CN109389864A - A kind of vehicle relative positioning and anti-collision warning method - Google Patents
A kind of vehicle relative positioning and anti-collision warning method Download PDFInfo
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- CN109389864A CN109389864A CN201710673966.5A CN201710673966A CN109389864A CN 109389864 A CN109389864 A CN 109389864A CN 201710673966 A CN201710673966 A CN 201710673966A CN 109389864 A CN109389864 A CN 109389864A
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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
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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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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Abstract
The invention discloses a kind of vehicle relative positioning and anti-collision warning methods, the method includes the steps as follows: Ben Che and target vehicle pass through patent 201510657382.X the method and obtain and update the first location information of itself, and record the time that vehicle enters the road；This vehicle obtains the first location information of target vehicle, into road time and status information by Che-vehicle communication, and the second location information analyzed by signal；This vehicle obtains lane width, and it is carried out information with first location information, the first location information of target vehicle, second location information and is merged, and calculates to obtain the third place information；The successive position for differentiating this vehicle Yu peripheral object vehicle determines the final relative position coordinates of target vehicle；According to the position of target vehicle and status information, anti-collision warning is issued to this vehicle driver when necessary.This localization method can measure the relative position between vehicle, find risk of collision in time, prevent traffic accident.
Description
Technical field
The present invention relates to field of intelligent transportation technology, and in particular to one kind based on Che-vehicle communication carry out relative positioning and
The method of anti-collision warning.
Background technique
Intelligent transportation system be rise in recent years it is a kind of to improve the network of traffic efficiency and traffic safety as the main purpose
With application system, vehicle positioning technology is key technology therein, obtains safety of the exact position for raising intelligent vehicle
It is all of great significance with realization autonomous driving.
In order to make up deficiency of the global positioning system (GPS) in positioning accuracy and reliability, patent
201510657382.X proposes a kind of Che-road co-located method: being laid with radio frequency on the road surface in link entry difference lane
It identifies label, when vehicle enters road, by vehicle-mounted radio-frequency identification reader, the lane is read from the RFID tag of lane
Number continues the lane change state for monitoring vehicle, thus when lane change occurs in vehicle to lane locating for it using vision system later
Number carries out real-time update.On the basis of known locating lane number, vehicle can carry out communication ranging between roadside unit,
And then calculate the specific location of vehicle in the road.Though the localization method is not necessarily to satellite-signal, roadside is required to have trackside
Otherwise unit is not available.In addition, the positioning result is only the absolute position of vehicle itself, vehicle to vehicle crash cannot be used directly for
Using.
Present invention proposition combines lane discriminating method described in patent 201510657382.X with Che-Che Tongxin, thus
Realize Che-vehicle relative positioning, and according to relative positioning as a result, carrying out vehicle collision prewarning if necessary.
Summary of the invention
It is an object of the invention to overcome deficiency existing for existing vehicle positioning method, not against satellite-signal and trackside
It in the case where unit, still is able to acquire the relative position between vehicle and vehicle, guarantees traffic safety.
To achieve the goals above, the invention adopts the following technical scheme: a kind of vehicle relative positioning and anti-collision warning
Method, the method includes the steps as follows:
This vehicle and target vehicle pass through first that patent 201510657382.X the method obtained and updated itself
Confidence ceases, and records the time that vehicle enters the road, and described vehicle is the vehicle for implementing positioning, and target vehicle as exists
In this vehicle communication range by positioning vehicle, the first location information includes road number, driving direction, lane number；
This vehicle obtains the first location information of target vehicle by Che-vehicle communication, into road time and status information,
And analyze to obtain the second location information of target vehicle by signal, the status information is the collected vehicle of onboard sensor
Travel speed and acceleration, the second location information are the distance between Ben Che and target vehicle information；
By real-time Che-Lu Tongxin or from electronic map, inquiry obtains the lane width of place road to this vehicle；
By the first location information of this vehicle, the first location information of target vehicle, second location information and lane width
Information carries out information fusion, calculates to obtain the third place information, and the third place information is that target vehicle is sat with respect to the position of this vehicle
Two values to be selected of target；
Enter the time of road, this vehicle of result judgement and periphery mesh of this positioning and last positioning by comparing each vehicle
The successive position of vehicle is marked, and then determines the final relative position coordinates of target vehicle from the third place information；
For in this front side, and there is the target vehicle of head-on crash risk, according to the state of its relative position and two vehicles
Information calculates collision time (TTC), when collision time is too small or hypotelorism, collision warning before being issued to this vehicle driver；
For the target vehicle in this vehicle adjacent lane, calculated according to the status information of its relative position and two vehicles empty
Quasi- collision time (TTC ') issues lane change early warning to this vehicle driver when the virtual collision time is too small or two vehicle hypotelorisms.
