CN109515435A - The method and device that collision prevention of vehicle is reminded - Google Patents
The method and device that collision prevention of vehicle is reminded Download PDFInfo
- Publication number
- CN109515435A CN109515435A CN201811472977.8A CN201811472977A CN109515435A CN 109515435 A CN109515435 A CN 109515435A CN 201811472977 A CN201811472977 A CN 201811472977A CN 109515435 A CN109515435 A CN 109515435A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- spacing
- target object
- current distance
- distance
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000002265 prevention Effects 0.000 title claims abstract description 16
- 230000008859 change Effects 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000000750 progressive effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000000979 retarding effect 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
- 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
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of method and device that collision prevention of vehicle is reminded.The method that the collision prevention of vehicle is reminded includes: current distance value, the spacing variation tendency, spacing pace of change obtained between vehicle-to-target object；It is determining to be worth matched pre-determined distance range with the current distance；Judge within the scope of the pre-determined distance, whether the spacing variation tendency and the spacing pace of change meet preset requirement；If the spacing variation tendency and the spacing pace of change are unsatisfactory for preset requirement, control the vehicle and carry out warning note, so that user is slowed down according to the warning note.The method can effectively avoid vehicle that car accident occurs, and improve the safety of vehicle drive.
Description
Technical field
The present invention relates to technical field of vehicle safety, the method and device reminded in particular to a kind of collision prevention of vehicle.
Background technique
Vehicle brings convenience to the trip of people, but safety accident also often occurs, the loss of safety accident bring
It is very serious.
Currently, on the one hand having formulated a large amount of vehicular traffic security legislation to reduce safety accident；On the other hand, it infuses
Loaded vehicle safe practice actively develops vehicle security system, but the safety measure formulated in terms of anticollision is also compared
It is few.
Summary of the invention
In order to overcome the deficiencies in the prior art described above, the present invention provides a kind of method and device of collision prevention of vehicle.
Technical solution provided by the embodiment of the present invention is as follows:
In a first aspect, the present invention provides a kind of method of collision prevention of vehicle, comprising:
Obtain current distance value, the spacing variation tendency, spacing pace of change between vehicle-to-target object；Determining and institute
State the matched pre-determined distance range of current distance value；Judge within the scope of the pre-determined distance, the spacing variation tendency and institute
State whether spacing pace of change meets preset requirement；If the spacing variation tendency and the spacing pace of change are unsatisfactory for presetting
It is required that controlling the vehicle carries out warning note, so that user is slowed down according to the warning note.
Further, it determines with the matched pre-determined distance range of the current distance value and includes:
Determined at least two pre-determined distance ranges with the matched pre-determined distance range of the current distance value,
In, the corresponding preset requirement of the different pre-determined distance ranges is different.
Further, after exporting warning message, the method also includes:
Detect whether the vehicle is in deceleration regime, if the vehicle is not in deceleration regime, control the vehicle into
Row slows down.
Further, the method also includes:
When the control vehicle is slowed down, if the current distance value is less than or equal to preset distance limits
Value, controls the vehicle and is braked.
Further, the method also includes:
When the control vehicle is braked, corresponding warning message is generated, includes at least institute in the warning message
State the position of vehicle；The warning message is fed back to specified management terminal.
Further, before obtaining the current distance value between vehicle-to-target object, the method also includes:
Obtain the relative distance and relative angle between vehicle-to-target object；According to the relative distance and described opposite
Whether angle judges the vehicle and the target object on same lane；It is corresponding, it obtains between vehicle-to-target object
Current distance value include: to obtain vehicle-to-target object in the vehicle and the target object when on same lane and work as
Front distance value.
