CN109866682A - Alarm method, device and the automobile of vehicle FCW - Google Patents
Alarm method, device and the automobile of vehicle FCW Download PDFInfo
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Abstract
The invention discloses alarm method, device and the automobiles of a kind of vehicle FCW, wherein method includes: the fork in the road information obtained within the scope of current vehicle traveling front preset, determines fork in the road position；Judge current location where the target vehicle in front of current vehicle whether with fork in the road position consistency, if so, detection target vehicle is biased to the side velocity of fork in the road；When the side velocity is greater than predetermined threshold value, processing is modified to the alarm distance thresholding in FCW according to the side velocity；Collision warning is carried out using revised alarm distance thresholding.It can be seen that the present invention program, when near fork in the road, passes through the alarm distance threshold value in amendment FCW, it is possible to reduce the possibility of false alarm promotes driving experience.
Description
Technical field
The present invention relates to technical field of vehicle control, and in particular to a kind of alarm method, device and the automobile of vehicle FCW.
Background technique
With the continuous development of vehicle control technology, at the same time, in order to improve traffic safety, a large amount of danger early warning side
Case is constantly applied in vehicle, wherein a kind of to be more typically frontal collisions early warning system (Forward Collision
Warning, abbreviation FCW).FCW be it is a kind of can effective less risk of collision driving assistance system, pass through millimetre-wave radar
Or the interested object in camera real time monitoring front, driver is alerted when there are potential risk of collision.
However, existing FCW determines the calculation of alarm threshold when carrying out anti-collision warning in various scenes
Be it is identical, this is allowed under some special screnes, and especially when there are fork in the road, the determination of alarm threshold does not conform to
Reason, in this case, FCW will appear false alarm, and then cause the dislike of driver, influence driving experience.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State alarm method, device and the automobile of the vehicle FCW of problem.
According to an aspect of the invention, there is provided a kind of alarm method of vehicle FCW, comprising:
The fork in the road information within the scope of current vehicle traveling front preset is obtained, determines fork in the road position；
Judge current location where the target vehicle in front of current vehicle whether with fork in the road position consistency, if so,
Detect the side velocity that target vehicle is biased to fork in the road；
When the side velocity is greater than predetermined threshold value, according to the side velocity to the alarm distance thresholding in FCW
It is modified processing；
Collision warning is carried out using revised alarm distance thresholding.
Optionally, the current location where the target vehicle judged in front of current vehicle whether with fork in the road position
Before consistent, the method also includes:
Judge target vehicle whether in distance range interested；
Whether the current location where the target vehicle judged in front of current vehicle is specific with fork in the road position consistency
Are as follows: if target vehicle judges current location where the target vehicle in front of current vehicle is whether in distance range interested
With fork in the road position consistency.
Optionally, described that processing further packet is modified to the alarm distance thresholding in FCW according to the side velocity
It includes:
When calculating target vehicle according to the side velocity and being driven out to current lane, current vehicle be driven out to along track direction the
One distance；And
When calculating target vehicle according to the side velocity and being driven out to current lane, target vehicle be driven out to along track direction the
Two distances；
Processing is modified to the alarm distance thresholding in FCW using the first distance and the difference of second distance.
Optionally, described to further comprise using revised alarm distance thresholding progress collision warning:
Detect the real-time relative distance of current vehicle and target vehicle；
Judge whether real-time relative distance and the difference of revised alarm distance thresholding meet preset difference value condition, if
It is then to carry out collision warning.
Optionally, the preset difference value condition be real-time relative distance and revised alarm distance thresholding difference with work as
The ratio of the speed of vehicle in front is less than the collision time thresholding in FCW.
Optionally, when the side velocity is greater than predetermined threshold value, the method also includes: when to collision in FCW
Between thresholding carry out reduction adjustment.
According to another aspect of the present invention, the warning device of vehicle FCW a kind of is provided, comprising:
Determining module determines fork in the road position suitable for obtaining the fork in the road information within the scope of current vehicle traveling front preset
It sets；
First judgment module, suitable for judge current location where the target vehicle in front of current vehicle whether with fork in the road
Position consistency；
Detecting module, suitable for if it is determined that the current location where the target vehicle in front of current vehicle and fork in the road position out
Unanimously, then the side velocity that target vehicle is biased to fork in the road is detected；
Correction module is suitable for when the side velocity is greater than predetermined threshold value, according to the side velocity in FCW
Alarm distance thresholding is modified processing；
Alarm module is suitable for carrying out collision warning using revised alarm distance thresholding.
