B vehicle in A
On the right side of front side, it is more than threshold value e and B vehicle is made to turn left when A vehicle radio transmission module detects B vehicle steering wheel angle signal
Steering wheel angle signal, the DAS (Driver Assistant System) determine that B vehicle is wanted to travel with the doubling of A vehicle, and B vehicle is hazardous vehicles；When A vehicle
Radar detects A vehicle left back or there is a vehicle C in right back, and the distance between two vehicles within L1, then A vehicle radio transmits mould
The information that block receives will be matched with vehicle C；Do not have when A vehicle radio transmission module detects C vehicle steering wheel angle signal
More than threshold value f, the DAS (Driver Assistant System) determines that front vehicle is hazardous vehicles；Radar module can show hazardous vehicles
In the car on touch screen, the information received in wireless transport module will be believed in the license plate of the corresponding hazardous vehicles of touch-control screen display
Breath；
Wherein:
L1=10 × arcsin (5 × v1 × L/m1)
E=100 × v2/m2
F=110 × v3/m3
L1 unit is rice in above-mentioned expression formula；V1 is A vehicle speed, unit km/h；L is A wheel tracks average value, unit rice；
M1 is A vehicle complete vehicle curb weight, units/kg；E unit is angle；V2 is B vehicle speed, unit km/h；M2 is that B vehicle vehicle reorganizes and outfit matter
Amount, units/kg；F unit is angle；V3 is C vehicle speed, unit km/h；M3 is C vehicle complete vehicle curb weight, units/kg.
Surrounding vehicles at a distance from this vehicle between S2 and S1, automatic speech prompting are as follows: around without vehicle, and only prompt one
It is secondary；Surrounding vehicles at a distance from this vehicle between S1 and S, automatic speech prompting are as follows: surrounding discovery vehicle, and only prompt is primary；
Surrounding vehicles at a distance from this vehicle within S, automatic speech prompting are as follows: surrounding discovery vehicle enters risk distance region, and mentions
Show secondary, while to will do it warning primary for the audible alert in sound module.
Vehicle is being overtaken other vehicles or doubling operation, and hazardous vehicles occurs in vehicle periphery, and intelligent sound assistant can inquire driving
Whether member will carry out voice communication with the driver of hazardous vehicles；If driver thinks refusal it may be said that the language containing the refusal meaning
Or it does not answer；If driver agrees to call, voice module can call the hazardous vehicles nearest apart from this vehicle, be wirelessly transferred
The information that module receives can carry out information matches with the hazardous vehicles called, to obtain the license plate number of hazardous vehicles, intelligence
Voice assistant can prompt driver calling hazardous vehicles, and quote the license plate number of hazardous vehicles；Driver can also be in vehicle
Manual call is carried out to shown hazardous vehicles on interior touch screen.
Certain A vehicle receives the calling of B vehicle, then the information that the wireless transport module of A vehicle receives will carry out information with B vehicle
Match, to obtain the license plate number of B vehicle, A vehicle intelligent sound assistant can prompt driver to receive call invitation, and quote B vehicle license plate number；
A vehicle driver can not answer the language in other words containing the refusal meaning to hang up the calling of B vehicle；If A vehicle driver agrees to
Phone is connected, then the driver of A vehicle and B vehicle will carry out voice communication, coordinate speed and the position of respective vehicle with this, avoid
Traffic accident occurs；Dialog context will be recorded by the DAS (Driver Assistant System) system.
Vehicle doubling assessment of risks module is the safety evaluation for vehicle doubling behavior；Certain A vehicle radio transmission module
Middle steering wheel angle signal is more than threshold value r, and radar detects the rear discovery hazardous vehicles B of the turned direction side of A vehicle, then
The DAS (Driver Assistant System) determines that A vehicle will carry out doubling operation；
Wherein:
R=100 × v1/m1
R unit is angle in above-mentioned expression formula；V1 is A vehicle speed, unit km/h；M1 is A vehicle complete vehicle curb weight, unit
kg；
A vehicle radio transmission module obtains the speed of B vehicle, and vehicle doubling assessment of risks module is by comparing two vehicle speed sizes
Different assessments are provided with two vehicle distances；Specific assessment logic is as follows: if A vehicle speed is more than or equal to B vehicle, vehicle doubling assessment of risks
Module provides safety, and intelligent sound assistant can prompt driver to continue to keep former speed or accelerate to complete doubling；If A vehicle speed is less than
B vehicle, is divided into: (1) speed difference is no more than 8km/h, and two vehicle distances in B1 and B2, then vehicle doubling assessment of risks module is given
Safety out, intelligent sound assistant can prompt driver to continue to keep former speed or accelerate to complete doubling；(2) speed difference is no more than
8km/h, and two vehicle distances, in B2, vehicle doubling assessment of risks module provides danger, and intelligent sound assistant can prompt driver
Slow down or steering wheel return is just to abandon doubling behavior；(3) speed difference is greater than 8km/h, and two vehicle distances, in B3, vehicle is simultaneously
Line assessment of risks module provides danger, and intelligent sound assistant can prompt driver's deceleration or steering wheel return just to abandon doubling row
For；
Wherein:
B1=(v2-v1) × arctan (v2)
B2=0.8 × (v2-v1) × arctan (v2)
B3=0.6 × (v2-v1) × arctan (v2)
B1, B2 and B3 unit are rice in above-mentioned expression formula；V2 and v1 is respectively the speed of B vehicle and A vehicle, unit km/h.
Vehicle cut-ins assessment of risks module is the safety evaluation for vehicle cut-ins behavior；Certain A vehicle radio transmission module
Speed signal is gradually increased, and radar detects the front side A left or right side vehicle B, and the DAS (Driver Assistant System) is sentenced
Operation of overtaking other vehicles will be carried out by determining A vehicle；A vehicle radio transmission module obtains the speed of B vehicle, and vehicle cut-ins assessment of risks module is by comparing
Two vehicle speed sizes and two vehicle distances provide different assessments；Specific assessment logic is as follows: if detecting B vehicle without doubling behavior,
Vehicle cut-ins assessment of risks module provides safety, and intelligent sound assistant can prompt driver to continue to keep former speed or accelerate to complete super
Vehicle；If detecting B vehicle has doubling behavior, B vehicle is hazardous vehicles, if A vehicle speed is less than or equal to B vehicle, vehicle cut-ins assessment of risks
Module provides safety, but A vehicle is unable to complete and overtakes other vehicles；If A vehicle speed is greater than B vehicle, be divided into: (1) speed difference is no more than 8km/h,
And two vehicle distance in D1 to D2, vehicle cut-ins assessment of risks module provides danger, and intelligent sound assistant can prompt driver to subtract
Speed is abandoned overtaking other vehicles；(2) speed difference is no more than 8km/h, and two vehicle distances, in D2, vehicle cut-ins assessment of risks module provides peace
Entirely, intelligent sound assistant can prompt driver to continue to accelerate to complete to overtake other vehicles；(3) speed difference is greater than 8km/h, and two vehicle distances exist
In D3, vehicle cut-ins assessment of risks module provides safety, and intelligent sound assistant can prompt driver to continue to accelerate to complete to overtake other vehicles；
Wherein:
D1=(v1-v2) × arctan (v1)
D2=0.7 × (v1-v2) × arctan (v1)
D3=0.5 × (v1-v2) × arctan (v1)
D1, D2 and D3 unit are rice in above-mentioned expression formula；V1 and v2 is respectively the speed of A vehicle and B vehicle, unit km/h.