Preferably, Ben Che and target vehicle pass through patent 201510657382.X the method and obtain and update itself
First location information, and record the time that vehicle enters the road, comprising:
As described in patent 201510657382.X, on the every lane entrance road surface for needing to carry out the road of vehicle location
It is respectively arranged one piece of RFID tag, the label contains road number, driving direction, lane number；
The bottom front of this vehicle and target vehicle is equipped with radio-frequency identification reader, reads in label when by lane entrance
Initial first position information, lane change state is obtained by vision system in the process of moving, and according to lane change state to first
Lane number in location information is updated, unlike patent 201510657382.X, Ben Che and target vehicle into
Also need to record the time for reading initial first position information, i.e. vehicle time for entering road when entering road；
Preferably, this vehicle by Che-vehicle communication obtains the first location information of target vehicle, into road time and shape
State information, and analyze to obtain the second location information of target vehicle by signal, comprising:
This vehicle passes through ultra-wideband pulse mechanics of communication or other can be used for the wireless communication technique and and target vehicle of ranging
It is communicated, obtains first location information, the time into road and the status information of target vehicle；
If the target vehicle is identical as road number locating for this vehicle and driving direction, this vehicle retains to be received from the target vehicle
The information arrived, and continuation extracts the signal flight time from communication signal or other can be used for the feature of ranging, obtains the target
Second location information corresponding to vehicle；
If the target vehicle is different from road number locating for this vehicle or driving direction, this vehicle will be received from the target vehicle
Erasing of information.
Preferably, this vehicle is inquired through Che-Lu Tongxin or from electronic map obtains the lane width of place road, packet
It includes:
When place near roads are there are when roadside unit, which should store the vehicle of all roads in its communication context
Road width information, this vehicle communicate the lane that road where obtaining is inquired to roadside unit by Che-road according to first location information
Width；
In another technical solution, this vehicle stores in advance or downloads region in real time electronically by mobile network
Figure inquires the lane width of road where obtaining according to first location information from electronic map.
By the first location information of this vehicle, the first location information of target vehicle, second location information and lane width
Information carries out information fusion, calculates to obtain the third place information, and the third place information is that target vehicle is sat with respect to the position of this vehicle
Two values to be selected of target；
Preferably, by the first location information of this vehicle, second location information, the first location information of target vehicle, and
Lane width information carries out information fusion, calculates to obtain the third place information, comprising:
Using this vehicle communication antenna as origin, driving direction is that positive direction of the y-axis establishes local plane rectangular coordinate system, to table
Levy position of the target vehicle with respect to this vehicle；
In conjunction with the first location information of this vehicle, the first location information of target vehicle, second location information and lane are wide
Degree, simultaneous following formula:
Wherein x, y are position coordinate value of the target vehicle in this vehicle coordinate system, and D is lane width, and N is first, this vehicle
Lane number in confidence breath, n are the lane number in target vehicle first location information, and R is second location information；
Calculate to obtain the third place information:
Preferably, time or this positioning and this vehicle of the result judgement of last positioning of road are entered by comparing each vehicle
With the successive position of peripheral object vehicle, and then from the third place information determine target vehicle final relative position coordinates packet
It includes:
When this vehicle for the first time positions target vehicle, compares two vehicles and enter the time of road to judge the front and back of two vehicles
Position (time early preceding), and then correct coordinate is chosen as target vehicle position from the third place information, it may be assumed that
Wherein t1、t2Respectively this vehicle and target vehicle time for entering road；
If this time positioning is not the positioning for the first time in two workshops, chooses and make from the closer position coordinates of last positioning result
For the final position coordinate of target vehicle.