Optionally, described device further include:
Whether the second judgment module is suitable for judging target vehicle in distance range interested；
The first judgment module is further adapted for: if target vehicle judges current vehicle in distance range interested
Current location where the target vehicle in front whether with fork in the road position consistency.
Optionally, the correction module is further adapted for:
When calculating target vehicle according to the side velocity and being driven out to current lane, current vehicle be driven out to along track direction the
One distance；And
When calculating target vehicle according to the side velocity and being driven out to current lane, target vehicle be driven out to along track direction the
Two distances；
Processing is modified to the alarm distance thresholding in FCW using the first distance and the difference of second distance.
Optionally, the alarm module is further adapted for:
Detect the real-time relative distance of current vehicle and target vehicle；
Judge whether real-time relative distance and the difference of revised alarm distance thresholding meet preset difference value condition, if
It is then to carry out collision warning.
Optionally, the preset difference value condition be real-time relative distance and revised alarm distance thresholding difference with work as
The ratio of the speed of vehicle in front is less than the collision time thresholding in FCW.
Optionally, described device further include: adjustment module is suitable for when the side velocity is greater than predetermined threshold value, right
Collision time thresholding in FCW carries out reduction adjustment.
According to another aspect of the invention, a kind of automobile is provided comprising the report of vehicle FCW described in any of the above embodiments
Alarm device.
According to another aspect of the invention, provide a kind of calculating equipment, comprising: processor, memory, communication interface and
Communication bus, the processor, the memory and the communication interface complete mutual communication by the communication bus；
For the memory for storing an at least executable instruction, it is above-mentioned that the executable instruction executes the processor
The corresponding operation of the alarm method of vehicle FCW.
In accordance with a further aspect of the present invention, provide a kind of computer storage medium, be stored in the storage medium to
A few executable instruction, the executable instruction make processor execute the corresponding operation of alarm method such as above-mentioned vehicle FCW.
Alarm method, device and the automobile of vehicle according to the invention FCW travels front preset range for current vehicle
Inside there is the case where fork in the road, judge current location where the target vehicle in front of current vehicle whether with fork in the road position one
It causes, to determine whether there is the demand alarmed using this embodiment scheme；If it exists, then it is biased to by detection target vehicle
The side velocity of fork in the road corrects alarm distance thresholding, so that revised alarm distance thresholding more meets current fork in the road
The situation of anticollision；Collision warning is carried out using the revised alarm distance thresholding, then can be carried out for present case quasi-
True alarm, and then the possibility of false alarm is reduced, promote the driving experience of driver.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows the flow chart of the alarm method of vehicle FCW according to an embodiment of the invention；
Fig. 2 shows the flow charts of the alarm method of vehicle FCW in accordance with another embodiment of the present invention；
Fig. 3 shows the schematic diagram of the positional relationship of current vehicle and target vehicle in a specific embodiment；
Fig. 4 shows the functional block diagram of the warning device of vehicle FCW according to an embodiment of the invention；
Fig. 5 shows a kind of structural schematic diagram for calculating equipment according to an embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Fig. 1 shows the flow chart of the alarm method of vehicle FCW according to an embodiment of the invention.As shown in Figure 1, should
Method includes:
Step S101: the fork in the road information within the scope of current vehicle traveling front preset is obtained, determines fork in the road position.
Present invention is generally directed to fronts the case where fork in the road, and propose a kind of accurate FCW anti-collision warning scheme, to subtract
The case where few false alarm.
Specifically, it according to the road information within the scope of the traveling-position of current vehicle and the traveling-position front preset, obtains
It obtains to fork in the road information；Wherein, the traffic information in preset range can be determined by map or navigation.Then, it is determined that branch road
The specific location of mouth, so that the collision situation for fork in the road is accurately alarmed.
Step S102: judge current location where the target vehicle in front of current vehicle whether with fork in the road position one
It causes.If so, thening follow the steps S103；If it is not, then this method terminates.