Vehicle rear-end collision assessment of risks module refers to A vehicle when driving, radar detect have immediately ahead of A vehicle vehicle B, A a vehicle without
Line transmission module obtains the speed of B vehicle, and vehicle rear-end collision assessment of risks module is given by comparing two vehicle speed sizes and two vehicle distances
Different assessments out；Specific assessment logic is as follows: if A vehicle speed is less than or equal to B vehicle, vehicle rear-end collision assessment of risks module provides peace
Entirely, intelligent sound assistant can prompt driver to continue to keep former speed traveling；If A vehicle speed is greater than B vehicle speed, it is divided into: (1) two vehicle
When distance is more than or equal to K, vehicle rear-end collision assessment of risks module provides safety, and intelligent sound assistant can prompt driver to continue to keep
Former speed traveling；When (2) two vehicles distance is less than K, vehicle rear-end collision assessment of risks module provides danger, and intelligent sound assistant can prompt to drive
The person of sailing is slowed down；
Wherein:
K=0.7 × (v1-v2) × arctan (v1)
K unit is rice in above-mentioned expression formula；V1 and v2 is respectively the speed of A vehicle and B vehicle, unit km/h.
Vehicle intelligent collision evaluation module refers to A vehicle when driving, if radar is detected using this vehicle as the center of circle, radius is the region of R1
It is interior to provide safety without vehicle vehicle intelligent collision evaluation module；If radar is detected using this vehicle as the center of circle, radius is in the region of R1
There is vehicle, vehicle intelligent collision evaluation module provides danger, and intelligent sound assistant can remind driver to prevent from colliding with surrounding vehicles；
Wherein:
R1=5 × arcsin (5 × v × L/m)
R1 unit is rice in above-mentioned expression formula；V is this vehicle speed, unit km/h；L is automobile wheel track average value, unit rice；
M is vehicle complete vehicle kerb weight, units/kg.
Automatic Pilot update the system needs that assessment of risks system and photographing module is combined to carry out driving amendment to vehicle；Stop
Vehicle doubling behavioral module is that vehicle carries out doubling operation, if vehicle doubling assessment of risks module provides danger, driver was at a seconds
Interior not carry out deceleration or steering wheel return just to automobile, automatic Pilot update the system can carry out deceleration or direction to automobile automatically
Disk returns just to stop vehicle doubling behavior；
Wherein:
A=120/v
A unit is the second in above-mentioned expression formula, and v is car speed, unit km/h.
Stopping vehicle cut-ins behavior is that vehicle carries out operation of overtaking other vehicles, if vehicle cut-ins assessment of risks module provides danger, is driven
The person of sailing did not slowed down to automobile in b seconds, and automatic Pilot update the system can automatically slow down to stop vehicle to automobile
Passing behavior；
Wherein:
B=100/v
B unit is the second in above-mentioned expression formula, and v is car speed, unit km/h.
Preventing vehicle rear-end collision module is that vehicle rear-end collision assessment of risks module provides danger, and driver is in c seconds not to vapour
Vehicle slows down, and automatic Pilot update the system can automatically slow down to automobile；
Wherein:
C=95/v
C unit is the second in above-mentioned expression formula, and v is car speed, unit km/h.
Preventing fatigue driving module from referring to that photographing module detects driver's closed-eye time is more than d seconds, automatic Pilot amendment
System, which can automatically slow down to automobile, even stops, and intelligent sound assistant can wake driver up；
Wherein:
D=0.2m/vL
D unit is rad in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, units/kg；V is car speed, unit
km/h；L is automobile wheel track average value, unit rice.
Driver's evaluation system needs to evaluate in conjunction with automatic Pilot update the system, photographing module and dialog context；It drives
Member's driving behavior evaluation module is evaluated according to automatic Pilot update the system, if triggering automatic Pilot update the system, judgement are driven
The person's of sailing driving behavior is bad, and records triggering automatic Pilot update the system number；Driver's PASCAL evaluation PASCAL module is that evaluation is driven
The person of sailing and language content when driver's voice communication, if driver's PASCAL evaluation PASCAL module, which detects driver, the words sworn at people,
It is improper then to determine that driver speaks, and records the number of words for the words sworn at people described in driver；Driver's expression evaluation module be according to
Driver's expression is detected to evaluate according to photographing module, if it is more than s seconds that driver's expression, which has tired meaning even closed-eye time, is sentenced
Determine driver tired driving；It completes after driving, driver's evaluation information uploads automatically；
Wherein:
S=0.2m/vL
S unit is rad in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, units/kg；V is car speed, unit
km/h；L is automobile wheel track average value, unit rice.
Detailed description of the invention
Fig. 1 is the DAS (Driver Assistant System) structural block diagram based on the interaction of vehicle vehicle.
Fig. 2 is photographing module scheme of installation.
Fig. 3 is radar scheme of installation.
Fig. 4 is hazardous vehicles schematic diagram.
Fig. 5 is assessment of risks system evaluation logic diagram.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
As shown in Figure 1 by based on vehicle vehicle interaction DAS (Driver Assistant System) be divided into the information transmission system, assessment of risks system, from
It is dynamic to drive update the system and driver's evaluation system；The information transmission system is divided into wireless transport module, voice module, sound mould
Block, photographing module and radar module；Assessment of risks system is divided into vehicle doubling assessment of risks module, vehicle cut-ins assessment of risks mould
Block, vehicle rear-end collision assessment of risks module and vehicle intelligent collision evaluation module；Automatic Pilot update the system, which is divided into, stops vehicle doubling row
For module, stops vehicle cut-ins behavioral module, prevents vehicle rear-end collision module and prevent fatigue driving module；Driver's evaluation system
It is divided into driver's driving behavior evaluation module, driver's PASCAL evaluation PASCAL module and driver's expression evaluation module；Vehicle is in highway
Upper traveling, speed sensor signal, steering wheel angle signal, license board information, complete vehicle curb weight and wheelspan average value are stored in
In wireless transport module in the information transmission system, for carrying out information exchange with other vehicles；Radar module is used to detect
Surrounding vehicles position, surrounding vehicles are at a distance from this vehicle and determine hazardous vehicles, while radar installation site is according to engine cloth
Set the difference of form and different；Photographing module is used to detect driver's expression, tired for preventing in automatic Pilot update the system
Please driver's expression evaluation module in module and driver's evaluation system is sailed；The auxiliary based on the interaction of vehicle vehicle drives
System is equipped with an intelligent sound assistant；It completes after driving, the DAS (Driver Assistant System) automatically will be on driver's evaluation information
It passes；In vehicle traveling process, the DAS (Driver Assistant System) moment and linking Internet.
