CN110562137A - vehicle anti-collision method and device and vehicle - Google Patents
vehicle anti-collision method and device and vehicle Download PDFInfo
- Publication number
- CN110562137A CN110562137A CN201910866316.1A CN201910866316A CN110562137A CN 110562137 A CN110562137 A CN 110562137A CN 201910866316 A CN201910866316 A CN 201910866316A CN 110562137 A CN110562137 A CN 110562137A
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- China
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- vehicle
- height
- limiting rod
- obu
- information
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
Abstract
the embodiment of the invention discloses a vehicle anti-collision method, a device and a vehicle, wherein the method comprises the following steps: if the vehicle passes through the height limiting rod, the OBU on the vehicle is connected with the RSU corresponding to the height limiting rod, and height limiting information sent by the RSU is received; then, the OBU may generate a prompt message based on the received height limiting information, where the prompt message is used to indicate that there is a height limiting rod in front of the vehicle that cannot safely pass through, and prompt the vehicle to detour or stop. Like this, through the communication between the RSU that OBU on the vehicle and limit for height pole correspond, can let the vehicle know the limit for height pole on the road in the place ahead in advance, and the size relation of the height of judgement vehicle that can be intelligent and the height of limit for height pole determines whether the vehicle can be safe pass through the limit for height pole to in time send the suggestion on the vehicle under the circumstances that the affirmation can not pass through safely, make the vehicle can avoid colliding with the limit for height pole, improve road traffic safety.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle anti-collision method and device and a vehicle.
background
at present, a plurality of roads are all provided with height-limiting rods, and the height-limiting rods are mainly used for limiting the height of vehicles passing through the roads and have certain positive significance for the safety of traffic participants such as the roads, the vehicles and the like. On one hand, the road can be ensured to be smooth to a certain extent, and the damage to the road surface is reduced; on the other hand, it is possible to avoid influencing the facilities above the road, such as: important cables, pipelines, culverts, highway bridges or railway bridges, etc.
however, the height-limiting rod also brings certain traffic hidden troubles for people going out, and for the newly installed height-limiting rod or the situation of an unfamiliar road condition, a driver can easily ignore the height-limiting rod, and a vehicle (such as a double-layer bus) with higher driving height collides with the height-limiting rod, thereby bringing potential safety hazards to drivers and passengers and other traffic participants. Therefore, it is desirable to provide a solution to avoid a collision between the vehicle and the height bar.
Disclosure of Invention
The embodiment of the invention provides a vehicle anti-collision method, a device and a vehicle, which can enable the vehicle to know a height limiting rod on a front road in advance through communication between the vehicle and the height limiting rod, so that the vehicle can effectively avoid collision with the height limiting rod, and the road traffic safety is improved.
in a first aspect, a vehicle collision avoidance method is provided, which is applied to an On Board Unit (OBU), and includes:
receiving height limit information sent by a Road Side Unit (RSU for short) of a height limit rod;
and generating prompt information according to the height limiting information, wherein the prompt information is used for representing that the height limiting rod which cannot safely pass through is arranged in front of the vehicle and prompting the vehicle to detour or stop.
Optionally, if the height limit information includes the height of the height limit rod, the generating a prompt message according to the height limit information includes:
and if the height of the height limiting rod is not greater than the height of the vehicle, generating the prompt message.
Optionally, if the height limit information includes a comparison result of the RSU for the height of the height limit lever and the height of the vehicle, the generating a prompt message according to the height limit information includes:
And generating prompt information according to the comparison result.
Optionally, before receiving the height limit information sent by the road side unit RSU of the height limit pole, the method further comprises:
Establishing a connection with the RSU;
Receiving height limit information sent by a Road Side Unit (RSU) of a height limit rod, specifically: and receiving height limiting information of the height limiting rod sent by the RSU through the connection.
Optionally, the method further comprises:
And acquiring the distance between the vehicle and the height limiting rod, wherein the prompt information is also used for prompting the distance between the height limiting rod and the vehicle.
Optionally, the method further comprises:
acquiring running state information of the vehicle;
And adjusting the frequency of generating the prompt message based on the running state information, wherein the speed of the vehicle in the running state information is positively correlated with the frequency of generating the prompt message, and the prompt message is also used for prompting the distance between the height limiting rod and the vehicle at the current moment.