Wherein, the current location where target vehicle and fork in the road position consistency refer to that target vehicle may turn to branch road
In the position range of mouth.
Specifically, when the current location where target vehicle is with fork in the road position consistency, then exist and utilize present invention side
Case carries out the demand of early warning, thens follow the steps S103, to carry out the corresponding adjustment for alarm；Conversely, then can directly utilize
Existing FCW alarm scheme carries out early warning, correspondingly, this method terminates.
Step S103: detection target vehicle is biased to the side velocity of fork in the road.
Wherein, side velocity also refers to target vehicle perpendicular to the speed in track direction.
Specifically, the side velocity of target vehicle is detected by awareness apparatus such as sensor or cameras.
Step S104: when side velocity is greater than predetermined threshold value, according to side velocity to the alarm distance thresholding in FCW
It is modified processing.
In practical driving conditions, when the side velocity of objects ahead vehicle is larger, show that target vehicle can be sailed quickly
Current lane out, a possibility that colliding at this time can reduce (to be less than or equal to pre- compared to no side velocity or side velocity
The case where gating limit value), if alarming according to conventional alarm scheme, it is most likely to produce false alarm.Based on this, the present invention is logical
Setting predetermined threshold value is crossed, and when side velocity is greater than predetermined threshold value, corrects alarm distance thresholding, to realize accurate report
It is alert.
It needs described herein to be that the present invention is not defined the specific correcting mode of correcting process, it optionally, can root
It is modified according to the size of side velocity, for example, side velocity is bigger, then alarm distance threshold value is bigger；Alternatively, can also basis
Current vehicle and target vehicle are modified in the speed in track direction, for example, target vehicle is in track direction
Speed is more than that current vehicle is more in the speed in track direction, then alarm distance threshold value is bigger.
Step S105: collision warning is carried out using revised alarm distance thresholding.
According to the alarm method of vehicle FCW provided in this embodiment, front preset range memory is travelled for current vehicle
The fork in the road the case where, judge current location where the target vehicle in front of current vehicle whether with fork in the road position consistency,
To determine whether there is the demand alarmed using this embodiment scheme；If it exists, then trouble is biased to by detection target vehicle
The side velocity at crossing corrects alarm distance thresholding, so that more to meet current fork in the road anti-for revised alarm distance thresholding
The situation of collision；Collision warning is carried out using the revised alarm distance thresholding, then it is accurate to carry out for present case
Alarm, and then reduce false alarm possibility, promote the driving experience of driver.
Fig. 2 shows the flow charts of the alarm method of vehicle FCW in accordance with another embodiment of the present invention.
As shown in Fig. 2, this method comprises:
Step S201: the fork in the road information within the scope of current vehicle traveling front preset is obtained, determines fork in the road position.
Specifically, it according to the road information within the scope of the traveling-position of current vehicle and the traveling-position front preset, obtains
It obtains to fork in the road information；Wherein, the traffic information in preset range can be determined by map or navigation.Then, it is determined that branch road
The specific location of mouth, to carry out accurate early warning for the collision situation of fork in the road.Wherein, fork in the road position specifically includes branch road
Mouthful left and right sides intersection position with the edge of present road respectively.
For example, Fig. 3 shows the signal of the positional relationship of current vehicle and target vehicle in a specific embodiment
Figure.As shown in figure 3, preset range is to pass through in the X meters of ranges in current vehicle front wherein from the current vehicle that vehicle is in text
The road information in the preset range is searched, determines that the fork in the road in Fig. 3 is located in the preset range, then obtains the branch road message
Breath, and determine the position of the intersection point A at the edge of n1 and n2 and present road and intersection points B at left and right sides of branch road.
Step S202: judge current location where the target vehicle in front of current vehicle whether with fork in the road position one
It causes.If so, thening follow the steps S203；If it is not, then this method terminates.
This embodiment scheme suitable for the scene of anti-collision warning, then need to judge target vehicle whether interested apart from model
In enclosing.When target vehicle is in distance interested, then the risk in the presence of collision is primarily determined, correspondingly, if target vehicle exists
In distance range interested, judge current location where the target vehicle in front of current vehicle whether with fork in the road position one
It causes.If consistent, S203 is thened follow the steps, to be adjusted correspondingly for the situation of fork in the road alarm；If inconsistent, press
Early warning is carried out according to general early warning process, then this method terminates.