The DAS (Driver Assistant System) based on the interaction of vehicle vehicle is loaded onto the auxiliary suitable for all driving vehicles on road and is driven
Sail the vehicle group of system；The wireless transport module moment in the information transmission system, radius was in the region of R with using this vehicle as the center of circle
Vehicle carries out information exchange, and the moment sends the information stored in wireless transport module and receives the wireless transport module that his vehicle is sent
The information of middle storage；
Wherein:
R=40 × arctan (m/v)
R unit is rice in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, unit kilogram；V is this vehicle speed, unit
km/h。
As shown in Fig. 2, being photographing module scheme of installation.Photographing module is installed in the vehicle, and is fixed on vehicle front windshield
Glass upper edge, and on the pilot set plane of symmetry；Voice module includes voice input and voice communication；Voice input
It is driver by voice wake-up intelligent sound assistant, voice input is carried out by the microphone being furnished on vehicle, to intelligent sound
Assistant inquires position, speed and the possible potential hazardous vehicles of other vehicles of vehicle periphery；Voice communication is driver and can
It can potential hazardous vehicles driver progress voice communication；Sound module includes automatic speech prompting and audible alert；Work as radar
Detect between surrounding vehicles and this vehicle distance between S1 and S2, between S2 and S and within S when these three different situations,
Automatic speech prompting and audible alert can make different responses；
Wherein:
S1=100 × arctan (m/vL)
S2=40 × arctan (m/v)
S=10 × arcsin (5 × v × L/m)
S1, S2, S unit are rice in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, units/kg；V is this vehicle speed,
Unit km/h；L is automobile wheel track average value, unit rice.
The intelligent sound assistant that automatic speech prompting and audible alert are furnished with by the DAS (Driver Assistant System) passes through vehicle
On sound equipment complete hint and caveat.
For engine behind front wheel automobile, radar is mounted on the roof at K1 meters of automobile front end, and is in vapour
On the longitudinally asymmetric face of vehicle；For engine at extreme rear automobile, radar is mounted on the roof at K2 meters of automobile front end, and
On the automobile longitudinal plane of symmetry；As shown in figure 3, being radar scheme of installation；
Wherein:
K1=1.5/qk
K2=1.8/qk
K1 in above-mentioned expression formula, K2 unit are rice；Q is the length of shield glass lower edge, and unit is rice；K is
Automobile front end height, unit are rice.
When A vehicle radar detects left forward side or there is a vehicle B on right side, and the distance between two vehicles are within L1, then A vehicle
The information that wireless transport module receives will be matched with vehicle B；If B vehicle is on the left of the front side A, when A vehicle radio transmits mould
Block detects B vehicle steering wheel angle signal and is more than threshold value e and is the steering wheel angle signal for making B vehicle turn right or B vehicle in A
On the right side of front side, it is more than threshold value e and B vehicle is made to turn left when A vehicle radio transmission module detects B vehicle steering wheel angle signal
Steering wheel angle signal, the DAS (Driver Assistant System) determine that B vehicle is wanted to travel with the doubling of A vehicle, and B vehicle is hazardous vehicles；When A vehicle
Radar detects A vehicle left back or there is a vehicle C in right back, and the distance between two vehicles within L1, then A vehicle radio transmits mould
The information that block receives will be matched with vehicle C；Do not have when A vehicle radio transmission module detects C vehicle steering wheel angle signal
More than threshold value f, the DAS (Driver Assistant System) determines that front vehicle is hazardous vehicles；Radar module can show hazardous vehicles
In the car on touch screen, the information received in wireless transport module will be believed in the license plate of the corresponding hazardous vehicles of touch-control screen display
Breath；As shown in figure 4, being hazardous vehicles schematic diagram；
Wherein:
L1=10 × arcsin (5 × v1 × L/m1)
E=100 × v2/m2
F=110 × v3/m3
L1 unit is rice in above-mentioned expression formula；V1 is A vehicle speed, unit km/h；L is A wheel tracks average value, unit rice；
M1 is A vehicle complete vehicle curb weight, units/kg；E unit is angle；V2 is B vehicle speed, unit km/h；M2 is that B vehicle vehicle reorganizes and outfit matter
Amount, units/kg；F unit is angle；V3 is C vehicle speed, unit km/h；M3 is C vehicle complete vehicle curb weight, units/kg.
Surrounding vehicles at a distance from this vehicle between S2 and S1, automatic speech prompting are as follows: around without vehicle, and only prompt one
It is secondary；Surrounding vehicles at a distance from this vehicle between S1 and S, automatic speech prompting are as follows: surrounding discovery vehicle, and only prompt is primary；
Surrounding vehicles at a distance from this vehicle within S, automatic speech prompting are as follows: surrounding discovery vehicle enters risk distance region, and mentions
Show secondary, while to will do it warning primary for the audible alert in sound module.
Vehicle is being overtaken other vehicles or doubling operation, and hazardous vehicles occurs in vehicle periphery, and intelligent sound assistant can inquire driving
Whether member will carry out voice communication with the driver of hazardous vehicles；If driver thinks refusal it may be said that the language containing the refusal meaning
Or it does not answer；If driver agrees to call, voice module can call the hazardous vehicles nearest apart from this vehicle, be wirelessly transferred
The information that module receives can carry out information matches with the hazardous vehicles called, to obtain the license plate number of hazardous vehicles, intelligence
Voice assistant can prompt driver calling hazardous vehicles, and quote the license plate number of hazardous vehicles；Driver can also be in vehicle
Manual call is carried out to shown hazardous vehicles on interior touch screen.
Certain A vehicle receives the calling of B vehicle, then the information that the wireless transport module of A vehicle receives will carry out information with B vehicle
Match, to obtain the license plate number of B vehicle, A vehicle intelligent sound assistant can prompt driver to receive call invitation, and quote B vehicle license plate number；
A vehicle driver can not answer the language in other words containing the refusal meaning to hang up the calling of B vehicle；If A vehicle driver agrees to
Phone is connected, then the driver of A vehicle and B vehicle will carry out voice communication, coordinate speed and the position of respective vehicle with this, avoid
Traffic accident occurs；Dialog context will be recorded by the DAS (Driver Assistant System) system.