Preferably in this front side, and there is the target vehicle of head-on crash risk, according to its relative position and two vehicles
Status information calculate collision time (TTC), when collision time is too small or hypotelorism, to this vehicle driver issue before collision
Alarm, comprising:
It is filtered out according to the position coordinates x and y of target vehicle in this front side, and partially or completely in vehicle where this vehicle
The target vehicle in road, that is, the target vehicle filtered out should meet:
- 0.5D≤x≤0.5D and y > 0
Collision time of the target vehicle away from this vehicle is calculated using following formula:
The wherein travel speed of v and v ' respectively target vehicle and Ben Che, a and a ' respectively target vehicle and Ben Che add
Speed；
Anti-collision warning before being issued when detecting the target vehicle for meeting following condition to driver:
TTC < T0Or R < R0
Wherein T0For collision time alarm threshold value, R0For minimum safe spacing, T0And R0It is both needed to preset.
Preferably for the target vehicle in this vehicle adjacent lane, believed according to the state of its relative position and two vehicles
Breath calculates virtual collision time (TTC '), when the virtual collision time is too small or two vehicle hypotelorisms, issues to this vehicle driver
Lane change early warning includes:
The target vehicle being partially or completely in this vehicle adjacent lane is filtered out according to the position coordinates x of target vehicle,
The target vehicle filtered out should meet:
D≤|x|≤1.5D
Virtual collision time of the target vehicle away from this vehicle is calculated using following formula:
When detecting the target vehicle for meeting following condition, and its x coordinate be negative/positive value when, sent out to this vehicle driver
Left/right lane change early warning out reminds driver should not be to left/right lane change:
TTC ' < T0Or R < R0
The technical solution adopted in the present invention has the advantages that the present invention passes through patent 201510657382.X institute
It states method and differentiates that the i.e. locating lane in lateral direction of car position calculates on this basis by communication, the ranging between vehicle and vehicle
Relative position between vehicle out can issue anti-collision warning to vehicle driver if necessary depending on the relative position, prevent to hand over
The generation of interpreter's event.
Detailed description of the invention
Fig. 1 is the flow chart of vehicle relative positioning method of the present invention and anti-collision warning method；
Fig. 2 is the local coordinate system schematic diagram of target vehicle and this vehicle vehicle relative position in the present invention；
Fig. 3 is the head-on crash early warning system workflow based on vehicle relative positioning
Fig. 4 is the lane change early warning system workflow based on vehicle relative positioning
Specific embodiment
With reference to the accompanying drawing and pass through specific example to further illustrate the technical scheme of the present invention.
As shown in Figure 1, a kind of vehicle positioning method provided by the invention, the specific steps are as follows:
101: Ben Che and target vehicle pass through patent 201510657382.X the method obtains and update itself the
One location information, and the time that vehicle enters the road is recorded, described vehicle is the vehicle for implementing positioning, and target vehicle is
For, by positioning vehicle, the first location information includes road number, driving direction, lane volume in this vehicle communication range
Number；
As described in patent 201510657382.X, on the every lane entrance road surface for needing to carry out the road of vehicle location
It is respectively arranged one piece of RFID tag, the label contains road number, driving direction, lane number.This vehicle and target carriage
Bottom front be equipped with radio-frequency identification reader, when by lane entrance read label in initial first position information.
Lane change state is obtained by vision system in the process of moving, and according to lane change state to the lane number in first location information
It is updated.Unlike patent 201510657382.X, Ben Che and target vehicle also need to record when entering road
The time of initial first position information is read, this step is to judge that the front-rear position relationship of this vehicle and target vehicle does standard later
It is standby.
In this example, lane number rule is to number to the left from the side line road most right lane, and successively compiling is lane 1, vehicle
Road 2 ... lane M (M is the total number of track-lines in side line road).It is worth noting that, the lane according to patent 201510657382.X
Number update method, lane number is possible to be updated to non-integer, such as 1.5,2.5 etc., to indicate the vehicle just in lane change
, between two lanes, such as lane number is that 1.5 expression vehicles are between 1 lane and 2 lanes.
102: this vehicle obtains the first location information of target vehicle by Che-vehicle communication, into road time and state
Information, and analyze to obtain the second location information of target vehicle by signal, the status information collects for onboard sensor
Vehicle Speed and acceleration, the second location information be the distance between Ben Che and target vehicle information；
As optimal technical scheme, step 102 is realized using following manner, is specifically included:
This vehicle passes through ultra-wideband pulse mechanics of communication or other can be used for the wireless communication technique of ranging, with target vehicle
It is communicated, obtains first location information, the time into road and the status information of target vehicle；
If the target vehicle is identical as road number locating for this vehicle and driving direction, then it represents that two vehicles are in same road
In, target vehicle has value in localization, this vehicle retains the information received from the target vehicle, and continues to extract from communication signal
The signal flight time or other can be used for the feature of ranging, obtain second location information corresponding to the target vehicle；
If the target vehicle is different from road number locating for this vehicle or driving direction, then it represents that two vehicles be in different roads or
The different driving directions of same link, driving path is non-interference, and without carrying out relative positioning, this vehicle will be received from the target vehicle
The erasing of information arrived.