Wherein, the current location where target vehicle and fork in the road position consistency refer to that target vehicle may turn to branch road
In the position range of mouth.By taking Fig. 3 as an example, then herein unanimously can be the headstock of the target vehicle corresponding A point in track direction
Between B point, i.e. in range S in Fig. 3.It needs described herein to be that unanimous circumstances are only a kind of tool in Fig. 3
Body example, the present invention is not limited thereto.
Step S203: detection target vehicle is biased to the side velocity of fork in the road.
Wherein, side velocity also refers to target vehicle perpendicular to the speed in track direction.By taking Fig. 3 as an example, side velocity
As Vy.Specifically, the side velocity of target vehicle is detected by awareness apparatus such as sensor or cameras.
Step S204: when side velocity is greater than predetermined threshold value, target vehicle is calculated according to side velocity and is driven out to currently
When lane, second distance that the first distance and target vehicle that current vehicle is driven out to along track direction are driven out to along track direction.
Specifically, when side velocity is greater than predetermined threshold value, then object vehicle can quickly be driven out to current lane, accordingly
A possibility that colliding is lower, then estimates the time that is driven out to that target vehicle is driven out to current lane at this time, and according to current vehicle
The first distance being driven out in the time along track direction and second distance are driven out at this respectively with target vehicle, to correct alarm accordingly
Distance threshold.Wherein, settable predetermined threshold value is 0.5m/s.
In a kind of specific embodiment, the process of calculating is as follows:
The first step, that estimates that target vehicle is driven out to current lane completely is driven out to time △ t=△ y/Vy；Wherein, △ y is mesh
The vertical range at the edge of side where marking the fork in the road of vehicle and current lane.
Second step calculates first distance △ L1:
In formula, Ve is the travel speed of current vehicle.
Third step calculates second distance △ L2:
In formula, Vx is speed of the target vehicle along track direction.
Step S205: place is modified to the alarm distance thresholding in FCW using first distance and the difference of second distance
Reason.
Specifically, first distance and the difference of second distance are bigger, then what current vehicle and target vehicle collided can
Energy property is bigger, correspondingly, then needing the more sensitive alarm distance thresholding of setting, that is, reduces alarm distance thresholding.It is right based on this
Alarm distance thresholding in FCW is modified processing.
In some optional embodiments of the invention, the process of correcting process is specific as follows:
For conventional FCW, the calculation formula of alarm distance thresholding Ds is unified for,
In formula, aeFor the acceleration of current vehicle, vtFor the travel speed of target vehicle, atFor the acceleration of target vehicle,
T is time of driver's reaction, and k is constant, usual settable k=4.5.
Then, the alarm distance thresholding Ds that above-mentioned conventionally calculation obtains is modified, obtains revised alarm distance
Thresholding Ds, the specific calculating process of correcting process is as follows:
Ds,=Ds+ΔL1-ΔL2
That is:
Through above formula as can be seen that on the basis of the alarm distance thresholding Ds that conventionally calculation determines, repaired in the present embodiment
Alarm distance thresholding D after justs, it is further contemplated that speed of the side velocity Vy and target vehicle of target vehicle along track direction
Vx is spent, that is, has fully considered that target vehicle drives towards the situation of fork in the road.
Step S206: collision warning is carried out using revised alarm distance thresholding.
Obtaining revised alarm distance thresholding Ds, after, in current vehicle driving process, detect current vehicle and mesh
Mark the real-time relative distance of vehicle；It is default to judge whether the difference of revised alarm distance thresholding and real-time relative distance meets
Difference condition, if so, carrying out collision warning.Optionally, preset difference value condition can be real-time relative distance and alarm distance
The difference of thresholding is less than particular value；Alternatively, preset condition can be the difference of real-time relative distance and alarm distance thresholding and work as
The ratio of the speed of vehicle in front is less than preset value.In a specific embodiment, preset difference value condition is real-time relative distance
The collision time thresholding being less than in FCW with the ratio of the speed of the difference and current vehicle of revised alarm distance thresholding.Its
In, in regular situation, collision time thresholding is t1, and in the anti-collision warning scene for the fork in the road that the present embodiment is applicable in, it can
Choosing, when detecting side velocity greater than predetermined threshold value, reduction adjustment is carried out to the collision time thresholding in FCW, that is, is adjusted
Collision time thresholding t2 < t1 after whole.It is adjusted by the reduction, the robustness of FCW can be improved while reducing false alarm.