As shown in figure 5, being assessment of risks system evaluation logic diagram, modules will be introduced according to logic diagram below
Assessment logic；Vehicle doubling assessment of risks module is the safety evaluation for vehicle doubling behavior；Certain A vehicle radio transmits mould
Steering wheel angle signal is more than threshold value r in block, and radar detects the rear discovery hazardous vehicles B of the turned direction side of A vehicle,
Then the DAS (Driver Assistant System) determines that A vehicle will carry out doubling operation；
Wherein:
R=100 × v1/m1
R unit is angle in above-mentioned expression formula；V1 is A vehicle speed, unit km/h；M1 is A vehicle complete vehicle curb weight, unit
kg；
A vehicle radio transmission module obtains the speed of B vehicle, and vehicle doubling assessment of risks module is by comparing two vehicle speed sizes
Different assessments are provided with two vehicle distances；Specific assessment logic is as follows: if A vehicle speed is more than or equal to B vehicle, vehicle doubling assessment of risks
Module provides safety, and intelligent sound assistant can prompt driver to continue to keep former speed or accelerate to complete doubling；If A vehicle speed is less than
B vehicle, is divided into: (1) speed difference is no more than 8km/h, and two vehicle distances in B1 and B2, then vehicle doubling assessment of risks module is given
Safety out, intelligent sound assistant can prompt driver to continue to keep former speed or accelerate to complete doubling；(2) speed difference is no more than
8km/h, and two vehicle distances, in B2, vehicle doubling assessment of risks module provides danger, and intelligent sound assistant can prompt driver
Slow down or steering wheel return is just to abandon doubling behavior；(3) speed difference is greater than 8km/h, and two vehicle distances, in B3, vehicle is simultaneously
Line assessment of risks module provides danger, and intelligent sound assistant can prompt driver's deceleration or steering wheel return just to abandon doubling row
For；
Wherein:
B1=(v2-v1) × arctan (v2)
B2=0.8 × (v2-v1) × arctan (v2)
B3=0.6 × (v2-v1) × arctan (v2)
B1, B2 and B3 unit are rice in above-mentioned expression formula；V2 and v1 is respectively the speed of B vehicle and A vehicle, unit km/h.
Vehicle cut-ins assessment of risks module is the safety evaluation for vehicle cut-ins behavior；Certain A vehicle radio transmission module
Speed signal is gradually increased, and radar detects the front side A left or right side vehicle B, and the DAS (Driver Assistant System) is sentenced
Operation of overtaking other vehicles will be carried out by determining A vehicle；A vehicle radio transmission module obtains the speed of B vehicle, and vehicle cut-ins assessment of risks module is by comparing
Two vehicle speed sizes and two vehicle distances provide different assessments；Specific assessment logic is as follows: if detecting B vehicle without doubling behavior,
Vehicle cut-ins assessment of risks module provides safety, and intelligent sound assistant can prompt driver to continue to keep former speed or accelerate to complete super
Vehicle；If detecting B vehicle has doubling behavior, B vehicle is hazardous vehicles, if A vehicle speed is less than or equal to B vehicle, vehicle cut-ins assessment of risks
Module provides safety, but A vehicle is unable to complete and overtakes other vehicles；If A vehicle speed is greater than B vehicle, be divided into: (1) speed difference is no more than 8km/h,
And two vehicle distance in D1 to D2, vehicle cut-ins assessment of risks module provides danger, and intelligent sound assistant can prompt driver to subtract
Speed is abandoned overtaking other vehicles；(2) speed difference is no more than 8km/h, and two vehicle distances, in D2, vehicle cut-ins assessment of risks module provides peace
Entirely, intelligent sound assistant can prompt driver to continue to accelerate to complete to overtake other vehicles；(3) speed difference is greater than 8km/h, and two vehicle distances exist
In D3, vehicle cut-ins assessment of risks module provides safety, and intelligent sound assistant can prompt driver to continue to accelerate to complete to overtake other vehicles；
Wherein:
D1=(v1-v2) × arctan (v1)
D2=0.7 × (v1-v2) × arctan (v1)
D3=0.5 × (v1-v2) × arctan (v1)
D1, D2 and D3 unit are rice in above-mentioned expression formula；V1 and v2 is respectively the speed of A vehicle and B vehicle, unit km/h.
Vehicle rear-end collision assessment of risks module refers to A vehicle when driving, radar detect have immediately ahead of A vehicle vehicle B, A a vehicle without
Line transmission module obtains the speed of B vehicle, and vehicle rear-end collision assessment of risks module is given by comparing two vehicle speed sizes and two vehicle distances
Different assessments out；Specific assessment logic is as follows: if A vehicle speed is less than or equal to B vehicle, vehicle rear-end collision assessment of risks module provides peace
Entirely, intelligent sound assistant can prompt driver to continue to keep former speed traveling；If A vehicle speed is greater than B vehicle speed, it is divided into: (1) two vehicle
When distance is more than or equal to K, vehicle rear-end collision assessment of risks module provides safety, and intelligent sound assistant can prompt driver to continue to keep
Former speed traveling；When (2) two vehicles distance is less than K, vehicle rear-end collision assessment of risks module provides danger, and intelligent sound assistant can prompt to drive
The person of sailing is slowed down；
Wherein:
K=0.7 × (v1-v2) × arctan (v1)
K unit is rice in above-mentioned expression formula；V1 and v2 is respectively the speed of A vehicle and B vehicle, unit km/h.
Vehicle intelligent collision evaluation module refers to A vehicle when driving, if radar is detected using this vehicle as the center of circle, radius is the region of R1
It is interior to provide safety without vehicle vehicle intelligent collision evaluation module；If radar is detected using this vehicle as the center of circle, radius is in the region of R1
There is vehicle, vehicle intelligent collision evaluation module provides danger, and intelligent sound assistant can remind driver to prevent from colliding with surrounding vehicles；
Wherein:
R1=5 × arcsin (5 × v × L/m)
R1 unit is rice in above-mentioned expression formula；V is this vehicle speed, unit km/h；L is automobile wheel track average value, unit rice；
M is vehicle complete vehicle kerb weight, units/kg.
Automatic Pilot update the system needs that assessment of risks system and photographing module is combined to carry out driving amendment to vehicle；Stop
Vehicle doubling behavioral module is that vehicle carries out doubling operation, if vehicle doubling assessment of risks module provides danger, driver was at a seconds
Interior not carry out deceleration or steering wheel return just to automobile, automatic Pilot update the system can carry out deceleration or direction to automobile automatically
Disk returns just to stop vehicle doubling behavior；
Wherein:
A=120/v
A unit is the second in above-mentioned expression formula, and v is car speed, unit km/h.
Stopping vehicle cut-ins behavior is that vehicle carries out operation of overtaking other vehicles, if vehicle cut-ins assessment of risks module provides danger, is driven
The person of sailing did not slowed down to automobile in b seconds, and automatic Pilot update the system can automatically slow down to stop vehicle to automobile
Passing behavior；
Wherein:
B=100/v
B unit is the second in above-mentioned expression formula, and v is car speed, unit km/h.