103: by real-time Che-Lu Tongxin or from electronic map, inquiry obtains the lane width of place road to this vehicle；
When place near roads are there are when roadside unit, which should store the vehicle of all roads in its communication context
Road width information, this vehicle communicate the lane that road where obtaining is inquired to roadside unit by Che-road according to first location information
Width；
In another technical solution, this vehicle stores in advance or downloads region in real time electronically by mobile network
Figure inquires the lane width of road where obtaining according to first location information from electronic map.
104: by the first location information of this vehicle, the first location information of target vehicle, second location information and lane
Width information carries out information fusion, calculates to obtain the third place information, and the third place information is position of the target vehicle with respect to this vehicle
Set two values to be selected of coordinate；
As optimal technical scheme, step 104 is realized using following manner, is specifically included:
As shown in Fig. 2, using the communication antenna of this vehicle 201 as origin, it is straight that driving direction is that positive direction of the y-axis establishes part plan
Angular coordinate system, to characterize position of other vehicles with respect to this vehicle；
The first location information of this known vehicle, the first location information of target vehicle 202 then know that two vehicle lane numbers are poor
Value, by the difference multiplied by the lane width of the road, then calculate target vehicle with respect to this vehicle lateral position (x coordinate value).This
When target vehicle it is another fixed in using this vehicle communication antenna as origin, the third place information is on the circle 203 of radius,
Then can simultaneous following formula solve target vehicle position:
Wherein x, y are position coordinate value of the target vehicle in this vehicle coordinate system, and D is lane width, and N is first, this vehicle
Lane number in confidence breath, n are the lane number in target vehicle first location information, and R is second location information；
To calculate two coordinates are the third place information 204:
105: entering time, this positioning and this Che Yuzhou of the result judgement of last positioning of road by comparing each vehicle
The successive position of side target vehicle, so from the third place information determine target vehicle final relative position coordinates；
As optimal technical scheme, step 105 is realized using following manner, is specifically included:
When this vehicle for the first time positions target vehicle, compares two vehicles and enter the time of road to judge the anteroposterior position of two vehicles
It sets (vehicle location of entry time morning is preceding), and then chooses correct coordinate as target vehicle position from the third place information
It sets, it may be assumed that
Wherein t1、t2Respectively this vehicle and target vehicle time for entering road；
For each positioning after positioning for the first time, then choose from the closer position coordinates of last positioning result as mesh
Mark the final position coordinate of vehicle.The relative position of target vehicle can be presented to driver by interior screen or separately made by this vehicle
He uses.
106: in this front side, and having the target vehicle of head-on crash risk, according to its relative position and two vehicles
Status information calculates collision time (TTC), when collision time is too small or hypotelorism, collision report before being issued to this vehicle driver
It is alert；
This step is the active safety application after vehicle relative positioning, as optimal technical scheme, using following manner reality
Existing step 106, as shown in figure 3, specifically including:
It is filtered out according to the position coordinates x and y of target vehicle in this front side, and partially or completely in vehicle where this vehicle
The target vehicle 301 in road, that is, the target vehicle filtered out should meet:
| x |≤0.5D and y > 0
According to Newton mechanics law, collision time of the target vehicle away from this vehicle is calculated using following formula:
The wherein travel speed of v and v ' respectively target vehicle and Ben Che, a and a ' respectively target vehicle and Ben Che add
Speed；
Anti-collision warning before being issued when detecting the target vehicle for meeting following condition to driver:
TTC < T0Or R < R0
Wherein T0For collision time alarm threshold value, R0For minimum safe spacing, T0And R0It is both needed to preset.Preceding collision is pre-
Alert form
107: for the target vehicle in this vehicle adjacent lane, according to the status information meter of its relative position and two vehicles
It calculates virtual collision time (TTC '), when the virtual collision time is too small or two vehicle fore-and-aft distances are excessively close, is issued to this vehicle driver
Lane change early warning.