For example, in conventional alarm, the condition that when alarm meets is (Ds-D0)/ve< 2s, wherein D0For real-time phase
It adjusts the distance；And in the present embodiment, the condition that when alarm meets is (Ds,-D0)/ve<1.8s。
According to the alarm method of vehicle FCW provided in this embodiment, front preset range memory is travelled for current vehicle
The fork in the road the case where, judge current location where the target vehicle in front of current vehicle whether with fork in the road position consistency,
To determine whether there is the demand alarmed using this embodiment scheme；If it exists, then when side velocity is greater than pre-determined threshold
When value, when being driven out to current lane according to side velocity calculating target vehicle, the first distance that current vehicle is driven out to along track direction,
And the second distance that target vehicle is driven out to along track direction, and alarm distance is corrected using the first distance and second distance
Thresholding, so that revised alarm distance thresholding more meets the situation of current fork in the road anticollision；Utilize the revised report
Alert distance threshold carries out collision warning, then can accurately be alarmed for present case, and then reduce the possibility of false alarm,
Promote the driving experience of driver.
Fig. 4 shows the functional block diagram of the warning device of vehicle FCW according to an embodiment of the invention.
As shown in figure 4, the device includes:
Determining module 401 determines fork in the road suitable for obtaining the fork in the road information within the scope of current vehicle traveling front preset
Position；
First judgment module 402, suitable for judge current location where the target vehicle in front of current vehicle whether with trouble
Crossing position consistency；
Detecting module 403, suitable for if it is determined that the current location and fork in the road where the target vehicle in front of current vehicle out
Position consistency then detects the side velocity that target vehicle is biased to fork in the road；
Correction module 404 is suitable for when the side velocity is greater than predetermined threshold value, according to the side velocity to FCW
In alarm distance thresholding be modified processing；
Alarm module 405 is suitable for carrying out collision warning using revised alarm distance thresholding.
In a kind of optional embodiment, described device further include:
Whether the second judgment module 406 is suitable for judging target vehicle in distance range interested；
The first judgment module 402 is further adapted for: if target vehicle, in distance range interested, front truck is worked as in judgement
Front target vehicle where current location whether with fork in the road position consistency.
In a kind of optional embodiment, the correction module 404 is further adapted for:
When calculating target vehicle according to the side velocity and being driven out to current lane, current vehicle be driven out to along track direction the
One distance；And
When calculating target vehicle according to the side velocity and being driven out to current lane, target vehicle be driven out to along track direction the
Two distances；
Processing is modified to the alarm distance thresholding in FCW using the first distance and the difference of second distance.
In a kind of optional embodiment, the alarm module 405 is further adapted for:
Detect the real-time relative distance of current vehicle and target vehicle；
Judge whether real-time relative distance and the difference of revised alarm distance thresholding meet preset difference value condition, if
It is then to carry out collision warning.
In a kind of optional embodiment, the preset difference value condition be real-time relative distance and it is revised alarm away from
The ratio of the speed of difference and current vehicle from thresholding is less than the collision time thresholding in FCW.
In a kind of optional embodiment, described device further include: adjustment module 407 is suitable for working as the side velocity
When greater than predetermined threshold value, reduction adjustment is carried out to the collision time thresholding in FCW.
The embodiment of the present application provides a kind of automobile, which includes above-mentioned apparatus vehicle FCW as described in the examples
Warning device.
The embodiment of the present application provides a kind of nonvolatile computer storage media, and the computer storage medium is stored with
The alarm of the vehicle FCW in above-mentioned any means embodiment can be performed in an at least executable instruction, the computer executable instructions
Method.