Preventing vehicle rear-end collision module is that vehicle rear-end collision assessment of risks module provides danger, and driver is in c seconds not to vapour
Vehicle slows down, and automatic Pilot update the system can automatically slow down to automobile；
Wherein:
C=95/v
C unit is the second in above-mentioned expression formula, and v is car speed, unit km/h.
Preventing fatigue driving module from referring to that photographing module detects driver's closed-eye time is more than d seconds, automatic Pilot amendment
System, which can automatically slow down to automobile, even stops, and intelligent sound assistant can wake driver up；
Wherein:
D=0.2m/vL
D unit is rad in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, units/kg；V is car speed, unit
km/h；L is automobile wheel track average value, unit rice.
Driver's evaluation system needs to evaluate in conjunction with automatic Pilot update the system, photographing module and dialog context；It drives
Member's driving behavior evaluation module is evaluated according to automatic Pilot update the system, if triggering automatic Pilot update the system, judgement are driven
The person's of sailing driving behavior is bad, and records triggering automatic Pilot update the system number；Driver's PASCAL evaluation PASCAL module is that evaluation is driven
The person of sailing and language content when driver's voice communication, if driver's PASCAL evaluation PASCAL module, which detects driver, the words sworn at people,
It is improper then to determine that driver speaks, and records the number of words for the words sworn at people described in driver；Driver's expression evaluation module be according to
Driver's expression is detected to evaluate according to photographing module, if it is more than s seconds that driver's expression, which has tired meaning even closed-eye time, is sentenced
Determine driver tired driving；It completes after driving, driver's evaluation information uploads automatically；
Wherein:
S=0.2m/vL
S unit is rad in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, units/kg；V is car speed, unit
km/h；
L is automobile wheel track average value, unit rice.
Claims (10)
1. a kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle, it is characterised in that: should be based on the DAS (Driver Assistant System) of vehicle vehicle interaction
It is divided into the information transmission system, assessment of risks system, automatic Pilot update the system and driver's evaluation system；The information transmission system point
For wireless transport module, voice module, sound module, photographing module and radar module；Assessment of risks system is divided into vehicle doubling
Assessment of risks module, vehicle cut-ins assessment of risks module, vehicle rear-end collision assessment of risks module and vehicle intelligent collision evaluation module；Automatically
Drive update the system be divided into stop vehicle doubling behavioral module, stop vehicle cut-ins behavioral module, prevent vehicle rear-end collision module and
Prevent fatigue driving module；Driver's evaluation system is divided into driver's driving behavior evaluation module, driver's PASCAL evaluation PASCAL module
With driver's expression evaluation module；
Vehicle travels on highway, speed sensor signal, steering wheel angle signal, license board information, complete vehicle curb weight and
Wheelspan average value is stored in the wireless transport module in the information transmission system, for carrying out information exchange with other vehicles；Thunder
It is used to detect surrounding vehicles position, surrounding vehicles with this vehicle at a distance from and judgement hazardous vehicles up to module, while radar installation position
It sets according to the difference of engine arrangement form and different；Photographing module is used to detect driver's expression, corrects for automatic Pilot
The driver's expression evaluation module prevented in fatigue driving module and driver's evaluation system in system；It is described based on vehicle vehicle
Interactive DAS (Driver Assistant System) is equipped with an intelligent sound assistant；It completes after driving, the DAS (Driver Assistant System) will be driven automatically
The person's of sailing evaluation information uploads；In vehicle traveling process, the DAS (Driver Assistant System) moment and linking Internet.
2. a kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle as described in claim 1, it is characterised in that: described based on vehicle
The DAS (Driver Assistant System) of vehicle interaction is suitable for the vehicle group that all driving vehicles on road load onto the DAS (Driver Assistant System)；Information passes
The wireless transport module moment in defeated system, radius was that vehicle carries out information exchange, moment in the region of R with using this vehicle as the center of circle
It sends the information stored in wireless transport module and receives the information stored in the wireless transport module that his vehicle is sent；
Wherein:
R=40 × arctan (m/v)
R unit is rice in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, unit kilogram；V is this vehicle speed, unit km/h；
Photographing module is installed in the vehicle, and is fixed on front windshield of vehicle upper edge, and be in the pilot set plane of symmetry
On；
Voice module includes voice input and voice communication；Voice input is driver by voice wake-up intelligent sound assistant,
Voice input is carried out by the microphone being furnished on vehicle, position, the speed of other vehicles of vehicle periphery are inquired to intelligent sound assistant
Degree and possible potential hazardous vehicles；Voice communication is driver and may potentially hazardous vehicles driver progress voice lead to
Words；
Sound module includes automatic speech prompting and audible alert；When radar detection to distance between surrounding vehicles and this vehicle in S1
Between S2, between S2 and S and within S when these three different situations, automatic speech prompting and audible alert can make difference
Response；
Wherein:
S1=100 × arctan (m/vL)
S2=40 × arctan (m/v)
S=10 × arcsin (5 × v × L/m)
S1, S2, S unit are rice in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, units/kg；V is this vehicle speed, unit
km/h；L is automobile wheel track average value, unit rice；
The intelligent sound assistant that automatic speech prompting and audible alert are furnished with by the DAS (Driver Assistant System) passes through on vehicle
Sound equipment completes hint and caveat.
3. a kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle as described in claim 1, it is characterised in that: before engine
Set automobile, radar is mounted on the roof at K1 meters of automobile front end, and on the automobile longitudinal plane of symmetry；For hair
Motivation postposition automobile, radar are mounted on the roof at K2 meters of automobile front end, and on the automobile longitudinal plane of symmetry；
Wherein:
K1=1.5/qk
K2=1.8/qk
K1 in above-mentioned expression formula, K2 unit are rice；Q is the length of shield glass lower edge, and unit is rice；K is automobile
Front end height, unit are rice；
When A vehicle radar detects left forward side or there is a vehicle B on right side, and the distance between two vehicles are within L1, then A vehicle radio
The information that transmission module receives will be matched with vehicle B；If B vehicle is on the left of the front side A, when A vehicle radio transmission module is detectd
B vehicle steering wheel angle signal is measured to be more than threshold value e and be the steering wheel angle signal for making B vehicle turn right or B vehicle in A Chinese herbaceous peony
Side right side is more than threshold value e and is the direction for making B vehicle turn left when A vehicle radio transmission module detects B vehicle steering wheel angle signal
Disk angular signal, the DAS (Driver Assistant System) determine that B vehicle is wanted to travel with the doubling of A vehicle, and B vehicle is hazardous vehicles；
When A vehicle radar detects A vehicle left back or there is a vehicle C in right back, and the distance between two vehicles are within L1, then A vehicle
The information that wireless transport module receives will be matched with vehicle C；Turn when A vehicle radio transmission module detects C vehicle steering wheel
Angle signal is not above threshold value f, and the DAS (Driver Assistant System) determines that front vehicle is hazardous vehicles；Radar module can will endanger
Dangerous vehicle shows on touch screen in the car that the information received in wireless transport module will be in the corresponding hazardous vehicles of touch-control screen display
License board information；
Wherein:
L1=10 × arcsin (5 × v1 × L/m1)
E=100 × v2/m2
F=110 × v3/m3
L1 unit is rice in above-mentioned expression formula；V1 is A vehicle speed, unit km/h；L is A wheel tracks average value, unit rice；M1 is A
Vehicle complete vehicle curb weight, units/kg；E unit is angle；V2 is B vehicle speed, unit km/h；M2 is B vehicle complete vehicle curb weight, single
Position kg；F unit is angle；V3 is C vehicle speed, unit km/h；M3 is C vehicle complete vehicle curb weight, units/kg.