As optimal technical scheme, step 107 is realized using following manner, as shown in figure 4, specifically including:
Step 106 is imitated, is filtered out according to the position coordinates x of target vehicle and is partially or completely in and this vehicle adjacent lane
Target vehicle 401, that is, the target vehicle filtered out should meet:
D≤|x|≤1.5D
Virtual collision time of the target vehicle away from this vehicle is calculated using following formula:
TTC ' is consistent with TTC calculating formula, but since target vehicle from this vehicle is in different lanes, when TTC ' is too small at this time simultaneously
It is not intended that this two vehicle will bump against, therefore the referred to as virtual collision time.It should ensure that the TTC ' between other vehicles before the lane change of this vehicle,
Purpose is: allowing when rear express perceives the lane change of this vehicle in target lane has enough time deceleration, and the lane change of this vehicle is allowed to examine
There is enough time deceleration when feeling front slow train in target lane.
When detecting the target vehicle for meeting following condition, and its x coordinate be negative/positive value when, sent out to this vehicle driver
Left/right lane change early warning out reminds driver should not be to left/right lane change:
TTC ' < T0Or R < R0
Basic principles and main features of the invention have been shown and described above.It should be understood by those skilled in the art that
The present invention is not limited to the above embodiments, and the above embodiments and description only illustrate the principle of the present invention,
Without departing from the spirit and scope, various changes and improvements may be made to the invention, these changes and improvements are all fallen
Enter in scope of the claimed invention.The scope of the present invention is defined by the appended claims and its equivalents.
Claims (8)
1. a kind of vehicle relative positioning and anti-collision warning method, the method includes the steps as follows:
This vehicle and target vehicle pass through the first position letter that patent 201510657382.X the method obtained and updated itself
Breath, and the time that vehicle enters the road is recorded, described vehicle is the vehicle for implementing positioning, and target vehicle is in this vehicle
In communication range by positioning vehicle, the first location information includes road number, driving direction, lane number；
This vehicle is obtained the first location information of target vehicle, into road time and status information, and is led to by Che-vehicle communication
It crosses signal to analyze to obtain the second location information of target vehicle, the status information is the collected vehicle driving of onboard sensor
Velocity and acceleration, the second location information are the distance between Ben Che and target vehicle information；
By real-time Che-Lu Tongxin or from electronic map, inquiry obtains the lane width of place road to this vehicle；
By the first location information of this vehicle, the first location information of target vehicle, second location information and lane width information
Information fusion is carried out, the third place information is calculated to obtain, the third place information is position coordinates of the target vehicle with respect to this vehicle
Two values to be selected；
Enter the time of road, this vehicle of result judgement and peripheral object vehicle of this positioning and last positioning by comparing each vehicle
Successive position, and then from the third place information determine target vehicle final relative position coordinates；
For in this front side, and there is the target vehicle of head-on crash risk, according to the status information of its relative position and two vehicles
It calculates collision time (TTC), when collision time is too small or hypotelorism, collision warning before being issued to this vehicle driver；
For the target vehicle in this vehicle adjacent lane, virtually touched according to the calculating of the status information of its relative position and two vehicles
(TTC ') is hit the time, when the virtual collision time is too small or two vehicle fore-and-aft distances are excessively close, issues lane change early warning to this vehicle driver.
2. vehicle positioning method according to claim 1, it is characterised in that: Ben Che and target vehicle pass through patent
201510657382.X the method obtains and updates itself first location information, and record vehicle into the road when
Between, it specifically includes:
As described in patent 201510657382.X, on the every lane entrance road surface for need to carry out the road of vehicle location respectively
Arrange that one piece of RFID tag, the label contain road number, driving direction, lane number；
The bottom front of this vehicle and target vehicle is equipped with radio-frequency identification reader, reads when by lane entrance first in label
Beginning first location information obtains lane change state by vision system in the process of moving, and according to lane change state to first position
Lane number in information is updated, and unlike patent 201510657382.X, Ben Che and target vehicle are in inlet channel
Also need to record the time for reading initial first position information, i.e. vehicle time for entering road when road.
3. vehicle positioning method according to claim 1, it is characterised in that: this vehicle obtains target carriage by Che-vehicle communication
First location information, into road time and status information, and analyze to obtain the second of target vehicle by signal
Confidence breath, specifically includes:
This vehicle, which passes through ultra-wideband pulse mechanics of communication or other, can be used for the wireless communication technique of ranging and is led to this vehicle
News, obtain first location information, the time into road and the status information of target vehicle；
If the target vehicle is identical as road number locating for this vehicle and driving direction, the reservation of this vehicle is received from the target vehicle
Information, and continuation extracts the signal flight time from communication signal or other can be used for the feature of ranging, obtains the target vehicle
Corresponding second location information；
It is if the target vehicle is different from road number locating for this vehicle or driving direction, the information received from the target vehicle is clear
It removes.