Fig. 5 shows a kind of structural schematic diagram for calculating equipment according to an embodiment of the present invention, the specific embodiment of the invention
The specific implementation for calculating equipment is not limited.
As shown in figure 5, the calculating equipment may include: processor (processor) 502, communication interface
(Communications Interface) 504, memory (memory) 506 and communication bus 508.
Wherein:
Processor 502, communication interface 504 and memory 506 complete mutual communication by communication bus 508.
Communication interface 504, for being communicated with the network element of other equipment such as client or other servers etc..
Processor 502, for executing program 510, in the alarm method embodiment that can specifically execute above-mentioned vehicle FCW
Correlation step.
Specifically, program 510 may include program code, which includes computer operation instruction.
Processor 502 may be central processor CPU or specific integrated circuit ASIC (Application
Specific Integrated Circuit), or be arranged to implement the integrated electricity of one or more of the embodiment of the present invention
Road.The one or more processors that equipment includes are calculated, can be same type of processor, such as one or more CPU；It can also
To be different types of processor, such as one or more CPU and one or more ASIC.
Memory 506, for storing program 510.Memory 506 may include high speed RAM memory, it is also possible to further include
Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.
Program 510 specifically can be used for so that processor 502 executes following operation:
The fork in the road information within the scope of current vehicle traveling front preset is obtained, determines fork in the road position；
Judge current location where the target vehicle in front of current vehicle whether with fork in the road position consistency, if so,
Detect the side velocity that target vehicle is biased to fork in the road；
When the side velocity is greater than predetermined threshold value, according to the side velocity to the alarm distance thresholding in FCW
It is modified processing；
Collision warning is carried out using revised alarm distance thresholding.
In a kind of optional embodiment, program 510 can specifically be further used for so that processor 502 execute it is following
Operation:
Judge target vehicle whether in distance range interested；
If target vehicle in distance range interested, judges the current location where the target vehicle in front of current vehicle
Whether with fork in the road position consistency.
In a kind of optional embodiment, program 510 can specifically be further used for so that processor 502 execute it is following
Operation:
When calculating target vehicle according to the side velocity and being driven out to current lane, current vehicle be driven out to along track direction the
One distance；And
When calculating target vehicle according to the side velocity and being driven out to current lane, target vehicle be driven out to along track direction the
Two distances；
Processing is modified to the alarm distance thresholding in FCW using the first distance and the difference of second distance.
In a kind of optional embodiment, program 510 can specifically be further used for so that processor 502 execute it is following
Operation:
Detect the real-time relative distance of current vehicle and target vehicle；
Judge whether real-time relative distance and the difference of revised alarm distance thresholding meet preset difference value condition, if
It is then to carry out collision warning.
In a kind of optional embodiment, the preset difference value condition be real-time relative distance and it is revised alarm away from
The ratio of the speed of difference and current vehicle from thresholding is less than the collision time thresholding in FCW.
In a kind of optional embodiment, program 510 can specifically be further used for so that processor 502 execute it is following
Operation: when the side velocity is greater than predetermined threshold value, reduction adjustment is carried out to the collision time thresholding in FCW.
Algorithm and display are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
Meaning one of can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
In the warning device of microprocessor or digital signal processor (DSP) to realize vehicle FCW according to an embodiment of the present invention
The some or all functions of some or all components.The present invention is also implemented as executing method as described herein
Some or all device or device programs (for example, computer program and computer program product).Such reality
Existing program of the invention can store on a computer-readable medium, or may be in the form of one or more signals.
Such signal can be downloaded from an internet website to obtain, and perhaps be provided on the carrier signal or in any other forms
It provides.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
Claims (15)
1. a kind of alarm method of vehicle FCW characterized by comprising
The fork in the road information within the scope of current vehicle traveling front preset is obtained, determines fork in the road position；
Judge current location where the target vehicle in front of current vehicle whether with fork in the road position consistency, if so, detection
The side velocity of target vehicle deviation fork in the road；
When the side velocity is greater than predetermined threshold value, the alarm distance thresholding in FCW is carried out according to the side velocity
Correcting process；
Collision warning is carried out using revised alarm distance thresholding.