4. a kind of DAS (Driver Assistant System) interacted based on vehicle vehicle as claimed in claim 2, it is characterised in that: surrounding vehicles and sheet
The distance of vehicle is between S2 and S1, automatic speech prompting are as follows: around without vehicle, and only prompt is primary；Surrounding vehicles and this vehicle
Distance is between S1 and S, automatic speech prompting are as follows: surrounding discovery vehicle, and only prompt is primary；Surrounding vehicles are at a distance from this vehicle
Within S, automatic speech prompting are as follows: surrounding discovery vehicle enters risk distance region, and prompt is secondary, while in sound module
Audible alert to will do it warning primary.
5. a kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle as claimed in claim 1 or 2, it is characterised in that: vehicle into
Row is overtaken other vehicles or hazardous vehicles occur in doubling operation, vehicle periphery, and intelligent sound assistant can inquire whether driver will be with dangerous vehicle
Driver carry out voice communication；If driver thinks refusal it may be said that containing the language or do not answer that refusal looks like；
If driver agrees to call, voice module can call the hazardous vehicles nearest apart from this vehicle, and wireless transport module receives
To information can carry out information matches with the hazardous vehicles that are called, to obtain the license plate number of hazardous vehicles, intelligent sound assistant
Driver can be prompted to call hazardous vehicles, and quote the license plate number of hazardous vehicles；Driver can also touch screen in the car
On manual call is carried out to shown hazardous vehicles.
6. a kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle as claimed in claim 2, it is characterised in that: certain A vehicle receives B vehicle
Calling, then the information that the wireless transport module of A vehicle receives will with B vehicle carry out information matches, to obtain the license plate number of B vehicle, A
Vehicle intelligent sound assistant can prompt driver to receive call invitation, and quote B vehicle license plate number；A vehicle driver can not answer
The calling of B vehicle is hung up containing the language for refusing the meaning in other words；
If A vehicle driver agrees to connect phone, the driver of A vehicle and B vehicle will carry out voice communication, coordinate respective vehicle with this
Speed and position, avoid occur traffic accident；Dialog context will be recorded by the DAS (Driver Assistant System) system.
7. a kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle as described in claim 1, it is characterised in that: vehicle doubling is dangerous
Evaluation module is the safety evaluation for vehicle doubling behavior；Steering wheel angle signal is more than in certain A vehicle radio transmission module
Threshold value r, and radar detects the rear discovery hazardous vehicles B of the turned direction side of A vehicle, then the DAS (Driver Assistant System) is sentenced
Doubling operation will be carried out by determining A vehicle；
Wherein:
R=100 × v1/m1
R unit is angle in above-mentioned expression formula；V1 is A vehicle speed, unit km/h；M1 is A vehicle complete vehicle curb weight, units/kg；
A vehicle radio transmission module obtains the speed of B vehicle, and vehicle doubling assessment of risks module is by comparing two vehicle speed sizes and two
Vehicle distance provides different assessments；Specific assessment logic is as follows: if A vehicle speed is more than or equal to B vehicle, vehicle doubling assessment of risks module
Safety is provided, intelligent sound assistant can prompt driver to continue to keep former speed or accelerate to complete doubling；If A vehicle speed is less than B vehicle,
Be divided into: (1) speed difference is no more than 8km/h, and two vehicle distances in B1 and B2, then vehicle doubling assessment of risks module provides peace
Entirely, intelligent sound assistant can prompt driver to continue to keep former speed or accelerate to complete doubling；(2) speed difference is no more than 8km/h,
And two vehicle distance in B2, vehicle doubling assessment of risks module provides danger, intelligent sound assistant can prompt driver slow down or
Person's steering wheel return is just to abandon doubling behavior；(3) speed difference is greater than 8km/h, and two vehicle distances, in B3, vehicle doubling is dangerous
Evaluation module provides danger, and intelligent sound assistant can prompt driver's deceleration or steering wheel return just to abandon doubling behavior；
Wherein:
B1=(v2-v1) × arctan (v2)
B2=0.8 × (v2-v1) × arctan (v2)
B3=0.6 × (v2-v1) × arctan (v2)
B1, B2 and B3 unit are rice in above-mentioned expression formula；V2 and v1 is respectively the speed of B vehicle and A vehicle, unit km/h.
8. a kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle as described in claim 1, it is characterised in that: vehicle cut-ins are dangerous
Evaluation module is the safety evaluation for vehicle cut-ins behavior；Certain A vehicle radio transmission module speed signal is gradually increased, and
Radar, which detects the front side A left or right side, vehicle B, and the DAS (Driver Assistant System) determines that A vehicle will carry out operation of overtaking other vehicles；A
Vehicle radio transmission module obtains the speed of B vehicle, and vehicle cut-ins assessment of risks module is by comparing two vehicle speed sizes and two spacings
From providing different assessments；Specific assessment logic is as follows: if detecting B vehicle without doubling behavior, vehicle cut-ins assessment of risks module
Safety is provided, intelligent sound assistant can prompt driver to continue to keep former speed or accelerate to complete to overtake other vehicles；If detecting B vehicle has doubling
Behavior, B vehicle is hazardous vehicles, if A vehicle speed is less than or equal to B vehicle, vehicle cut-ins assessment of risks module provides safety, but A vehicle without
Method completion is overtaken other vehicles；If A vehicle speed is greater than B vehicle, be divided into: (1) speed difference is no more than 8km/h, and two vehicle distances are in D1 to D2,
Vehicle cut-ins assessment of risks module provides danger, and intelligent sound assistant can prompt driver's deceleration to abandon overtaking other vehicles；(2) speed difference
No more than 8km/h, and two vehicle distances, in D2, vehicle cut-ins assessment of risks module provides safety, and intelligent sound assistant can prompt
Driver continues to accelerate to complete to overtake other vehicles；(3) speed difference is greater than 8km/h, and two vehicle distances are in D3, vehicle cut-ins assessment of risks
Module provides safety, and intelligent sound assistant can prompt driver to continue to accelerate to complete to overtake other vehicles；
Wherein:
D1=(v1-v2) × arctan (v1)
D2=0.7 × (v1-v2) × arctan (v1)
D3=0.5 × (v1-v2) × arctan (v1)
D1, D2 and D3 unit are rice in above-mentioned expression formula；V1 and v2 is respectively the speed of A vehicle and B vehicle, unit km/h；
Vehicle rear-end collision assessment of risks module refers to A vehicle when driving, and radar, which detects, vehicle B, A vehicle radio biography immediately ahead of A vehicle
Defeated module obtains the speed of B vehicle, and vehicle rear-end collision assessment of risks module provides not by comparing two vehicle speed sizes and two vehicle distances
With assessment；Specific assessment logic is as follows: if A vehicle speed is less than or equal to B vehicle, vehicle rear-end collision assessment of risks module provides safety, intelligence
Energy voice assistant can prompt driver to continue to keep former speed traveling；If A vehicle speed is greater than B vehicle speed, it is divided into: (1) two vehicle distance
When more than or equal to K, vehicle rear-end collision assessment of risks module provides safety, and intelligent sound assistant can prompt driver to continue to keep former speed
Traveling；When (2) two vehicles distance is less than K, vehicle rear-end collision assessment of risks module provides danger, and intelligent sound assistant can prompt driver
Slow down；
Wherein:
K=0.7 × (v1-v2) × arctan (v1)
K unit is rice in above-mentioned expression formula；V1 and v2 is respectively the speed of A vehicle and B vehicle, unit km/h；
Vehicle intelligent collision evaluation module refers to A vehicle when driving, if radar is detected using this vehicle as the center of circle, does not have in the region that radius is R1
There is vehicle vehicle intelligent collision evaluation module to provide safety；If radar is detected using this vehicle as the center of circle, there is vehicle in the region that radius is R1
, vehicle intelligent collision evaluation module provides danger, and intelligent sound assistant can remind driver to prevent from colliding with surrounding vehicles；
Wherein:
R1=5 × arcsin (5 × v × L/m)
R1 unit is rice in above-mentioned expression formula；V is this vehicle speed, unit km/h；L is automobile wheel track average value, unit rice；M is
Vehicle complete vehicle kerb weight, units/kg.