4. vehicle positioning method according to claim 1, it is characterised in that: this vehicle is by Che-Lu Tongxin or from electronically
The lane width of road where inquiry obtains in figure, specifically includes:
When place near roads are there are when roadside unit, the lane which should store all roads in its communication context is wide
Information is spent, it is wide that this vehicle according to first location information, by Che-road communicates the lane for inquiring road where obtaining to roadside unit
Degree；
In another technical solution, this vehicle stores in advance or downloads in real time by mobile network the electronic map of region,
The lane width of road where obtaining is inquired from electronic map according to first location information.
5. vehicle positioning method according to claim 1, it is characterised in that: by the first location information of this vehicle, second
Confidence breath, the first location information of target vehicle and lane width information carry out information fusion, calculate to obtain the third place information,
It specifically includes:
Using this vehicle communication antenna as origin, driving direction is that positive direction of the y-axis establishes local plane rectangular coordinate system, to characterize mesh
Mark position of the vehicle with respect to this vehicle；
In conjunction with the first location information of this vehicle, first location information, second location information and the lane width of target vehicle,
Simultaneous following formula:
Wherein x, y are position coordinate value of the target vehicle in this vehicle coordinate system, and D is lane width, and N is this vehicle first position letter
Lane number in breath, n are the lane number in target vehicle first location information, and R is second location information；
Calculate to obtain the third place information:
6. vehicle positioning method according to claim 1, it is characterised in that: by comparing each vehicle enter road time or
This positioning and this vehicle of result judgement of last positioning and the successive position of peripheral object vehicle, and then from the third place information
The final relative position coordinates of middle determining target vehicle include:
When this vehicle for the first time positions target vehicle, compares two vehicles and enter the time of road to judge the front-rear position of two vehicles
(time early preceding), and then correct coordinate is chosen as target vehicle position from the third place information, it may be assumed that
Wherein t1、t2Respectively this vehicle and target vehicle time for entering road；
If this time positioning is not the positioning for the first time in two workshops, choose from the closer position coordinates of last positioning result as mesh
Mark the final position coordinate of vehicle.
7. vehicle positioning method according to claim 1, it is characterised in that: in this front side, and have head-on crash
The target vehicle of risk calculates collision time (TTC) according to the status information of its relative position and two vehicles, when collision time is too small
Or when hypotelorism, collision warning includes: before issuing to this vehicle driver
It is filtered out according to the position coordinates x and y of target vehicle in this front side, and partially or completely in lane where this vehicle
Target vehicle, that is, the target vehicle filtered out should meet:
- 0.5D≤x≤0.5D and y > 0
Collision time of the target vehicle away from this vehicle is calculated using following formula:
Wherein v and v ' is respectively target vehicle and the travel speed of Ben Che, and a and a ' are respectively target vehicle and the acceleration of Ben Che
Degree；
Anti-collision warning before being issued when detecting the target vehicle for meeting following condition to driver:
TTC < T0Or R < R0
Wherein T0For collision time alarm threshold value, R0For minimum safe spacing, T0And R0It is both needed to preset.
8. vehicle positioning method according to claim 1, it is characterised in that: for the target in this vehicle adjacent lane
Vehicle calculates virtual collision time (TTC ') according to the status information of its relative position and two vehicles, too small when the virtual collision time
Or two vehicle fore-and-aft distance it is excessively close when, to this vehicle driver issue lane change early warning include:
It is filtered out partially or completely according to the position coordinates x of target vehicle in the target vehicle with this vehicle adjacent lane, that is, sieved
The target vehicle selected should meet:
D≤|x|≤1.5D
Virtual collision time of the target vehicle away from this vehicle is calculated using following formula:
When detecting the target vehicle for meeting following condition, and its x coordinate be negative/positive value when, to this vehicle driver issue it is left/
Right lane change early warning reminds driver should not be to left/right lane change:
TTC ' < T0Or R < R0。
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| CN110691299A (en) * | 2019-08-29 | 2020-01-14 | 科大讯飞(苏州)科技有限公司 | Audio processing system, method, apparatus, device and storage medium |
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Application publication date: 20190226 |