2. the method according to claim 1, wherein where the target vehicle in front of the judgement current vehicle
Current location whether with before the position consistency of fork in the road, the method also includes:
Judge target vehicle whether in distance range interested；
Current location where the target vehicle judged in front of current vehicle whether with fork in the road position consistency specifically: if
Target vehicle in distance range interested, judge current location where the target vehicle in front of current vehicle whether with branch road
Mouth position consistency.
3. method according to claim 1 or 2, which is characterized in that it is described according to the side velocity to the alarm in FCW
Distance threshold is modified processing:
According to the side velocity calculate target vehicle be driven out to current lane when, current vehicle along track direction be driven out to first away from
From；And
According to the side velocity calculate target vehicle be driven out to current lane when, target vehicle along track direction be driven out to second away from
From；
Processing is modified to the alarm distance thresholding in FCW using the first distance and the difference of second distance.
4. according to the method described in claim 3, it is characterized in that, described collided using revised alarm distance thresholding
Alarm further comprises:
Detect the real-time relative distance of current vehicle and target vehicle；
Judge whether real-time relative distance and the difference of revised alarm distance thresholding meet preset difference value condition, if so,
Carry out collision warning.
5. according to the method described in claim 4, it is characterized in that, the preset difference value condition is real-time relative distance and amendment
The ratio of the speed of the difference and current vehicle of alarm distance thresholding afterwards is less than the collision time thresholding in FCW.
6. according to the method described in claim 5, it is characterized in that, when the side velocity be greater than predetermined threshold value when, it is described
Method further include: reduction adjustment is carried out to the collision time thresholding in FCW.
7. a kind of warning device of vehicle FCW characterized by comprising
Determining module determines fork in the road position suitable for obtaining the fork in the road information within the scope of current vehicle traveling front preset；
First judgment module, suitable for judge current location where the target vehicle in front of current vehicle whether with fork in the road position
Unanimously；
Detecting module, suitable for if it is determined that the current location where the target vehicle in front of current vehicle and fork in the road position one out
It causes, then detects the side velocity that target vehicle is biased to fork in the road；
Correction module is suitable for when the side velocity is greater than predetermined threshold value, according to the side velocity to the alarm in FCW
Distance threshold is modified processing；
Alarm module is suitable for carrying out collision warning using revised alarm distance thresholding.
8. device according to claim 7, which is characterized in that described device further include:
Whether the second judgment module is suitable for judging target vehicle in distance range interested；
The first judgment module is further adapted for: if target vehicle in distance range interested, judges in front of current vehicle
Target vehicle where current location whether with fork in the road position consistency.
9. device according to claim 7 or 8, which is characterized in that the correction module is further adapted for:
According to the side velocity calculate target vehicle be driven out to current lane when, current vehicle along track direction be driven out to first away from
From；And
According to the side velocity calculate target vehicle be driven out to current lane when, target vehicle along track direction be driven out to second away from
From；
Processing is modified to the alarm distance thresholding in FCW using the first distance and the difference of second distance.
10. device according to claim 9, which is characterized in that the alarm module is further adapted for:
Detect the real-time relative distance of current vehicle and target vehicle；
Judge whether real-time relative distance and the difference of revised alarm distance thresholding meet preset difference value condition, if so,
Carry out collision warning.
11. device according to claim 10, which is characterized in that the preset difference value condition is real-time relative distance and repairs
The ratio of the speed of the difference and current vehicle of alarm distance thresholding after just is less than the collision time thresholding in FCW.
12. device according to claim 11, which is characterized in that described device further include: adjustment module is suitable for when described
When side velocity is greater than predetermined threshold value, reduction adjustment is carried out to the collision time thresholding in FCW.
13. a kind of automobile, which is characterized in that the warning device including the described in any item vehicle FCW of claim 7-12.
14. a kind of calculating equipment, comprising: processor, memory, communication interface and communication bus, the processor, the storage
Device and the communication interface complete mutual communication by the communication bus；
The memory executes the processor as right is wanted for storing an at least executable instruction, the executable instruction
Ask the corresponding operation of the alarm method of vehicle FCW described in any one of 1-6.
15. a kind of computer storage medium, an at least executable instruction, the executable instruction are stored in the storage medium
Processor is set to execute the corresponding operation of alarm method such as vehicle FCW of any of claims 1-6.
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