9. a kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle as described in claim 1, it is characterised in that: automatic Pilot amendment
System needs that assessment of risks system and photographing module is combined to carry out driving amendment to vehicle；Stopping vehicle doubling behavioral module is vehicle
Carry out doubling operation, if vehicle doubling assessment of risks module provides danger, driver did not slow down to automobile in a seconds
Or steering wheel return is just, automatic Pilot update the system can slow down to automobile automatically or steering wheel return just stops vehicle doubling
Behavior；
Wherein:
A=120/v
A unit is the second in above-mentioned expression formula, and v is car speed, unit km/h；
Stopping vehicle cut-ins behavior is that vehicle carries out operation of overtaking other vehicles, if vehicle cut-ins assessment of risks module provides danger, driver
Do not slow down to automobile in b seconds, automatic Pilot update the system can automatically slow down to stop vehicle cut-ins to automobile
Behavior；
Wherein:
B=100/v
B unit is the second in above-mentioned expression formula, and v is car speed, unit km/h；
Preventing vehicle rear-end collision module is that vehicle rear-end collision assessment of risks module provides danger, driver in c seconds not to automobile into
Row slows down, and automatic Pilot update the system can automatically slow down to automobile；
Wherein:
C=95/v
C unit is the second in above-mentioned expression formula, and v is car speed, unit km/h；
Preventing fatigue driving module from referring to that photographing module detects driver's closed-eye time is more than d seconds, automatic Pilot update the system
It can be slowed down automatically to automobile and even be stopped, and intelligent sound assistant can wake driver up；
Wherein:
D=0.2m/vL
D unit is rad in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, units/kg；V is car speed, unit km/h；L
For automobile wheel track average value, unit rice.
10. a kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle as described in claim 1 or 6, it is characterised in that: driver comments
Valence system needs to evaluate in conjunction with automatic Pilot update the system, photographing module and dialog context；Mould is evaluated in driver's driving behavior
Block is evaluated according to automatic Pilot update the system, if triggering automatic Pilot update the system, determines that driver's driving behavior is bad,
And record triggering automatic Pilot update the system number；Driver's PASCAL evaluation PASCAL module is that evaluation driver and driver's voice are logical
Language content when words determines that driver speaks not if driver's PASCAL evaluation PASCAL module, which detects driver, the words sworn at people
When, and record the number of words for the words sworn at people described in driver；Driver's expression evaluation module is driven according to photographing module detection
Member's expression is evaluated, if it is more than s seconds that driver's expression, which has tired meaning even closed-eye time, determines driver tired driving；
It completes after driving, driver's evaluation information uploads automatically；
Wherein:
S=0.2m/vL
S unit is rad in above-mentioned expression formula；M is vehicle complete vehicle kerb weight, units/kg；V is car speed, unit km/h；L
For automobile wheel track average value, unit rice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811476026.8A CN109353343B (en) | 2018-12-04 | 2018-12-04 | Auxiliary driving system based on vehicle-vehicle interaction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811476026.8A CN109353343B (en) | 2018-12-04 | 2018-12-04 | Auxiliary driving system based on vehicle-vehicle interaction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109353343A true CN109353343A (en) | 2019-02-19 |
| CN109353343B CN109353343B (en) | 2023-06-23 |
Family
ID=65331041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811476026.8A Active CN109353343B (en) | 2018-12-04 | 2018-12-04 | Auxiliary driving system based on vehicle-vehicle interaction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109353343B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927729A (en) * | 2019-03-07 | 2019-06-25 | 南京微达电子科技有限公司 | Continue the estimation of scorch safe distance between vehicles and estimation of stability control method and device |
| CN109941265A (en) * | 2019-03-20 | 2019-06-28 | 王志伟 | Automobile electro-mechanical brake system |
| CN111565250A (en) * | 2020-03-25 | 2020-08-21 | 浙江吉利汽车研究院有限公司 | Intelligent vehicle-mounted telephone answering method and system and vehicle |
| CN111951787A (en) * | 2020-07-31 | 2020-11-17 | 北京小米松果电子有限公司 | Voice output method, device, storage medium and electronic equipment |
| CN113415291A (en) * | 2020-03-02 | 2021-09-21 | 大陆工程服务有限公司 | Method for assisting a driver by means of a driver assistance system and driver assistance system |
| TWI757964B (en) * | 2020-01-31 | 2022-03-11 | 神達數位股份有限公司 | Driving warning method and system and computer program product |
| US11383733B2 (en) | 2020-01-31 | 2022-07-12 | Mitac Digital Technology Corporation | Method and system for detecting a dangerous driving condition for a vehicle, and non-transitory computer readable medium storing program for implementing the method |
| CN115497296A (en) * | 2022-09-27 | 2022-12-20 | 吉林大学 | Intersection vehicle passing management system suitable for automatic driving automobile |
| CN115771365A (en) * | 2022-12-20 | 2023-03-10 | 吉林大学 | Electromagnetic suspension control system based on vehicle-road-cloud-person |
| CN116394965A (en) * | 2023-04-26 | 2023-07-07 | 深圳市科莱德电子有限公司 | Intelligent driving assistance system, control method and device thereof, and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101837796A (en) * | 2010-02-05 | 2010-09-22 | 配天(安徽)电子技术有限公司 | Method and device for information interaction between automobiles |
| EP2431959A1 (en) * | 2010-09-21 | 2012-03-21 | Scania CV AB | Safety system for a vehicle |
| CN104616541A (en) * | 2015-02-03 | 2015-05-13 | 吉林大学 | Fish streaming based non-signal intersection vehicle-vehicle cooperation control system |
