CN109866682B - Vehicle FCW alarm method and device and automobile - Google Patents
Vehicle FCW alarm method and device and automobile Download PDFInfo
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Abstract
The invention discloses an alarming method and device for a vehicle FCW and an automobile, wherein the method comprises the following steps: acquiring turnout information in a preset range in front of the current vehicle to determine the position of the turnout; judging whether the current position of a target vehicle in front of the current vehicle is consistent with the position of the fork, if so, detecting the lateral speed of the target vehicle towards the fork; when the lateral speed is larger than a preset threshold value, correcting the alarm distance threshold in the FCW according to the lateral speed; and performing collision alarm by using the corrected alarm distance threshold. Therefore, according to the scheme of the invention, when the intersection is near, the possibility of false alarm can be reduced by correcting the alarm distance threshold value in the FCW, and the driving experience is improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an alarming method and device for a vehicle FCW and an automobile.
Background
With the continuous development of vehicle control technology, meanwhile, in order to improve driving safety, a large number of danger early Warning schemes are continuously applied to vehicles, wherein a Forward Collision early Warning system (FCW) is more typical. FCW is a driving assistance system that can effectively reduce the risk of collision, and monitors an object of interest ahead in real time by a millimeter wave radar or a camera, and warns the driver when there is a potential collision risk.
However, in various scenarios, when the existing FCW performs collision warning, the calculation manner for determining the alarm threshold is the same, which makes the determination of the alarm threshold unreasonable in some special scenarios, especially when there is a fork, and in this case, the FCW may generate false alarm, which further causes the driver's aversion and affects the driving experience.
Disclosure of Invention
In view of the above, the present invention has been made to provide a warning method, apparatus and automobile for a vehicle FCW that overcomes or at least partially solves the above problems.
According to an aspect of the present invention, there is provided an alarm method of a vehicle FCW, including:
acquiring turnout information in a preset range in front of the current vehicle to determine the position of the turnout;
judging whether the current position of a target vehicle in front of the current vehicle is consistent with the position of the fork, if so, detecting the lateral speed of the target vehicle towards the fork;
when the lateral speed is larger than a preset threshold value, correcting the alarm distance threshold in the FCW according to the lateral speed;
and performing collision alarm by using the corrected alarm distance threshold.
Optionally, before the determining whether the current position of the target vehicle in front of the current vehicle is consistent with the fork position, the method further includes:
judging whether the target vehicle is in the range of the interested distance;
the specific step of judging whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork road is as follows: and if the target vehicle is in the interested distance range, judging whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork.
Optionally, the modifying the alarm distance threshold in the FCW according to the lateral speed further includes:
calculating a first distance of the current vehicle driving out along the lane direction when the target vehicle drives out of the current lane according to the lateral speed; and the number of the first and second groups,
calculating a second distance of the target vehicle driving out along the lane direction when the target vehicle drives out of the current lane according to the lateral speed;
and correcting the alarm distance threshold in the FCW by using the difference value of the first distance and the second distance.
Optionally, the performing collision warning by using the corrected warning distance threshold further includes:
detecting the real-time relative distance between a current vehicle and a target vehicle;
and judging whether the difference value between the real-time relative distance and the corrected alarm distance threshold meets a preset difference value condition, and if so, performing collision alarm.
Optionally, the preset difference condition is that a ratio of a difference between the real-time relative distance and the corrected alarm distance threshold to the current vehicle speed is smaller than a collision time threshold in the FCW.
Optionally, when the lateral speed is greater than a preset threshold, the method further includes: a reduction adjustment is made to the time-to-collision threshold in the FCW.
According to another aspect of the present invention, there is provided a warning device of a FCW of a vehicle, including:
the determining module is suitable for acquiring the turnout information in a preset range in front of the current vehicle to determine the position of the turnout;
the first judgment module is suitable for judging whether the current position of a target vehicle in front of the current vehicle is consistent with the position of the fork;
the detection module is suitable for detecting the lateral speed of the target vehicle towards the fork if the current position of the target vehicle in front of the current vehicle is judged to be consistent with the position of the fork;
the correction module is suitable for correcting the alarm distance threshold in the FCW according to the lateral speed when the lateral speed is larger than a preset threshold value;
and the alarm module is suitable for carrying out collision alarm by utilizing the corrected alarm distance threshold.
Optionally, the apparatus further comprises:
the second judgment module is suitable for judging whether the target vehicle is in the range of the interested distance;
the first determination module is further adapted to: and if the target vehicle is in the interested distance range, judging whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork.
Optionally, the modification module is further adapted to:
calculating a first distance of the current vehicle driving out along the lane direction when the target vehicle drives out of the current lane according to the lateral speed; and the number of the first and second groups,
calculating a second distance of the target vehicle driving out along the lane direction when the target vehicle drives out of the current lane according to the lateral speed;
and correcting the alarm distance threshold in the FCW by using the difference value of the first distance and the second distance.
Optionally, the alarm module is further adapted to:
detecting the real-time relative distance between a current vehicle and a target vehicle;
and judging whether the difference value between the real-time relative distance and the corrected alarm distance threshold meets a preset difference value condition, and if so, performing collision alarm.
Optionally, the preset difference condition is that a ratio of a difference between the real-time relative distance and the corrected alarm distance threshold to the current vehicle speed is smaller than a collision time threshold in the FCW.
Optionally, the apparatus further comprises: and the adjusting module is suitable for reducing and adjusting the collision time threshold in the FCW when the lateral speed is greater than a preset threshold value.
According to a further aspect of the invention, there is provided an automobile comprising the warning device of the vehicle FCW of any of the above.
According to yet another aspect of the present invention, there is provided a computing device comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the alarm method of the vehicle FCW.
According to yet another aspect of the present invention, there is provided a computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the warning method of the vehicle FCW as described above.
According to the warning method and device for the vehicle FCW and the automobile, whether the current position of a target vehicle in front of the current vehicle is consistent with the position of the fork or not is judged aiming at the situation that the fork exists in the preset range in front of the current vehicle, so that whether the demand of warning by using the scheme of the embodiment exists or not is determined; if the vehicle is detected to be in the intersection, correcting the alarm distance threshold by detecting the lateral speed of the target vehicle towards the intersection so that the corrected alarm distance threshold is more in line with the current anti-collision situation of the intersection; the corrected alarm distance threshold is used for collision alarm, so that accurate alarm can be performed according to the current situation, the possibility of false alarm is reduced, and the driving experience of a driver is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 illustrates a flow chart of a method of alerting a vehicle FCW according to one embodiment of the present invention;
FIG. 2 illustrates a flow chart of a method of alerting a vehicle FCW according to another embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a positional relationship of a current vehicle to a target vehicle in one particular embodiment;
FIG. 4 shows a functional block diagram of an alarm device of a vehicle FCW according to one embodiment of the present invention;
FIG. 5 illustrates a schematic structural diagram of a computing device according to an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 shows a flow chart of a warning method of a vehicle FCW according to one embodiment of the invention. As shown in fig. 1, the method includes:
step S101: acquiring the turnout information in a preset range in front of the current vehicle to determine the position of the turnout.
The invention provides an accurate FCW collision early warning scheme mainly aiming at the condition of a front fork intersection so as to reduce the condition of false alarm.
Specifically, acquiring fork information according to the running position of the current vehicle and road information in a preset range in front of the running position; the road condition information in the preset range can be determined through a map or navigation. Then, the specific position of the fork is determined so as to accurately alarm for the collision condition of the fork.
Step S102: and judging whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork. If yes, go to step S103; if not, the method ends.
The fact that the current position of the target vehicle is consistent with the position of the fork point means that the target vehicle is within the position range which can turn to the fork point.
Specifically, when the current position of the target vehicle is consistent with the position of the fork, the requirement of early warning by using the scheme of the invention exists, and step S103 is executed to perform corresponding adjustment aiming at warning; otherwise, the existing FCW alarm scheme can be directly used for early warning, and accordingly the method is finished.
Step S103: and detecting the lateral speed of the target vehicle towards the fork.
Here, the lateral speed also refers to the speed of the target vehicle in the direction perpendicular to the lane.
Specifically, the lateral speed of the target vehicle is detected by a sensing device such as a sensor or a camera.
Step S104: and when the lateral speed is greater than a preset threshold value, correcting the alarm distance threshold in the FCW according to the lateral speed.
In the actual driving process, when the lateral speed of the front target vehicle is higher, it is indicated that the target vehicle can rapidly exit the current lane, the possibility of collision is reduced (compared with the situation without the lateral speed or with the lateral speed less than or equal to the preset threshold value), and if the alarm is performed according to the conventional alarm scheme, false alarm is likely to be generated. Based on the method, the alarm distance threshold is corrected by setting the preset threshold value and when the lateral speed is greater than the preset threshold value, so that accurate alarm is realized.
It should be noted that, the specific correction mode of the correction processing is not limited, and optionally, the correction may be performed according to the magnitude of the lateral speed, for example, the larger the lateral speed is, the larger the alarm distance threshold value is; alternatively, the correction may be made according to the speeds of the current vehicle and the target vehicle in the lane direction, for example, the greater the speed of the target vehicle in the lane direction exceeds the speed of the current vehicle in the lane direction, the greater the warning distance threshold value.
Step S105: and performing collision alarm by using the corrected alarm distance threshold.
According to the warning method of the vehicle FCW provided by the embodiment, aiming at the situation that the fork exists in the preset range in front of the current vehicle, whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork is judged so as to determine whether the demand of warning by using the scheme of the embodiment exists; if the vehicle is detected to be in the intersection, correcting the alarm distance threshold by detecting the lateral speed of the target vehicle towards the intersection so that the corrected alarm distance threshold is more in line with the current anti-collision situation of the intersection; the corrected alarm distance threshold is used for collision alarm, so that accurate alarm can be performed according to the current situation, the possibility of false alarm is reduced, and the driving experience of a driver is improved.
Fig. 2 shows a flow chart of a warning method of a vehicle FCW according to another embodiment of the invention.
As shown in fig. 2, the method includes:
step S201: acquiring the turnout information in a preset range in front of the current vehicle to determine the position of the turnout.
Specifically, acquiring fork information according to the running position of the current vehicle and road information in a preset range in front of the running position; the road condition information in the preset range can be determined through a map or navigation. And then, determining the specific position of the fork so as to accurately warn the collision condition of the fork. The intersection position specifically comprises intersection positions of the left side and the right side of the intersection and the edge of the current road.
For example, FIG. 3 illustrates a schematic diagram of the positional relationship of a current vehicle to a target vehicle in one particular embodiment. As shown in fig. 3, where the own vehicle is the current vehicle in the text, the preset range is within X meters in front of the current vehicle, and the intersection in fig. 3 is determined to be located within the preset range by searching for the road information within the preset range, the intersection information is obtained, and the positions of the intersection a and the intersection B between the left side n1 and the right side n2 of the intersection and the edge of the current road are determined.
Step S202: and judging whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork. If yes, go to step S203; if not, the method ends.
The scheme of the embodiment is suitable for a collision early warning scene, and whether the target vehicle is in the range of the interested distance needs to be judged. And if the target vehicle is within the range of the distance of interest, judging whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork. If yes, executing step S203 to correspondingly adjust the alarm condition of the fork; if not, the method can be finished by carrying out early warning according to a general early warning process.
The fact that the current position of the target vehicle is consistent with the position of the fork point means that the target vehicle is within the position range which can turn to the fork point. Taking fig. 3 as an example, the agreement here may be that the vehicle head of the target vehicle is in the range between the corresponding points a and B in the lane direction, i.e., in the range S in fig. 3. It should be noted that the situation in fig. 3 is only a specific example, and the invention is not limited thereto.
Step S203: and detecting the lateral speed of the target vehicle towards the fork.
Here, the lateral speed also refers to the speed of the target vehicle in the direction perpendicular to the lane. For example, in FIG. 3, the lateral velocity is Vy. Specifically, the lateral speed of the target vehicle is detected by a sensing device such as a sensor or a camera.
Step S204: when the lateral speed is larger than a preset threshold value, calculating a first distance of the current vehicle driving out along the lane direction and a second distance of the target vehicle driving out along the lane direction when the target vehicle drives out of the current lane according to the lateral speed.
Specifically, when the lateral speed is greater than the preset threshold value, the target vehicle can rapidly exit the current lane, the corresponding possibility of collision is low, the exit time of the target vehicle exiting the current lane is estimated, and the alarm distance threshold is corrected according to the first distance and the second distance of the current vehicle and the target vehicle respectively exiting along the lane direction within the exit time. Wherein the preset threshold value can be set to be 0.5 m/s.
In one specific embodiment, the calculation is as follows:
firstly, estimating the driving-out time delta t of the target vehicle completely driving out of the current lane as delta y/Vy; where Δ y is a vertical distance between the target vehicle and the edge of the side where the intersection of the current lane is located.
Second, calculate the first distance Δ L1:
in the formula, Ve is the current running speed of the vehicle.
Thirdly, calculating a second distance Δ L2:
where Vx is the speed of the target vehicle in the lane direction.
Step S205: and correcting the alarm distance threshold in the FCW by using the difference value of the first distance and the second distance.
Specifically, the greater the difference between the first distance and the second distance, the greater the possibility that the current vehicle collides with the target vehicle, and accordingly, a more sensitive warning distance threshold needs to be set, that is, the warning distance threshold is reduced. Based on the above, the alarm distance threshold in the FCW is corrected.
In some optional embodiments of the present invention, the modification process specifically includes the following steps:
firstly, for the conventional FCW, the calculation formula of the alarm distance threshold Ds is unified,
in the formula, aeAs acceleration of the current vehicle, vtIs the running speed of the target vehicle, atIn the case of acceleration of the target vehicle, t is the driver reaction time, k is a constant, and k may be set to 4.5.
Then, the alarm distance threshold Ds obtained by the conventional calculation is corrected to obtain a corrected alarm distance threshold DsThe specific calculation process of the correction processing is as follows:
Ds,＝Ds+ΔL1-ΔL2
namely:
as can be seen from the above formula, on the basis of the alarm distance threshold Ds determined by conventional calculation, the alarm distance threshold D after correction in the embodimentsFurther, the lateral speed Vy of the target vehicle and the speed Vx of the target vehicle in the lane direction are considered, that is, the situation that the target vehicle drives to the intersection is sufficiently considered.
Step S206: and performing collision alarm by using the corrected alarm distance threshold.
After obtaining the corrected alarm distance threshold DsThen, at presentDetecting the real-time relative distance between a current vehicle and a target vehicle in the running process of the vehicle; and judging whether the difference value between the corrected alarm distance threshold and the real-time relative distance meets a preset difference value condition, and if so, performing collision alarm. Optionally, the preset difference condition may be that the difference between the real-time relative distance and the alarm distance threshold is smaller than a specific value; or, the preset condition may be that the ratio of the difference value between the real-time relative distance and the alarm distance threshold to the current vehicle speed is smaller than a preset value. In one specific embodiment, the preset difference condition is that the ratio of the difference between the real-time relative distance and the corrected alarm distance threshold to the current vehicle speed is less than the time-to-collision threshold in the FCW. In a conventional situation, the collision time threshold is t1, and in the collision early warning scenario of the fork applicable to this embodiment, optionally, when the lateral speed is detected to be greater than the preset threshold, the collision time threshold in the FCW is reduced and adjusted, that is, the adjusted collision time threshold is t2<t 1. Through the reduction adjustment, the robustness of the FCW can be improved while the false alarm is reduced.
For example, in a conventional alarm, the condition satisfied at the time of the alarm is (Ds-D)0)/ve<2s, wherein D0Is a real-time relative distance; in the present embodiment, the condition to be satisfied at the time of alarm is (D)s,-D0)/ve<1.8s。
According to the warning method of the vehicle FCW provided by the embodiment, aiming at the situation that the fork exists in the preset range in front of the current vehicle, whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork is judged so as to determine whether the demand of warning by using the scheme of the embodiment exists; if the lane departure warning information exists, when the lateral speed is larger than the preset threshold value, calculating a first distance of the current vehicle along the lane direction when the target vehicle exits the current lane and a second distance of the target vehicle along the lane direction according to the lateral speed, and correcting the warning distance threshold by using the first distance and the second distance so that the corrected warning distance threshold is more in line with the current anti-collision situation of the intersection; the corrected alarm distance threshold is used for collision alarm, so that accurate alarm can be performed according to the current situation, the possibility of false alarm is reduced, and the driving experience of a driver is improved.
Fig. 4 shows a functional block diagram of a warning device of a vehicle FCW according to an embodiment of the present invention.
As shown in fig. 4, the apparatus includes:
the determining module 401 is adapted to obtain fork information in a preset range in front of the current vehicle to determine the position of the fork;
a first judging module 402, adapted to judge whether a current position of a target vehicle in front of a current vehicle is consistent with a fork position;
the detection module 403 is adapted to detect the lateral speed of the target vehicle toward the fork if it is determined that the current position of the target vehicle ahead of the current vehicle is consistent with the position of the fork;
a correcting module 404, adapted to correct the alarm distance threshold in the FCW according to the lateral speed when the lateral speed is greater than a preset threshold;
and the alarm module 405 is adapted to perform collision alarm by using the corrected alarm distance threshold.
In an alternative embodiment, the apparatus further comprises:
a second determination module 406 adapted to determine whether the target vehicle is within the distance range of interest;
the first determining module 402 is further adapted to: and if the target vehicle is in the interested distance range, judging whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork.
In an alternative embodiment, the modification module 404 is further adapted to:
calculating a first distance of the current vehicle driving out along the lane direction when the target vehicle drives out of the current lane according to the lateral speed; and the number of the first and second groups,
calculating a second distance of the target vehicle driving out along the lane direction when the target vehicle drives out of the current lane according to the lateral speed;
and correcting the alarm distance threshold in the FCW by using the difference value of the first distance and the second distance.
In an alternative embodiment, the alarm module 405 is further adapted to:
detecting the real-time relative distance between a current vehicle and a target vehicle;
and judging whether the difference value between the real-time relative distance and the corrected alarm distance threshold meets a preset difference value condition, and if so, performing collision alarm.
In an alternative embodiment, the preset difference condition is that the ratio of the difference between the real-time relative distance and the corrected alarm distance threshold to the current vehicle speed is smaller than the collision time threshold in the FCW.
In an alternative embodiment, the apparatus further comprises: the adjusting module 407 is adapted to perform a reduction adjustment on the collision time threshold in the FCW when the lateral speed is greater than a preset threshold value.
The embodiment of the application provides an automobile which comprises the alarm device of the vehicle FCW in the device embodiment.
The embodiment of the application provides a non-volatile computer storage medium, wherein the computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the alarm method of the vehicle FCW in any method embodiment.
Fig. 5 is a schematic structural diagram of a computing device according to an embodiment of the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the computing device.
As shown in fig. 5, the computing device may include: a processor (processor)502, a Communications Interface 504, a memory 506, and a communication bus 508.
Wherein:
the processor 502, communication interface 504, and memory 506 communicate with one another via a communication bus 508.
A communication interface 504 for communicating with network elements of other devices, such as clients or other servers.
The processor 502, configured to execute the program 510, may specifically execute the relevant steps in the above-described warning method embodiment of the vehicle FCW.
In particular, program 510 may include program code that includes computer operating instructions.
The processor 502 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the present invention. The computing device includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 506 for storing a program 510. The memory 506 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 510 may specifically be used to cause the processor 502 to perform the following operations:
acquiring turnout information in a preset range in front of the current vehicle to determine the position of the turnout;
judging whether the current position of a target vehicle in front of the current vehicle is consistent with the position of the fork, if so, detecting the lateral speed of the target vehicle towards the fork;
when the lateral speed is larger than a preset threshold value, correcting the alarm distance threshold in the FCW according to the lateral speed;
and performing collision alarm by using the corrected alarm distance threshold.
In an alternative embodiment, the program 510 may specifically be further configured to cause the processor 502 to perform the following operations:
judging whether the target vehicle is in the range of the interested distance;
and if the target vehicle is in the interested distance range, judging whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork.
In an alternative embodiment, the program 510 may specifically be further configured to cause the processor 502 to perform the following operations:
calculating a first distance of the current vehicle driving out along the lane direction when the target vehicle drives out of the current lane according to the lateral speed; and the number of the first and second groups,
calculating a second distance of the target vehicle driving out along the lane direction when the target vehicle drives out of the current lane according to the lateral speed;
and correcting the alarm distance threshold in the FCW by using the difference value of the first distance and the second distance.
In an alternative embodiment, the program 510 may specifically be further configured to cause the processor 502 to perform the following operations:
detecting the real-time relative distance between a current vehicle and a target vehicle;
and judging whether the difference value between the real-time relative distance and the corrected alarm distance threshold meets a preset difference value condition, and if so, performing collision alarm.
In an alternative embodiment, the preset difference condition is that the ratio of the difference between the real-time relative distance and the corrected alarm distance threshold to the current vehicle speed is smaller than the collision time threshold in the FCW.
In an alternative embodiment, the program 510 may specifically be further configured to cause the processor 502 to perform the following operations: and when the lateral speed is greater than a preset threshold value, reducing and adjusting the collision time threshold in the FCW.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the warning device of the vehicle FCW in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (13)
1. A warning method for a vehicle FCW, comprising:
acquiring turnout information in a preset range in front of the current vehicle to determine the position of the turnout;
judging whether the current position of a target vehicle in front of the current vehicle is consistent with the position of the fork, if so, detecting the lateral speed of the target vehicle towards the fork;
when the lateral speed is larger than a preset threshold value, correcting the alarm distance threshold in the FCW according to the lateral speed; calculating a first distance DeltaL 1 of the current vehicle driving out along the lane direction when the target vehicle drives out of the current lane according to the lateral speed; calculating a second distance DeltaL 2 of the target vehicle driving out along the lane direction when the target vehicle driving out of the current lane according to the lateral speed; correcting the warning distance threshold D in FCWs’＝Ds+. DELTA L1-DELTA L2 wherein DsThe existing alarm distance threshold in the FCW is set;
and performing collision alarm by using the corrected alarm distance threshold.
2. The method of claim 1, wherein prior to said determining whether the current position of the target vehicle ahead of the current vehicle is consistent with the intersection position, the method further comprises:
judging whether the target vehicle is in the range of the interested distance;
the specific step of judging whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork road is as follows: and if the target vehicle is in the interested distance range, judging whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork.
3. The method of claim 1 or 2, wherein the using the modified warning distance threshold for collision warning further comprises:
detecting the real-time relative distance between a current vehicle and a target vehicle;
and judging whether the difference value between the real-time relative distance and the corrected alarm distance threshold meets a preset difference value condition, and if so, performing collision alarm.
4. The method of claim 3, wherein the predetermined difference condition is that a ratio of a difference between the real-time relative distance and the modified warning distance threshold to the current vehicle speed is less than a time-to-collision threshold in the FCW.
5. The method of claim 4, wherein when the lateral velocity is greater than a preset threshold, the method further comprises: a reduction adjustment is made to the time-to-collision threshold in the FCW.
6. An alarm device of a vehicle FCW, comprising:
the determining module is suitable for acquiring the turnout information in a preset range in front of the current vehicle to determine the position of the turnout;
the first judgment module is suitable for judging whether the current position of a target vehicle in front of the current vehicle is consistent with the position of the fork;
the detection module is suitable for detecting the lateral speed of the target vehicle towards the fork if the current position of the target vehicle in front of the current vehicle is judged to be consistent with the position of the fork;
the correction module is suitable for correcting the alarm distance threshold in the FCW according to the lateral speed when the lateral speed is larger than a preset threshold value;
the alarm module is suitable for carrying out collision alarm by utilizing the corrected alarm distance threshold;
wherein the correction module is further adapted to: calculating a first distance DeltaL 1 of the current vehicle driving out along the lane direction when the target vehicle drives out of the current lane according to the lateral speed; calculating a second distance DeltaL 2 of the target vehicle driving out along the lane direction when the target vehicle driving out of the current lane according to the lateral speed; correcting the warning distance threshold D in FCWs ’＝Ds+. DELTA L1-DELTA L2 wherein DsIs the existing alarm distance threshold in the FCW.
7. The apparatus of claim 6, further comprising:
the second judgment module is suitable for judging whether the target vehicle is in the range of the interested distance;
the first determination module is further adapted to: and if the target vehicle is in the interested distance range, judging whether the current position of the target vehicle in front of the current vehicle is consistent with the position of the fork.
8. The apparatus of claim 6 or 7, wherein the alarm module is further adapted to:
detecting the real-time relative distance between a current vehicle and a target vehicle;
and judging whether the difference value between the real-time relative distance and the corrected alarm distance threshold meets a preset difference value condition, and if so, performing collision alarm.
9. The apparatus of claim 8 wherein the predetermined difference condition is that a ratio of a difference between the real-time relative distance and the modified warning distance threshold to the current vehicle speed is less than a time-to-collision threshold in the FCW.
10. The apparatus of claim 9, further comprising: and the adjusting module is suitable for reducing and adjusting the collision time threshold in the FCW when the lateral speed is greater than a preset threshold value.
11. An automobile, characterized by comprising the warning device of a vehicle FCW according to any one of claims 6-10.
12. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to perform operations corresponding to the method of alerting a vehicle FCW of any of claims 1-5.
13. A computer storage medium having stored therein at least one executable instruction that causes a processor to perform operations corresponding to the method of alerting a vehicle FCW of any one of claims 1-5.
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