Second aspect, the present invention also provides the devices that a kind of collision prevention of vehicle is reminded, comprising:
Obtain module: for obtaining the current distance value between vehicle-to-target object, spacing variation tendency, spacing variation
Speed；Determining module: it is worth matched pre-determined distance range with the current distance for determining；Judgment module: for judging
Within the scope of the pre-determined distance, whether the spacing variation tendency and the spacing pace of change meet preset requirement；Control mould
Block: it if the spacing variation tendency and the spacing pace of change are unsatisfactory for preset requirement, is reported for controlling the vehicle
Alert prompt, so that user is slowed down according to the warning note.
Further, the determining module is also used to: determined at least two pre-determined distance ranges with it is described current
The matched pre-determined distance range of distance value, wherein the corresponding preset requirement of the different pre-determined distance ranges is different.
Further, described device further includes detection module: for detecting whether the vehicle is in deceleration regime；If institute
It states vehicle and is not in deceleration regime, the control module is also used to control the vehicle and slows down.
Further, when the control vehicle is slowed down, if the current distance value is less than or equal to preset
Distance limit, the control module are also used to control the vehicle and are braked.
The method and device that collision prevention of vehicle provided by the invention is reminded, by judging within the scope of the pre-determined distance, institute
It states spacing variation tendency and whether the spacing pace of change meets preset requirement, and then decide whether that controlling vehicle alarms
Prompt.Warning note, which may remind the user that, to slow down, and effectively avoids vehicle that car accident occurs, improves vehicle drive
Safety.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, the embodiment of the present invention is cited below particularly, and match
Appended attached drawing is closed, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the flow chart for the method that collision prevention of vehicle provided in an embodiment of the present invention is reminded；
Fig. 2 is the method implementation exemplary graph of anticollision provided in an embodiment of the present invention；
Fig. 3 is the apparatus structure schematic diagram that collision prevention of vehicle provided in an embodiment of the present invention is reminded；
Fig. 4 is electronic control unit structural schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.It is logical
The component for the embodiment of the present invention being often described and illustrated herein in the accompanying drawings can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 is please referred to, is the method flow diagram that collision prevention of vehicle provided in an embodiment of the present invention is reminded, which comprises
Step 101: obtaining current distance value, the spacing variation tendency, spacing pace of change between vehicle-to-target object.
Step 102: determining to be worth matched pre-determined distance range with the current distance.
Step 103: judging within the scope of the pre-determined distance, the spacing variation tendency and the spacing pace of change are
It is no to meet preset requirement.
Step 104: if the spacing variation tendency and the spacing pace of change are unsatisfactory for preset requirement, controlling the vehicle
Carry out warning note so that user is slowed down according to the warning note.
The implementing procedure of step 101- step 104 is described in detail below.
In a step 101, for obtaining the current distance value between vehicle-to-target object, the target object be can be
With vehicle of the vehicle driving on same lane, it is also possible to the barrier on route or travel by vehicle.Work as described
Front distance value, it can be understood as longitudinal separation value, the longitudinal separation value are also not absolute in same front-rear direction straight line
On distance value, can also have certain horizontal spacing value, in the horizontal spacing value, the vehicle has with the target object
A possibility that contact, as long as there is a possibility that contact, it is possible to knock.
The mode of the current distance value described for acquisition, two kinds of optional embodiments of offer of the embodiment of the present invention, first
The optional embodiment of kind: installation is used for the range sensor of real time distance on the vehicle, and the range sensor can
The distance between a certain range of object of the vehicle distances and vehicle value is measured, and is updated and is measured in real time.
The range sensor can be laser range sensor, ultrasonic distance-measuring sensor, radar sensor, infrared distance measuring sensing
Device etc..In this embodiment, since the ranging of range sensor limits, so the target object is apart from the vehicle
A certain range of vehicle or barrier etc..
Second of optional embodiment: pass through GPS (Global Positioning System) module of vehicle itself
Obtain the distance between object value.In this embodiment, since GPS can be realized positioning, if the target object
If being other vehicles, the position of other vehicles can also be shown in real time and at a distance from other vehicles, therefore user can
The suspicious object object of discovery to be marked, such as user has found that the travel speed of certain vehicle of front is excessively slow or front
Driving trace exception of certain vehicle etc., is marked on the corresponding vehicle mounted guidance of the GPS module, thus acquisition and mesh in real time
Mark the current distance value between object.