| CN106379319A (en) * | 2016-10-13 | 2017-02-08 | 上汽大众汽车有限公司 | Automobile driving assistance system and control method |
| CN108615383A (en) * | 2018-05-14 | 2018-10-02 | 吉林大学 | A kind of mechanical transport crossing auxiliary traffic system and its control method based on inter-vehicle communication |
-
2018
- 2018-12-04 CN CN201811476026.8A patent/CN109353343B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101837796A (en) * | 2010-02-05 | 2010-09-22 | 配天(安徽)电子技术有限公司 | Method and device for information interaction between automobiles |
| EP2431959A1 (en) * | 2010-09-21 | 2012-03-21 | Scania CV AB | Safety system for a vehicle |
| CN104616541A (en) * | 2015-02-03 | 2015-05-13 | 吉林大学 | Fish streaming based non-signal intersection vehicle-vehicle cooperation control system |
| CN106379319A (en) * | 2016-10-13 | 2017-02-08 | 上汽大众汽车有限公司 | Automobile driving assistance system and control method |
| CN108615383A (en) * | 2018-05-14 | 2018-10-02 | 吉林大学 | A kind of mechanical transport crossing auxiliary traffic system and its control method based on inter-vehicle communication |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927729B (en) * | 2019-03-07 | 2020-06-23 | 南京微达电子科技有限公司 | Method and device for estimating safe distance of continuous high-speed driving and evaluating and controlling stability |
| CN109927729A (en) * | 2019-03-07 | 2019-06-25 | 南京微达电子科技有限公司 | Continue the estimation of scorch safe distance between vehicles and estimation of stability control method and device |
| CN109941265B (en) * | 2019-03-20 | 2020-10-23 | 安徽航睿电子科技有限公司 | Automobile electronic mechanical brake system |
| CN109941265A (en) * | 2019-03-20 | 2019-06-28 | 王志伟 | Automobile electro-mechanical brake system |
| TWI757964B (en) * | 2020-01-31 | 2022-03-11 | 神達數位股份有限公司 | Driving warning method and system and computer program product |
| US11383733B2 (en) | 2020-01-31 | 2022-07-12 | Mitac Digital Technology Corporation | Method and system for detecting a dangerous driving condition for a vehicle, and non-transitory computer readable medium storing program for implementing the method |
| CN113415291A (en) * | 2020-03-02 | 2021-09-21 | 大陆工程服务有限公司 | Method for assisting a driver by means of a driver assistance system and driver assistance system |
| CN111565250B (en) * | 2020-03-25 | 2021-05-25 | 浙江吉利汽车研究院有限公司 | Intelligent vehicle-mounted telephone answering method and system and vehicle |
| CN111565250A (en) * | 2020-03-25 | 2020-08-21 | 浙江吉利汽车研究院有限公司 | Intelligent vehicle-mounted telephone answering method and system and vehicle |
| CN111951787A (en) * | 2020-07-31 | 2020-11-17 | 北京小米松果电子有限公司 | Voice output method, device, storage medium and electronic equipment |
| CN115497296A (en) * | 2022-09-27 | 2022-12-20 | 吉林大学 | Intersection vehicle passing management system suitable for automatic driving automobile |
| CN115497296B (en) * | 2022-09-27 | 2023-11-17 | 吉林大学 | Intersection vehicle passing management system suitable for automatic driving automobile |
| CN115771365A (en) * | 2022-12-20 | 2023-03-10 | 吉林大学 | Electromagnetic suspension control system based on vehicle-road-cloud-person |
| CN115771365B (en) * | 2022-12-20 | 2024-09-17 | 吉林大学 | Electromagnetic suspension control system based on vehicle-road-cloud-person |
| CN116394965A (en) * | 2023-04-26 | 2023-07-07 | 深圳市科莱德电子有限公司 | Intelligent driving assistance system, control method and device thereof, and storage medium |
| CN116394965B (en) * | 2023-04-26 | 2024-01-23 | 深圳市科莱德电子有限公司 | Intelligent driving assistance system, control method and device thereof, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109353343B (en) | 2023-06-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109353343A (en) | A kind of DAS (Driver Assistant System) based on the interaction of vehicle vehicle | |
| US9944294B2 (en) | Vehicle traveling control apparatus | |
| CN104210489B (en) | Vehicle and pedestrian impact bypassing method and system under bus or train route cooperative surroundings | |
| CN110155045A (en) | A kind of vehicle promptly accelerates Self-Protection Subsystem and its self-protection method | |
| CN103318086B (en) | Automobile anti-rear end collision and safe driving information interchange caution control system | |
| US11377126B2 (en) | Vehicle control system | |
| CN107985310B (en) | A kind of adaptive cruise method and system | |
| US20200307573A1 (en) | Vehicle control system | |
| CN108109413A (en) | A kind of information interaction system of automatic driving vehicle and non intelligent traffic participant | |
| CN107161146A (en) | A kind of highway accessory system | |
| CN105216727A (en) | A kind of vehicle distances detection active safety system and control method | |
| CN107139919A (en) | For the self-protection method of vehicle anti-rear collision early warning, system and vehicle | |
| CN104590250A (en) | Automobile autonomous driver assistant system and method | |
| CN102785660A (en) | Vehicle collision-proof early warning device | |
| WO2009009961A1 (en) | Information sharing-type automatic driving system for vehicle and control method thereof | |
| CN108515934A (en) | A kind of vehicle anti-collision early warning method and system based on more radars | |
| CN106114502A (en) | A kind of intelligent automobile aid system | |
| CN106564502A (en) | Method and device for determining the adaptive response time of a driver of a motor vehicle | |
| CN207579859U (en) | A kind of vehicle collision prevention system based on cognition technology | |
| CN103065502A (en) | Vehicular access cooperative system with function of emergency collision avoidance early warning for red light running and method | |
| CN110450777A (en) | The vehicle early warning control method and system of multi-parameter input based on millimetre-wave radar | |
| CN109215354B (en) | Signal lamp control crossing early warning system and method based on vehicle-road cooperation | |
| CN104249657B (en) | One is overtaken other vehicles aid system | |
| CN205395907U (en) | 360 intelligent control driver assistance system on motor vehicle | |
| CN115071697B (en) | Vehicle safety auxiliary method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |