CN110400463A - A kind of safe driving method for early warning recommended based on best travel speed - Google Patents

A kind of safe driving method for early warning recommended based on best travel speed Download PDF

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Publication number
CN110400463A
CN110400463A CN201910684911.3A CN201910684911A CN110400463A CN 110400463 A CN110400463 A CN 110400463A CN 201910684911 A CN201910684911 A CN 201910684911A CN 110400463 A CN110400463 A CN 110400463A
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driving vehicle
current driving
travel speed
formula
current time
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CN201910684911.3A
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CN110400463B (en
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丁建勋
刘月美
李云飞
李伟康
樊银超
郭宁
朱孔金
龙建成
石琴
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合肥工业大学
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/01Detecting movement of traffic to be counted or controlled
    • G08G1/0104Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/166Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The invention discloses a kind of safe driving method for early warning recommended based on best travel speed, step includes: that 1, automobile data recorder is spaced the image document for capturing vehicle front at a fixed time;2, whether there is vehicle in front of lane where differentiating current driving vehicle using licence plate recognition method;3, if so, being then that current driving vehicle recommends best travel speed according to optimal speed model;It is that current driving vehicle recommends best travel speed according to road speed limit if nothing;4, the best travel speed range of current driving vehicle is calculated;5, the travel speed of current driving vehicle is compared with best travel speed range;6, judge whether to issue safe driving early warning to the driver of current driving vehicle.The present invention not only can be improved road actual capacity, improve road utilization rate, and can also effectively differentiating driver, whether there may be phenomenons of diverting one's attention in the process of moving, reduce the probability that traffic accident occurs.

Description

A kind of safe driving method for early warning recommended based on best travel speed

Technical field

The invention belongs to safe driving application field, specifically a kind of safety recommended based on best travel speed is driven Sail method for early warning.

Background technique

With the raising of social standard of living, vehicle guaranteeding organic quantity is increased rapidly, and road traffic pressure is also increasing, is handed over Logical Frequent Accidents, traffic imbalance between supply and demand is growing, and traffic congestion has become normality.Transport need is not able to satisfy in transportation supplies Situation under, the traffic capacity for improving road can be effectively improved traffic jam issue.

With increasing rapidly for vehicle guaranteeding organic quantity, traffic accident caused by various undesirable driving behaviors is also increasingly More, " diverting one's attention to drive " behavior is especially prominent.With the development of modern information technologies, the sci-tech products such as smart phone, vehicle mounted guidance In daily life using further frequently, these behaviors directly result in perception, reaction and the operational capacity decline of driver, indirectly Traffic safety and efficiency is caused to decline, but these harm are usually ignored by driver, this inducement table in rear-end impact accident Existing is fairly obvious, and the traffic accident that driving leads to of diverting one's attention is only second to drive when intoxicated.

At this stage to the recommendation of travel speed mainly consider the power performance factor of vehicle, vehicle energy consumption problem and drive The driving experience for the person of sailing does not account for the limitation of road traffic condition;It is either based on big data road scene information, is needed Road scene information is obtained and handled by a variety of new equipments, and implementation method is more complicated.

Summary of the invention

The present invention is to propose a kind of safety recommended based on best travel speed in place of overcoming the shortcomings of the prior art Driving warning method, to improve the traffic capacity of road, whether effective differentiation driver may deposit in the process of moving In phenomenon of diverting one's attention, to improve road utilization rate, user's travel time is reduced, reduces traffic accident rate.

In order to achieve the above object of the invention, the present invention adopts the following technical scheme:

The present invention it is a kind of based on best travel speed recommend safe driving method for early warning the characteristics of the following steps are included:

Step 1, defined variable n simultaneously initialize n=1;

Step 2 enables current time tn=T0+ n Δ t, in which: T0It is initial time, Δ t is time interval;

Step 3 obtains current time t from the automobile data recorder of current driving vehiclenA frame road ahead video Image Gn

Step 4, using licence plate recognition method to video image GnDifferentiated, to know vehicle where current driving vehicle Whether the front in road has vehicle:

Step 4.1, from the video image GnTwo lane lines in lane where middle parsing current driving vehicle simultaneously record The coordinate position of two lane lines;

Step 4.2, by the video image GnIn region between two corresponding lane line coordinate positions be defined as target Region;

Step 4.3 detects the target area according to the character feature and background color feature of license plate, obtains each A candidate region;

Step 4.4 carries out limb recognition to each candidate region, and judges whether there is edge shape and meet license plate Geometrical characteristic candidate region, and if it exists, then using corresponding candidate region as the candidate region where front truck license plate, otherwise, Lane is without vehicle in front of indicating, and is transferred to step 8;

Step 4.5 calculates the lower edges for obtaining front truck license plate in video image GnIn coordinate position and video figure As GnBottom edge respectively to the length h of the top edge subpoint of front truck license plate1(tn) and lower edge subpoint length be h2(tn), To constitute the region where front truck license plate;

Step 4.6, the actual height H (t for calculating front truck license platen);

Step 5 calculates current time t using formula (1)nThe distance between lower current driving vehicle and front truck Δ x (tn):

In formula (1): fcIt is the focal length of automobile data recorder;Pr is video image GnIn each unit pixel height;d1It is capable The distance between the headstock of vehicle recorder and current driving vehicle;

Step 6 judges previous moment t according to step 4n-1Whether there is vehicle in front of lane where lower current driving vehicle, if Have, then executes 7;Otherwise, it is transferred to step 8;

Step 7 calculates current time t using formula (2)nThe relative velocity Δ V (t of lower current driving vehicle and front truckn,n-1):

In formula (2): Δ S (tn,n-1) it is current time tnWith previous moment tn-1The current driving vehicle detected with it is preceding The difference of distance between vehicle;

Step 8 establishes current time t using formula (3)nUnder optimal speed function V (Δ x (tn)), it is obtained using formula (4) Current time tnUnder optimization acceleration a (tn), current time t is obtained using formula (5), formula (6)nUnder best travel speed Vopt (tn), to construct optimal speed model, and recommend best travel speed V for current driving vehicleopt(tn):

a(tn)=α [V (Δ x (tn))-v(tn)]+kΔV(tn,n-1) (4)

V′opt(tn)=v (tn)+a(tn)·Δt (5)

Vopt(tn)=min { V 'opt(tn),Vmax} (6)

In formula (3)-formula (6): α is the induction coefficient for adjusting car speed;v(tn) it is current time tnLower current driving vehicle Travel speed;K is the reaction coefficient that driver stimulates speed of related movement;V′opt(tn) it is theoretical best traveling speed Degree, VmaxIt is road speed limit;

Step 9 calculates current time t according to formula (7), formula (8), formula (9)nThe best travel speed of lower current driving vehicle Range [Vl(tn),Vu(tn)];

Vl(tn)=Vopt(tn)-Vfix (7)

Vu′(tn)=Vopt(tn)+Vfix (8)

Vu(tn)=min { Vu′(tn),Vmax} (9)

In formula (7)-formula (9): Vl(tn) it is current time tnThe minimum travel speed of lower recommendation;Vu′(tn) it is current time tnUnder theoretical maximum travel speed, Vu(tn) it is current time tnThe maximum travel speed of lower recommendation;VfixIt is to regulate the speed greatly Small parameter;

Step 10 judges current time tnTravel speed v (the t of lower current driving vehiclen) whether it is greater than the highest line recommended Sail speed Vu(tn), if so, being V by best travel speedopt(tn) driver of current driving vehicle is recommended, otherwise, then Execute step 11;

Step 11 calculates current time tnPole between the travel speed at the continuous m moment of current driving vehicle before Poor Δ Vb(tn), and judge Δ Vb(tn) whether it is more than or equal to threshold value L;If so, indicating that the driver of current driving vehicle may Driving condition and early warning is carried out in diverting one's attention;Otherwise, by best travel speed Vopt(tn) recommend the driving of current driving vehicle Member;

Step 12, after n+1 is assigned to n;Judge current time tnWhether lower current driving vehicle stops, if so, knot Beam early warning and recommendation;Otherwise, it is transferred to step 3.

Compared with the prior art, the beneficial effects of the present invention are embodied in:

1, the present invention provides reasonable vehicle row according to current driving vehicle front road information and road speed limit intelligence The speed and its range sailed, not only ensure that safety when vehicle driving, but also shorten the travel time, improve road utilization Rate can effectively alleviate traffic congestion.

2, whether the present invention can may divide driver using the very poor of longitudinal running speed in driving procedure The heart is differentiated that compared with prior art, data acquisition is more convenient, reduces the workload of data acquisition.

Detailed description of the invention

Fig. 1 is the flow chart of the method for the present invention;

Fig. 2 is the schematic diagram of present invention detecting current driving vehicle and preceding following distance;

Fig. 3 is the schematic diagram that the present invention calculates current driving vehicle and preceding following distance;

Fig. 4 is the schematic diagram that the present invention calculates current driving vehicle and front truck relative velocity;

Figure label: 1: automobile data recorder;2: front truck license plate;3: image plane.

Specific embodiment

As shown in Figure 1, it is a kind of based on best travel speed recommend safe driving method for early warning the following steps are included:

Step 1, defined variable n simultaneously initialize n=1;

Step 2 enables current time tn=T0+ n Δ t, in which: T0It is initial time, Δ t is time interval;

Step 3 obtains current time t from the automobile data recorder of current driving vehiclenA frame road ahead video Image Gn

Step 4, using licence plate recognition method to video image GnDifferentiated, to know vehicle where current driving vehicle Whether the front in road has vehicle:

Licence plate recognition method can specifically refer to a kind of patent of licence plate recognition method;201410241341.8.

Step 4.1, from the video image GnTwo lane lines in lane where middle parsing current driving vehicle simultaneously record The coordinate position of two lane lines;

Step 4.2, by the video image GnIn region between two corresponding lane line coordinate positions be defined as target Region;

Step 4.3 detects the target area according to the character feature and background color feature of license plate, obtains each A candidate region;

Step 4.4 carries out limb recognition to each candidate region, and judges whether there is edge shape and meet license plate Geometrical characteristic candidate region, and if it exists, then using corresponding candidate region as the candidate region where front truck license plate, otherwise, Lane is without vehicle in front of indicating, and is transferred to step 8;

Step 4.5 calculates the lower edges for obtaining front truck license plate in video image GnIn coordinate position and video figure As GnBottom edge respectively to the length h of the top edge subpoint of front truck license plate1(tn) and lower edge subpoint length be h2(tn), To constitute the region where front truck license plate;

Step 4.6, the actual height H (t for calculating front truck license platen);

It as shown in table 1, is a license plate actual height conversion table example, in the step of calculating the actual height of front truck license plate In, it calculates that the actual height of license plate is to have a conversion table in processor in advance, has license plate color, character in the conversion table Compare data with its actual height, in the presence of having recognized license plate, can by identify license plate color, character block, from should Corresponding license plate actual height H (t is obtained in conversion tablen)。

Step 5 calculates current time t using formula (1)nThe distance between lower current driving vehicle and front truck Δ x (tn):

In formula (1): fcIt is the focal length of automobile data recorder;Pr is video image GnIn each unit pixel height;d1It is capable The distance between the headstock of vehicle recorder and current driving vehicle;

As shown in Figure 2 and Figure 3, be calculate current driving vehicle and leading vehicle distance schematic diagram, it is assumed that automobile data recorder 1 with The distance between front truck tailstock is D, and the distance between automobile data recorder 1 and current driving vehicle headstock are d1, driving recording Height of the instrument 1 away from ground is Hc, the focal length of automobile data recorder 1 is fc, therefore by the upper following of automobile data recorder 1 and front truck license plate 2 Edge is connected, and the horizontal line of automobile data recorder 1 is connected with the vertical line of front truck license plate, can obtain triangle OEF and right angled triangle ONE, wherein the bottom edge length of right angled triangle ONE is D, and the length of side EF is the actual height H (t of front truck license platen);When After automobile data recorder 1 captures video image, it is equal in 1 rear distance f of the automobile data recordercPlace generates an imaginary image plane 3, the length of self imaging plane bottom end to 2 top edge subpoint B of front truck license plate is h1(tn), self imaging plane bottom end to front truck vehicle The length of 2 lower edge subpoint A of board is h2(tn), the horizontal line and image plane 3 of automobile data recorder 1 intersect at point C, can obtain three Angular OAB and right angled triangle OBC, it is known that triangle OAB is similar with triangle OEF, right angled triangle OBC and right angled triangle ONE is similar, then hasHaveTherefore current driving vehicle and front truck can be acquired The distance between be

Step 6 judges previous moment t according to step 4n-1Whether there is vehicle in front of lane where lower current driving vehicle, if Have, then executes 7;Otherwise, it is transferred to step 8;

Current time t is judged according to step 4nWhether there is the result of vehicle that can deposit in front of lane where lower current driving vehicle It is stored in processor, subsequent time tn+1When can directly acquire previous moment tnJudging result and current driving vehicle and front truck Distance, delta x (tn), distinguishingly, as n=1, need to re-execute the steps 4 judgement last moment tn-1When current driving vehicle Whether there is vehicle in front of the lane of place.

Step 7 calculates current time t using formula (2)nThe relative velocity Δ V (t of lower current driving vehicle and front truckn,n-1):

In formula (2): Δ S (tn,n-1) it is current time tnWith previous moment tn-1The current driving vehicle detected with it is preceding The difference of distance between vehicle;

As shown in figure 4, being to calculate current time tnThe schematic diagram of the relative velocity of lower current driving vehicle and front truck, Fig. 4 In (1) and (2) be t respectivelyn-1Moment and tnThe location status of moment current driving vehicle and front truck, current time tnIt is lower current The relative velocity Δ V (t of driving vehicle and front truckn,n-1) derive it is as follows:

From displacement formula:

From length velocity relation:

It can be obtained from above:

Wherein: S (tn,n-1)、Sfront(tn,n-1) it is from t respectivelyn-1To tnThe displacement of moment current driving vehicle and front truck Displacement;v(tn-1)、v(tn) it is current driving vehicle respectively in tn-1And tnWhen the travel speed inscribed;vfront(tn-1)、vfront (tn) it is front truck respectively in tn-1And tnWhen the travel speed inscribed;It is from t respectivelyn-1To tnMoment The average speed of current driving vehicle and the average speed of front truck.

Step 8 establishes current time t using formula (3)nUnder optimal speed function V (Δ x (tn)), it is obtained using formula (4) Current time tnUnder optimization acceleration a (tn), current time t is obtained using formula (5), formula (6)nUnder best travel speed Vopt (tn), to construct optimal speed model, and recommend best travel speed V for current driving vehicleopt(tn):

a(tn)=α [V (Δ x (tn))-v(tn)]+kΔV(tn,n-1) (4)

V′opt(tn)=v (tn)+a(tn)·Δt (5)

Vopt(tn)=min { V 'opt(tn),Vmax} (6)

In formula (3)-formula (6): α is the induction coefficient for adjusting car speed;v(tn) it is current time tnLower current driving vehicle Travel speed;K is the reaction coefficient that driver stimulates speed of related movement;V′opt(tn) it is theoretical best traveling speed Degree, VmaxIt is road speed limit;

It particularly, then according to road speed limit is directly current line when there is no vehicle in front of lane where current driving vehicle It sails vehicle and recommends best travel speed.

Step 9 calculates current time t according to formula (7), formula (8), formula (9)nThe best travel speed of lower current driving vehicle Range [Vl(tn),Vu(tn)];

Vl(tn)=Vopt(tn)-Vfix (7)

Vu′(tn)=Vopt(tn)+Vfix (8)

Vu(tn)=min { Vu′(tn),Vmax} (9)

In formula (7)-formula (9): Vl(tn) it is current time tnThe minimum travel speed of lower recommendation;Vu′(tn) it is current time tnUnder theoretical maximum travel speed, Vu(tn) it is current time tnThe maximum travel speed of lower recommendation;VfixIt is to regulate the speed greatly Small parameter;

Step 10 judges current time tnTravel speed v (the t of lower current driving vehiclen) whether it is greater than the highest line recommended Sail speed Vu(tn), if so, being V by best travel speedopt(tn) driver of current driving vehicle is recommended, otherwise, then Execute step 11;

Step 11 calculates current time tnPole between the travel speed at the continuous m moment of current driving vehicle before Poor Δ Vb(tn), and judge Δ Vb(tn) whether it is more than or equal to threshold value L;If so, indicating that the driver of current driving vehicle may Driving condition and early warning is carried out in diverting one's attention;Otherwise, by best travel speed Vopt(tn) recommend the driving of current driving vehicle Member;

Particularly, it as n < m, then calculates very poor between each moment speed of existing current driving vehicle.

Step 12, after n+1 is assigned to n;Judge current time tnWhether lower current driving vehicle stops, if so, knot Beam early warning and recommendation;Otherwise, it is transferred to step 3.

The function of carrying out early warning to the driver of current driving vehicle in the present invention can be realized by navigator, will be navigated Instrument is effectively combined with driving and recorder, is increased the utility function of navigator and automobile data recorder, is improved user Trip experience effect.

Claims (1)

1. a kind of safe driving method for early warning recommended based on best travel speed, it is characterized in that the following steps are included:
Step 1, defined variable n simultaneously initialize n=1;
Step 2 enables current time tn=T0+ n Δ t, in which: T0It is initial time, Δ t is time interval;
Step 3 obtains current time t from the automobile data recorder of current driving vehiclenA frame road ahead video image Gn
Step 4, using licence plate recognition method to video image GnDifferentiated, thus lane where knowing current driving vehicle Whether front has vehicle:
Step 4.1, from the video image GnTwo lane lines in lane where middle parsing current driving vehicle simultaneously record two vehicles The coordinate position of diatom;
Step 4.2, by the video image GnIn region between two corresponding lane line coordinate positions be defined as target area;
Step 4.3 detects the target area according to the character feature and background color feature of license plate, obtains each time Favored area;
Step 4.4 carries out limb recognition to each candidate region, and judges whether there is edge shape and meet the several of license plate The candidate region of what feature, and if it exists, then using corresponding candidate region as the candidate region where front truck license plate, otherwise, indicate Front lane is transferred to step 8 without vehicle;
Step 4.5 calculates the lower edges for obtaining front truck license plate in video image GnIn coordinate position and video image Gn Bottom edge respectively to the length h of the top edge subpoint of front truck license plate1(tn) and lower edge subpoint length be h2(tn), from And constitute the region where front truck license plate;
Step 4.6, the actual height H (t for calculating front truck license platen);
Step 5 calculates current time t using formula (1)nThe distance between lower current driving vehicle and front truck Δ x (tn):
In formula (1): fcIt is the focal length of automobile data recorder;Pr is video image GnIn each unit pixel height;d1It is driving note Record the distance between the headstock of instrument and current driving vehicle;
Step 6 judges previous moment t according to step 4n-1Whether there is vehicle in front of lane where lower current driving vehicle, if so, Then execute 7;Otherwise, it is transferred to step 8;
Step 7 calculates current time t using formula (2)nThe relative velocity Δ V (t of lower current driving vehicle and front truckn,n-1):
In formula (2): Δ S (tn,n-1) it is current time tnWith previous moment tn-1The current driving vehicle that detects with front truck it Between distance difference;
Step 8 establishes current time t using formula (3)nUnder optimal speed function V (Δ x (tn)), it is obtained currently using formula (4) Moment tnUnder optimization acceleration a (tn), current time t is obtained using formula (5), formula (6)nUnder best travel speed Vopt (tn), to construct optimal speed model, and recommend best travel speed V for current driving vehicleopt(tn):
a(tn)=α [V (Δ x (tn))-v(tn)]+kΔV(tn,n-1) (4)
V′opt(tn)=v (tn)+a(tn)·Δt (5)
Vopt(tn)=min { V 'opt(tn),Vmax} (6)
In formula (3)-formula (6): α is the induction coefficient for adjusting car speed;v(tn) it is current time tnLower current driving vehicle Travel speed;K is the reaction coefficient that driver stimulates speed of related movement;V′opt(tn) it is theoretical best travel speed, Vmax It is road speed limit;
Step 9 calculates current time t according to formula (7), formula (8), formula (9)nThe best travel speed range of lower current driving vehicle [Vl(tn),Vu(tn)];
Vl(tn)=Vopt(tn)-Vfix (7)
Vu′(tn)=Vopt(tn)+Vfix (8)
Vu(tn)=min { Vu′(tn),Vmax} (9)
In formula (7)-formula (9): Vl(tn) it is current time tnThe minimum travel speed of lower recommendation;Vu′(tn) it is current time tnUnder Theoretical maximum travel speed, Vu(tn) it is current time tnThe maximum travel speed of lower recommendation;VfixIt regulates the speed size Parameter;
Step 10 judges current time tnTravel speed v (the t of lower current driving vehiclen) whether it is greater than the highest traveling speed recommended Spend Vu(tn), if so, being V by best travel speedopt(tn) otherwise the driver that recommends current driving vehicle then executes Step 11;
Step 11 calculates current time tnVery poor Δ V between the travel speed at the continuous m moment of current driving vehicle beforeb (tn), and judge Δ Vb(tn) whether it is more than or equal to threshold value L;If so, indicating that the driver of current driving vehicle is likely to be at point Heart driving condition simultaneously carries out early warning;Otherwise, by best travel speed Vopt(tn) recommend the driver of current driving vehicle;
Step 12, after n+1 is assigned to n;Judge current time tnWhether lower current driving vehicle stops, if so, terminating early warning And recommendation;Otherwise, it is transferred to step 3.
CN201910684911.3A 2019-07-26 2019-07-26 Safe driving early warning method based on optimal driving speed recommendation CN110400463B (en)

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