In the embodiment of above-mentioned range sensor, within the scope of range sensor, it is able to detect that multiple objects
The distance value of body, but in a practical situation, by taking the target object is other vehicles as an example, if the vehicle and other vehicles
There is no travelings on same lane, such as the left and right lane of highway, and in this case, a possibility that bumping against is
Smaller.
Therefore, optionally, before obtaining the current distance value between vehicle-to-target object, the method also includes:
Obtain the relative distance and relative angle between vehicle-to-target object；Judged according to the relative distance and the relative angle
Whether the vehicle and the target object are on same lane.It is corresponding, obtain vehicle-to-target object between it is current away from
It include: the acquisition vehicle-to-target object current distance value in the vehicle and the target object when on same lane from value.
It referring to figure 2., is the exemplary diagram in the same lane of judgement provided in an embodiment of the present invention, in the exemplary diagram, it is assumed that
The vehicle is vehicle A, it is assumed that the target object is vehicle B.For the relative distance, it is equivalent to vehicle A and vehicle B is equal
For two points, the linear distance between two points is then the relative distance.For the relative angle, including vehicle A is perpendicular
Histogram is upwards relative to the angle A of vehicle B and vehicle the B angle B relative to vehicle A in the horizontal direction, angle A and angle
It is degree and it is apparent be 90 degree, therefore the horizontal spacing between available A and B.It, can basis after obtaining horizontal spacing
Whether the horizontal spacing judges vehicle A and vehicle B on same lane.
Judge that vehicle A and vehicle B whether on same lane, can preset a judgment value according to the horizontal spacing,
By the horizontal spacing compared with the judgment value, when being, for example, less than the judgment value, on same lane.The judgment value can
The setting such as the case where with according to the width of vehicle, lane.For example, if the vehicle is wider, then the judgment value can phase
That answers is smaller；If the lane is wider, the judgment value is smaller etc. accordingly.
It should be noted that if the target object be user oneself label, can without the judgement in same lane,
Because representing the target object at this time already belongs to the vehicle that may be collided.
In a step 101, for obtaining spacing variation tendency, spacing pace of change between vehicle-to-target object.It can
With understanding, obtaining the current distance value is the process obtained in real time, that is to say, that automobile traveling it is per when it is every
It carves, the spacing between vehicle-to-target object can be acquired, then can be obtained according to the distance values of different moments described
Spacing variation tendency and the spacing pace of change.Wherein, spacing variation tendency can be progressive or gradually remote, such as the mesh
It marks object and accelerates the mobile or described vehicle deceleration, then spacing variation tendency is gradually remote；The target object reducing speed it is mobile or
Vehicle described in person accelerates, then spacing variation tendency is progressive.It should be noted that the embodiment of the present invention does not consider the vehicle
The case where changing opposite with the target object speed, because in this case, spacing will not change substantially, what is bumped against can
Energy property is also smaller.A kind of possible implementation: assuming that the distance values in previous moment are X, the distance values at current time are Y,
Previous moment and the time interval at current time are T, if Y-X is greater than 0, illustrate that spacing variation tendency is gradually remote；If Y-X less than 0,
Illustrate that spacing variation tendency is progressive.Assuming that spacing pace of change is V, then V=(Y-X)/T.
After executing step 101, step 102 is executed, it is determining to be worth matched pre-determined distance range with the current distance.Step
Rapid 102 can specifically include: determined at least two pre-determined distance ranges with the current distance value it is matched it is default away from
From range, wherein the corresponding preset requirement of the different pre-determined distance ranges is different.
Execute step 102 after, execute step 103: judge within the scope of the pre-determined distance, the spacing variation tendency with
Whether the spacing pace of change meets preset requirement.
For the judgment mode of step 103, the embodiment of the present invention provides a kind of possible implementation: assuming that described current
Distance value is S, and the spacing variation tendency is progressive, the first preset range: less than 80；Second preset range: less than 30；The
Three preset range: less than 10.If S is in the first preset range, then spacing pace of change should be less than the asymptotic variation of 10m/s；
If S is in the second preset range, then spacing pace of change should be less than the asymptotic variation of 5m/s；If S in third preset range,
Spacing pace of change should be less than the asymptotic variation of 2m/s.
After executing step 103, step 104 is executed: if the spacing variation tendency and the spacing pace of change are unsatisfactory for
Preset requirement controls the vehicle and carries out warning note, so that user is slowed down according to the warning note.
Warning note is carried out for controlling the vehicle, a kind of possible implementation: sound report is set in driver's cabin
Alert device, the voice guard can make a sound prompt driver, achieve the effect that warning note after receiving control instruction；?
It can be alarmed by light, light crossing-signal is set in driver's cabin, which can be mentioned after receiving control instruction by flashing
Show driver, achievees the effect that alarm；Vehicular display device can also be set in driver's cabin, shown by Vehicular display device related
Content remind driver, such as display: please slowing down at once or present speed danger.
After exporting warning message, the method can also include: whether the detection vehicle is in deceleration regime, if institute
It states vehicle and is not in deceleration regime, control the vehicle and slow down.
Wherein, the embodiment for whether being in deceleration regime for detecting the vehicle, can be by obtaining the vehicle
Real time running speed, such as obtain the travel speed that records on automobile data recorder, detected by comparing the variation of speed
Whether the vehicle is in deceleration regime.Whether can also be started by detecting the deceleration system of the vehicle, if deceleration system
Starting, then the vehicle is in deceleration regime；If deceleration system is inactive, illustrate that the vehicle does not slow down.
Wherein, for control slow down mode, can be can be by automatic slow-down device, the automatic slow-down device with
The control device of braking system connection, the control device are receiving the current distance value less than or equal to the distance
After the information of critical value, opens the formulation system and carry out retarding braking.
In addition, the current distance value and the distance limits can also be calculated when the control vehicle is slowed down
The difference of value；The difference is fed back into user.User can timely recognize the case where vehicle is presently in this way,
To make corresponding safety precautions, such as alarm or unlatching safety guard etc., to improve the driving peace of user
Quan Xing.
When controlling the vehicle deceleration, if the current distance value is less than or equal to preset distance limit, control
The vehicle is made to be braked.
The embodiment of the present invention provides three kinds and optionally controls the embodiment that the vehicle is braked.The first is optional
Embodiment: controlling vehicle by onboard system can not travel, for example, a kind of self-locking system can be arranged to vehicle, this is self-locking
System is self-locking to control loop progress after receiving control instruction, and vehicle is automatically stopped, and in the state that can not be travelled.
Second of optional embodiment: controlling the vehicle and be in forbidden state and be also possible to through remote monitoring system, specifically,
The vehicle is monitored remotely, and the monitoring system can send the monitoring information of the vehicle to traffic police or road management
Personnel, after receiving control instruction, remote monitoring system sends lock command to the control loop of vehicle, and then locks vehicle
Control loop so that vehicle can not travel.The third embodiment: the braking system by starting the vehicle self-carrying automatically
System, brakes the vehicle.
Further, when controlling the vehicle and being braked, corresponding warning message is generated, in the warning message extremely
It less include the position of the vehicle；The warning message is fed back to specified management terminal.In this embodiment, described
Warning message may include the position that the vehicle is presently in, it is, of course, also possible to include the vehicle is hit it is pre-
The relevant informations such as survey.The management terminal can be remote monitoring terminal, be also possible to traffic police where monitoring client or road
Monitoring etc. where administrative staff.It is timely to carry out to which the management terminal can receive the information such as the position about vehicle
Monitor and process.
After controlling the vehicle and being braked, also detect whether the vehicle brakes success；If the vehicle braking is not
Success generates warning message and feeds back to specified management terminal and open the safety guard of the vehicle.
Since braking may have unsuccessful situation, such as when emergency case, which occurs, in vehicle to be braked in time.
Therefore it can detecte whether the vehicle is successfully braked, if it's not true, it is likely that the target object will be knocked, at this time
Instant generation warning message simultaneously feeds back to specified management terminal, so that the case where management terminal is able to know that the vehicle is simultaneously
Processing in time.Meanwhile the safety guard of the vehicle is automatically turned on, the safety of user is protected as far as possible.The safety
Protective device can be air bag or other safety guards.
The method that collision prevention of vehicle provided by the invention is reminded, by judging within the scope of the pre-determined distance, the spacing
Whether variation tendency and the spacing pace of change meet preset requirement, and then decide whether that controlling vehicle carries out warning note.
Warning note, which may remind the user that, to slow down, and effectively avoids vehicle that car accident occurs, improves the safety of vehicle drive
Property.
Referring to figure 3., the present invention also provides a kind of device 300 of collision prevention of vehicle, described device 300 includes: acquisition module
301, determining module 302, judgment module 303, control module 304.
Obtain module 301: for obtaining the current distance value between vehicle-to-target object, spacing variation tendency, spacing
Pace of change.
Determining module 302: it is worth matched pre-determined distance range with the current distance for determining.
Judgment module 303: for judging within the scope of the pre-determined distance, the spacing variation tendency and the spacing become
Change whether speed meets preset requirement.
Control module 304: if the spacing variation tendency and the spacing pace of change are unsatisfactory for preset requirement, for controlling
It makes the vehicle and carries out warning note, so that user is slowed down according to the warning note.
Optionally, determining module 302 is also used to: being determined at least two pre-determined distance ranges and the current distance
It is worth matched pre-determined distance range, wherein the corresponding preset requirement of the different pre-determined distance ranges is different.
Optionally, described device 300 further includes detection module 305: for detecting whether the vehicle is in deceleration regime；
If the vehicle is not in deceleration regime, control module 304 is also used to control the vehicle and slows down.
Optionally, when controlling the vehicle and being slowed down, if the current distance value be less than or equal to it is preset away from
From limiting value, control module 304 is also used to control the vehicle and is braked.
Optionally, when the control vehicle is braked, control module 304 is also used to generate corresponding warning message,
The position of the vehicle is included at least in the warning message；The warning message is fed back to specified management terminal.
Optionally, it obtains module 301 and is also used to obtain relative distance and relative angle between vehicle-to-target object；Sentence
Disconnected module 302 be also used to judge according to the relative distance and the relative angle vehicle and the target object whether
On same lane；Module 301 is obtained to be also used in the vehicle and the target object when on same lane, obtain vehicle with
Target object current distance value.
Device 300 is corresponding with the step in the above method, thus the embodiment of each module of device 300 also with each step
Corresponding, details are not described herein.
Referring to figure 4., the present invention also provides a kind of electronic control unit 400, electronic control unit 400 includes memory
401, processor 402 and communication interface 403.The ginseng of software program needed for single-chip microcontroller and various settings is stored in memory 401
Number；Processor 402 is used to execute the scm software program stored in memory 401, wherein communication interface 403 and car running computer
It is connected, to realize method described in above-described embodiment.
Car running computer (ecu), i.e. computer control mould group (electronic control unit).Car running computer can be right
The output of the devices such as the engine on automobile controls signal to control the running of the device of engine.
Electronic control unit 400 is connect by communication interface 403 with the car running computer, makes electronic control unit 400 can
With to the car running computer send instructions, so that the car running computer directly controls the vehicle and is for example slowed down, braked, reported
Alert prompt etc..
Wherein, memory 401 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Processor 402 may be a kind of IC chip, the processing capacity with signal.Processor 402 can be logical
With processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network
Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), specific integrated circuit (ASIC), ready-made programmable
Gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.It can be with
Realize or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be micro- place
Reason device or the processor are also possible to any conventional processor etc..
In embodiment provided herein, it should be understood that disclosed device and method, it can also be by other
Mode realize.The apparatus embodiments described above are merely exemplary, for example, the flow chart and block diagram in attached drawing are shown
Device, the architectural framework in the cards of method and computer program product, function of multiple embodiments according to the present invention
And operation.In this regard, each box in flowchart or block diagram can represent one of a module, section or code
Point, a part of the module, section or code includes one or more for implementing the specified logical function executable
Instruction.It should also be noted that function marked in the box can also be attached to be different from some implementations as replacement
The sequence marked in figure occurs.For example, two continuous boxes can actually be basically executed in parallel, they sometimes may be used
To execute in the opposite order, this depends on the function involved.It is also noted that each of block diagram and or flow chart
The combination of box in box and block diagram and or flow chart can be based on the defined function of execution or the dedicated of movement
The system of hardware is realized, or can be realized using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, laptop, server or network equipment etc.) execute the whole of each embodiment the method for the present invention
Or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.It should be noted that, in this document, relational terms such as first and second and the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The above description is only an embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of method that collision prevention of vehicle is reminded characterized by comprising
Obtain current distance value, the spacing variation tendency, spacing pace of change between vehicle-to-target object；
It is determining to be worth matched pre-determined distance range with the current distance；
Judge within the scope of the pre-determined distance, whether the spacing variation tendency and the spacing pace of change meet default want
It asks；
If the spacing variation tendency and the spacing pace of change are unsatisfactory for preset requirement, control the vehicle carry out alarm mention
Show, so that user is slowed down according to the warning note.
2. the method according to claim 1, wherein determining be worth matched pre-determined distance model with the current distance
It encloses and includes:
It is determined at least two pre-determined distance ranges and the matched pre-determined distance range of the current distance value, wherein no
The corresponding preset requirement of the same pre-determined distance range is different.
3. the method according to claim 1, wherein after exporting warning message, the method also includes:
It detects whether the vehicle is in deceleration regime, if the vehicle is not in deceleration regime, controls the vehicle and subtracted
Speed.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
When the control vehicle is slowed down, if the current distance value is less than or equal to preset distance limit, control
The vehicle is made to be braked.
5. according to the method described in claim 4, it is characterized in that, the method also includes:
When the control vehicle is braked, corresponding warning message is generated, includes at least the vehicle in the warning message
Position；
The warning message is fed back to specified management terminal.
6. the method according to claim 1, wherein obtaining the current distance value between vehicle-to-target object
Before, the method also includes:
Obtain the relative distance and relative angle between vehicle-to-target object；
Judge the vehicle and the target object whether on same lane according to the relative distance and the relative angle；
Corresponding, obtaining the current distance value between vehicle-to-target object includes: to exist in the vehicle and the target object
When on same lane, vehicle-to-target object current distance value is obtained.
7. the device that a kind of collision prevention of vehicle is reminded characterized by comprising
Obtain module: for obtaining the current distance value between vehicle-to-target object, spacing variation tendency, spacing variation speed
Degree；
Determining module: it is worth matched pre-determined distance range with the current distance for determining；
Judgment module: for judging within the scope of the pre-determined distance, the spacing variation tendency and the spacing pace of change
Whether preset requirement is met；
Control module: described for controlling if the spacing variation tendency and the spacing pace of change are unsatisfactory for preset requirement
Vehicle carries out warning note, so that user is slowed down according to the warning note.
8. device according to claim 7, which is characterized in that the determining module is also used to: at least two it is default away from
From being determined in range and the matched pre-determined distance range of the current distance value, wherein the different pre-determined distance ranges
The corresponding preset requirement is different.
9. device according to claim 7, which is characterized in that described device further includes detection module: described for detecting
Whether vehicle is in deceleration regime；
If the vehicle is not in deceleration regime, the control module is also used to control the vehicle and slows down.
10. device according to claim 9, which is characterized in that when the control vehicle is slowed down, if described current
Distance value is less than or equal to preset distance limit, and the control module is also used to control the vehicle and is braked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811472977.8A CN109515435A (en) | 2018-12-04 | 2018-12-04 | The method and device that collision prevention of vehicle is reminded |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811472977.8A CN109515435A (en) | 2018-12-04 | 2018-12-04 | The method and device that collision prevention of vehicle is reminded |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109515435A true CN109515435A (en) | 2019-03-26 |
Family
ID=65794266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811472977.8A Pending CN109515435A (en) | 2018-12-04 | 2018-12-04 | The method and device that collision prevention of vehicle is reminded |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109515435A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109960764A (en) * | 2019-04-01 | 2019-07-02 | 星觅(上海)科技有限公司 | Running information reminding method, device, electronic equipment and medium |
| CN110155046A (en) * | 2019-05-09 | 2019-08-23 | 武汉理工大学 | Automatic emergency brake hierarchical control method and system |
| CN112299334A (en) * | 2020-10-29 | 2021-02-02 | 红点定位(北京)科技有限公司 | Forklift anti-collision method and device, computer equipment and storage medium |
| CN112419746A (en) * | 2019-08-20 | 2021-02-26 | 广州中广国科测控技术有限公司 | Vehicle speed self-monitoring method for highway traffic |
| CN113155490A (en) * | 2021-04-23 | 2021-07-23 | 中车青岛四方机车车辆股份有限公司 | Brake control warning method, medium, equipment and system for vehicle test |
| CN113327458A (en) * | 2021-07-08 | 2021-08-31 | 潍柴动力股份有限公司 | Vehicle collision prediction method, vehicle collision prediction system, and electronic device |
| CN113581074A (en) * | 2021-07-13 | 2021-11-02 | 湖南三一华源机械有限公司 | Monitoring method and monitoring device for active safety obstacle avoidance of engineering machinery and engineering machinery |
| CN115158372A (en) * | 2022-07-18 | 2022-10-11 | 内蒙古工业大学 | Large shuttle vehicle obstacle avoidance early warning method based on sound waves |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007091208A (en) * | 2005-08-31 | 2007-04-12 | Honda Motor Co Ltd | Travel safety apparatus for vehicle |
| CN101451835A (en) * | 2007-12-07 | 2009-06-10 | 聂劲松 | Automobile anti-collision method under condition of bad visibility |
| CN102642510A (en) * | 2011-02-17 | 2012-08-22 | 汽车零部件研究及发展中心有限公司 | Image-based vehicle anti-collision early warning method |
| CN103568990A (en) * | 2012-07-23 | 2014-02-12 | 北京新岸线移动多媒体技术有限公司 | Method and system for achieving vehicle safety warning |
| CN104276084A (en) * | 2013-07-01 | 2015-01-14 | 富士重工业株式会社 | Driving assist controller for vehicle |
-
2018
- 2018-12-04 CN CN201811472977.8A patent/CN109515435A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007091208A (en) * | 2005-08-31 | 2007-04-12 | Honda Motor Co Ltd | Travel safety apparatus for vehicle |
| CN101451835A (en) * | 2007-12-07 | 2009-06-10 | 聂劲松 | Automobile anti-collision method under condition of bad visibility |
| CN102642510A (en) * | 2011-02-17 | 2012-08-22 | 汽车零部件研究及发展中心有限公司 | Image-based vehicle anti-collision early warning method |
| CN103568990A (en) * | 2012-07-23 | 2014-02-12 | 北京新岸线移动多媒体技术有限公司 | Method and system for achieving vehicle safety warning |
| CN104276084A (en) * | 2013-07-01 | 2015-01-14 | 富士重工业株式会社 | Driving assist controller for vehicle |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109960764A (en) * | 2019-04-01 | 2019-07-02 | 星觅(上海)科技有限公司 | Running information reminding method, device, electronic equipment and medium |
| CN110155046A (en) * | 2019-05-09 | 2019-08-23 | 武汉理工大学 | Automatic emergency brake hierarchical control method and system |
| CN112419746A (en) * | 2019-08-20 | 2021-02-26 | 广州中广国科测控技术有限公司 | Vehicle speed self-monitoring method for highway traffic |
| CN112299334A (en) * | 2020-10-29 | 2021-02-02 | 红点定位(北京)科技有限公司 | Forklift anti-collision method and device, computer equipment and storage medium |
| CN113155490A (en) * | 2021-04-23 | 2021-07-23 | 中车青岛四方机车车辆股份有限公司 | Brake control warning method, medium, equipment and system for vehicle test |
| CN113327458A (en) * | 2021-07-08 | 2021-08-31 | 潍柴动力股份有限公司 | Vehicle collision prediction method, vehicle collision prediction system, and electronic device |
| CN113581074A (en) * | 2021-07-13 | 2021-11-02 | 湖南三一华源机械有限公司 | Monitoring method and monitoring device for active safety obstacle avoidance of engineering machinery and engineering machinery |
| CN115158372A (en) * | 2022-07-18 | 2022-10-11 | 内蒙古工业大学 | Large shuttle vehicle obstacle avoidance early warning method based on sound waves |
| CN115158372B (en) * | 2022-07-18 | 2023-05-19 | 内蒙古工业大学 | Acoustic wave-based large shuttle car obstacle avoidance early warning method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109515435A (en) | The method and device that collision prevention of vehicle is reminded | |
| CN106428001B (en) | A kind of lane change method for early warning and system for vehicle | |
| CN107161097B (en) | Vehicle running intelligent security system based on Beidou Navigation System | |
| CN105848981B (en) | Driver assistance method and system for vehicle | |
| CN106133805B (en) | Driving assistance method and system for collision elimination | |
| US9047781B2 (en) | Safety zone detection, enforcement and alarm system and related methods | |
| US9524643B2 (en) | Orientation sensitive traffic collision warning system | |
| CN112440899A (en) | Vehicle door control method and device and vehicle | |
| CN108263278A (en) | The pedestrian detection and pedestrian anti-collision device and method integrated based on sensor | |
| CN110356377A (en) | A kind of decision-making technique of automatic emergency brake, mobile unit and storage medium | |
| CN110395251A (en) | A kind of automatic emergency brake decision-making technique based on Multi-sensor Fusion data | |
| CN106114494A (en) | A kind of reversing for vehicle assists collision avoidance system and method | |
| CN111532274B (en) | Intelligent vehicle lane change auxiliary system and method based on multi-sensor data fusion | |
| CN112216146B (en) | Vehicle risk early warning method, device and equipment and vehicle | |
| CN104346954A (en) | METHOD AND DEVICE FOR SUPPLYING and administrating A COLLISION SIGNAL, and A METHOD AND DEVICE FOR CONTROLLING COLLISION PROTECTION DEVICE | |
| CN205344677U (en) | A pedestrian's light warning system for motor vehicle | |
| CN108944864A (en) | The vehicle collision avoidance devices and methods therefor under situation is shared based on position | |
| CN112918471A (en) | Anti-collision control method, device and equipment for vehicle and storage medium | |
| CN104933894A (en) | Traffic density sensitivity selector | |
| JP4052167B2 (en) | Pause alarm device | |
| CN112960620A (en) | Forklift speed limiting safety control system | |
| Zheng et al. | The effect of sensor errors on the performance of collision warning systems | |
| CN114360224A (en) | Danger distinguishing and early warning system, method and device for automobile running red light | |
| CN113053083A (en) | Early warning method and system for dangerous driving vehicle based on V2X | |
| JPH0710653B2 (en) | Rear impact warning device |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190326 |