Optionally, the method further comprises:
If it is determined that the vehicle and the height limiting rod have the risk of collision based on the running state information, generating a control command;
And sending the control instruction to a controller of the vehicle, so that the controller controls the vehicle to reduce the speed of the vehicle to zero before the vehicle collides with the height limiting rod, or controls the vehicle to change the running direction.
in a second aspect, an embodiment of the present invention further provides a vehicle collision prevention device, which is applied to an on-board unit OBU, and includes:
the first receiving unit is used for receiving height limiting information sent by a Road Side Unit (RSU) of the height limiting rod;
and the first generating unit is used for generating prompt information according to the height limit information, wherein the prompt information is used for representing that the height limit rod which cannot safely pass through is arranged in front of the vehicle and prompting that the vehicle needs to detour or stop.
Optionally, if the height limiting information includes the height of the height limiting rod, the first generating unit is specifically configured to:
And if the height of the height limiting rod is not greater than the height of the vehicle, generating the prompt message.
optionally, if the height limiting information includes a comparison result of the RSU on the height of the height limiting rod and the height of the vehicle, the first generating unit is specifically configured to:
And generating prompt information according to the comparison result.
Optionally, the apparatus further comprises:
the connection establishing unit is used for establishing connection between the OBU and the RSU before receiving height limit information sent by a Road Side Unit (RSU) of a height limit rod;
The first receiving unit is specifically configured to: and receiving height limiting information of the height limiting rod sent by the RSU through the connection.
Optionally, the apparatus further comprises:
The first acquisition unit is used for acquiring the distance between the vehicle and the height limiting rod, and the prompt information is also used for prompting the distance between the height limiting rod and the vehicle.
optionally, the apparatus further comprises:
A second acquisition unit configured to acquire running state information of the vehicle;
and the adjusting unit is used for adjusting the frequency of generating the prompt information based on the running state information, wherein the speed of the vehicle in the running state information is positively correlated with the frequency of generating the prompt information, and the prompt information is also used for prompting the distance between the height limiting rod and the vehicle at the current moment.
Optionally, the apparatus further comprises:
The second generation unit is used for generating a control command if the OBU determines that the vehicle and the height limiting rod have the risk of collision based on the running state information;
And the sending unit is used for sending the control command to a controller of the vehicle so that the controller controls the vehicle to reduce the speed of the vehicle to zero before the vehicle collides with the height limiting rod or controls the vehicle to change the running direction.
In a third aspect, an embodiment of the present invention further provides a vehicle, where the vehicle includes an on-board unit OBU, a play unit, and a controller;
the OBU is used for executing the method provided by the first aspect, and communicating with a road side unit RSU of a height limiting rod to avoid collision with the height limiting rod;
The playing unit is used for playing prompt information generated by the OBU and prompting that the height limiting rod is arranged in front of the vehicle;
And the controller is used for controlling the vehicle to run according to a control instruction or the operation of a driver, and the control instruction is sent to the controller by the OBU.
In a fourth aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes a processor and a memory:
The memory is used for storing a computer program;
The processor is configured to perform the method provided by the first aspect above according to the computer program.
in a fifth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium is configured to store a computer program, where the computer program is configured to execute the method provided in the first aspect.
therefore, in an embodiment of the present invention, a vehicle collision prevention method is provided, which is suitable for a vehicle including an On Board Unit (OBU), especially a vehicle with a relatively high height such as a double-deck bus and a large truck, and the vehicle collision prevention method specifically includes: if the vehicle is going to pass through the height limiting rod, the OBU on the vehicle can establish connection with a Road Side Unit (RSU for short) corresponding to the height limiting rod and receive height limiting information sent by the RSU of the height limiting rod; at this time, the OBU may generate a prompt message based on the received height limit information, the prompt message being used to indicate that there is a height limit rod in front of the vehicle that cannot safely pass through, and prompt that the vehicle needs to detour or stop. Like this, through communication and data interaction between the RSU that OBU on the vehicle and limit for height pole correspond, can let the vehicle know the limit for height pole on the road in the place ahead in advance, and the big or small relation between the height of the high pole of judgement vehicle that can be intelligent and the height of limit for height pole, whether effectual definite vehicle can be safe pass through the limit for height pole to in time send the suggestion on the vehicle under the circumstances that the affirmation can not pass through safely, make the vehicle can effectively avoid with limit for height pole bump, improve road traffic safety.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art to obtain other drawings according to these drawings.
FIG. 1 is a block diagram of a network system according to an embodiment of the present invention;
Fig. 2 is a schematic flow chart of a method for preventing collision of a vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle collision prevention device according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
Detailed Description
in order to maintain roads and ensure the safety of traffic participants, vehicles passing through the roads are limited by arranging a height limiting rod on a plurality of roads, namely, only vehicles with the height lower than the limiting height of the height limiting rod are allowed to pass through the height limiting rod and run on the road in front of the height limiting rod, and vehicles with the height higher than the limiting height of the height limiting rod are not allowed to pass through the height limiting rod, so that the problems of road congestion or road surface damage to the section of road caused by the fact that the vehicles with the height higher than the limiting height run on the road in front of the height limiting rod are avoided to a certain extent, and the influence on facilities (such as important cables, pipelines, culverts, high-speed road bridges or railway bridges and the like) above the roads on which the height limiting rod is located can also be avoided.
However, the height-limiting rod brings safety guarantee to traffic participants, and meanwhile, certain potential safety hazards exist, for example, for a newly installed height-limiting rod, a driver may not pay attention to the height-limiting rod, or the height of the height-limiting rod cannot be correctly estimated, so that the driver is very likely to collide with a vehicle (such as a double-deck bus) with a higher driving height; alternatively, if the driver drives through an unfamiliar road, the driver may easily ignore the height-limiting pole, or may not be able to correctly predict the height of the height-limiting pole, and a vehicle with a higher driving height collides with the height-limiting pole. Therefore, in some cases, the vehicle is very easy to collide with the height-limiting rod, and once the height-limiting rod collides with the vehicle, unpredictable potential safety hazards are brought to drivers and passengers and other traffic participants.
Based On this, the embodiment of the present invention provides a vehicle anti-collision method, apparatus and vehicle, which are suitable for vehicles including On Board Units (OBUs), especially for vehicles with higher heights such as double-deck buses and large trucks, and the vehicle anti-collision method may specifically include: if the vehicle is going to pass through the height limiting rod, the OBU on the vehicle can establish connection with a Road Side Unit (RSU for short) corresponding to the height limiting rod and receive height limiting information sent by the RSU of the height limiting rod; at this time, the OBU may generate a prompt message based on the received height limit information, the prompt message being used to indicate that there is a height limit rod in front of the vehicle that cannot safely pass through, and prompt that the vehicle needs to detour or stop. Like this, through communication and data interaction between the RSU that OBU on the vehicle and limit for height pole correspond, can let the vehicle know the limit for height pole on the road in the place ahead in advance, and the big or small relation between the height of the high pole of judgement vehicle that can be intelligent and the height of limit for height pole, whether effectual definite vehicle can be safe pass through the limit for height pole to in time send the suggestion on the vehicle under the circumstances that the affirmation can not pass through safely, make the vehicle can effectively avoid with limit for height pole bump, improve road traffic safety.
for example, one of the scenarios of the embodiment of the present invention may be applied to the scenario shown in fig. 1. The scene comprises the following steps: vehicle 100 and limit for height pole 200, wherein, vehicle 100 can include: the OBU 110, the playing unit 120 and the controller 130, and the height limiting rod 200 correspond to the RSU 210.
as an example, assuming that the height-limiting rod 200 is assumed to be 2.5 meters above the road A, when the vehicle 100 travels on the road A and approaches the height-limiting rod 200, the OBU 110 on the vehicle 100 may establish a connection with the RSU210 corresponding to the height-limiting rod 200 within a communicable range (e.g., 50 meters); at this time, the RSU210 may transmit height limit information such as the height limit of the height limit lever 200 (hereinafter, simply referred to as the height of the height limit lever) to the OBU 110 of the vehicle 100; then, the OBU 110 may determine whether the height of the vehicle 100 is less than the height of the height limit rod 200 based on the received height of the height limit rod 200, if so, it indicates that the vehicle 100 can safely pass through the height limit rod 200, and if not, it indicates that the vehicle 100 collides with the height limit rod 200 when passing through the height limit rod 200, and then, in order to avoid the collision, the OBU 110 may generate a prompt message, for example: the voice prompt message or the text prompt message 'please notice the limited height pole 50 meters ahead, the limited height is 2.5 meters, the limited height cannot pass safely, and please detour', and the prompt message is played through the playing unit 120 of the vehicle 100 to prompt the driver to stop or detour in time, so as to avoid collision with the limited height pole 200. It is understood that, in order to ensure safety, when there is a collision risk, the OBU 110 and the RSU 120 may continuously communicate and play the relative position between the height limiting rod 200 and the vehicle 100 through the playing unit 120 to ensure safety of the vehicle 100; furthermore, when the vehicle 100 is in the manual driving mode and no driving behavior such as parking or detouring is performed or the vehicle is in the non-safety braking range, or when the vehicle 100 is in the automatic driving mode, the OBU 110 may generate a control command and transmit the control command to the controller 130, and the controller 130 controls the vehicle to safely park or detour according to the control command, so as to avoid collision with the height limiting rod 200.
The OBU 110 may be a module mounted on the vehicle 100 when the vehicle 100 is shipped from a factory, or may be a module mounted later in the use process of the vehicle 100, and is used for communicating with road-side equipment, for example: and road side units such as an RSU210 of the height limiting rod 200, an RSU of a traffic light or an RSU of a parking pile. The RSU210 corresponding to the height-limiting rod 200 may be specifically installed on the height-limiting rod 200, or may be installed at another position near the height-limiting rod 200, and the specific installation position is not specifically limited in the embodiment of the present invention.
it is to be understood that the above scenario is only one scenario example provided by the embodiment of the present invention, and the embodiment of the present invention is not limited to this scenario.
The following describes a specific implementation manner of a vehicle collision avoidance method according to an embodiment of the present invention in detail by way of embodiments with reference to the accompanying drawings.
fig. 2 is a schematic flow chart of a vehicle collision avoidance method according to an embodiment of the present invention. Referring to fig. 2, the method is applied to an on board unit OBU, and may specifically include:
Step 201, receiving height limit information sent by a road side unit RSU of a height limit rod.
It is understood that the OBU refers to a microwave device installed on a vehicle and communicating with the RSU using a Dedicated Short Range Communication (DSRC) technology. Compared with a communication mode of a non-contact card, the OBU and the RSU can realize long-distance communication, for example, communication within a range of 1 kilometer can be realized.
The RSU of the height-limiting rod may refer to an RSU corresponding to the height-limiting rod that is mounted on the height-limiting rod or mounted at a position near the height-limiting rod, for communicating with an OBU of the vehicle and transmitting information related to the height-limiting rod.
In particular, when the vehicle runs towards the height limiting rod and enters a communicable range, the OBU of the vehicle and the RSU of the height limiting rod are connected, and conditions are provided for data communication between the vehicle and the height limiting rod.
As an example, the RSU of the height-limiting rod may transmit the height of the height-limiting rod to the OBU with which the connection is established through the connection, i.e., the OBU with which the RSU is established may each receive the height of the height-limiting rod corresponding to the RSU transmitted by the RSU. At this time, the OBU can determine whether the height of the height limiting rod is not greater than the height of the vehicle according to the received height of the height limiting rod and the height of the vehicle in which the OBU is known, and determine whether the vehicle is in collision with the height limiting rod. If the OBU determines that the height of the height-limiting rod is not greater than the height of the vehicle, it indicates that the vehicle cannot safely pass through the height-limiting rod, i.e., the vehicle will collide with the top of the height-limiting rod when passing through the height-limiting rod, at which point the OBU of the vehicle can determine that the vehicle is at risk of collision with the height-limiting rod. In this example, the height limit information may include a height of the height limit bar.
As another example, the OBU of the vehicle may also send the height of the vehicle to the RSU to which the connection is established through the connection, and at this time, the RSU may determine whether the height of the height-limiting rod is not greater than the height of the vehicle according to the received height of the vehicle and the known height of the height-limiting rod corresponding to the vehicle, and determine whether the vehicle is at risk of collision with the height-limiting rod. If the RSU determines that the height of the height-limiting bar is not greater than the height of the vehicle, it indicates that the vehicle cannot safely pass through the height-limiting bar, i.e., the vehicle will collide with the top of the height-limiting bar when passing through the height-limiting bar, at which point the RSU of the height-limiting bar can generate a comparison result. In this example, the height limit information may include the comparison result generated by the RSU, such as: the vehicle is at risk of colliding with the height-limiting bar.
In addition, in order to obtain more information from the vehicle and make the determination process in this embodiment more reliable, the height limit information may further include the height of the height limit lever and the comparison result.
it should be noted that if it is determined that the height of the height-limiting rod is greater than the height of the vehicle, indicating that the vehicle can safely pass through the height-limiting rod without collision at the top of the height-limiting rod, the communications between the OBU and RSU may be interrupted, and the subsequent step 202 may not be performed. At this time, in one case, the embodiment of the present invention may further include: when it is determined that the vehicle and the height limit bar are not at risk of collision, the OBU of the vehicle may flag the height limit bar as safe, for example: the identification of the height-limiting bar (e.g., the position of the height-limiting bar, the number of the height-limiting bar, or the equipment identification of the RSU) is marked on the safety list. On the one hand, for a first pass and marked safe limit rod, the OBU no longer processes the information received from the limit rod's corresponding RSU; on the other hand, when the OBU does not pass through the height-limiting rod marked as safe for the first time, the OBU can determine that the identification of the height-limiting rod is in a safe list in the process of establishing connection, so that the connection is not established with the RSU of the height-limiting rod any more, and communication resources are saved. In another case, the embodiment of the present invention may further include: the RSU of the height limit bar may also flag the vehicle as safe when it is determined that the vehicle and the height limit bar are not at risk of collision, for example: the identification of the vehicle (e.g., the license plate number of the vehicle) is marked on a safety list. On the one hand, for a vehicle marked as safe to pass the height limit rod for the first time, the RSU may no longer send height limit information to the vehicle's OBU; on the other hand, when a vehicle that has been marked as safe does not first pass the height limit rod, the RSU may determine that the identity of the vehicle is in a safe list during the process of establishing a connection, and thus no longer establishes a connection with the vehicle's OBU, thereby conserving communication resources.
it is understood that the height limit information may also include information such as the distance between the vehicle and the height limit rod, the safety braking distance of the vehicle, etc., for informing the OBU of the relative position between the vehicle and the height limit rod, etc., so as to provide a data base for the subsequent anti-collision strategy to be quickly and effectively adopted.
And 202, generating prompt information according to the height limiting information, wherein the prompt information is used for representing that the height limiting rod which cannot safely pass through is arranged in front of the vehicle and prompting the vehicle to detour or stop.
it is understood that, when it is determined that the height of the height limit lever is not greater than the height of the vehicle, in order to convey the information that the vehicle will collide with the top of the height limit lever when driving over the height limit lever to the driver of the vehicle, the OBU of the vehicle may generate a prompt message and transmit the prompt message to a playback unit of the vehicle, and the playback unit plays the specific content of the prompt message.
During concrete implementation, under one condition, if limit for height information includes the height of limit for height pole, then, the OBU can judge the height of limit for height pole and the height of vehicle, when confirming that the height of limit for height pole is not more than the height of vehicle, then, generates tip information. In another case, if the height limiting information includes a comparison result of the RSU with respect to the height of the height limiting rod and the height of the vehicle, the OBU may generate the prompt information directly according to the comparison result.
As an example, the OBU of the vehicle may also obtain the distance of the vehicle from the height limit bar based on the connection established with the RSU of the height limit bar, such as: 50 meters, the prompt is also used to prompt the distance between the height-limiting rod and the vehicle. Therefore, the driver can know the specific position of the height limiting rod, so that the driver can take reasonable measures to avoid collision between the driven vehicle and the height limiting rod.
for example: the prompt message generated by the OBU can be a voice prompt message of 'a height limit rod 50 meters ahead, the height limit is 2.5 meters, the rod cannot pass safely and the OBU needs to detour', the OBU sends the voice prompt message to a voice player, and the voice player plays the voice prompt message; another example is: the prompt message generated by the OBU may be a text prompt message "a limited height pole 50 m ahead, which cannot pass safely, please detour", and the OBU may send the text prompt message to a display player (e.g., a vehicle-mounted display), and the display player statically displays or dynamically flashes the text prompt message.
It will be appreciated that for an OBU and an RSU establishing a connection, it may be determined that the height of the RSU corresponding height limiting bar is not greater than the height of the vehicle in which the OBU is located, in which case the OBU and RSU may communicate at a fixed frequency, for example: the RSU may send the distance between the height limit bar and the vehicle to the OBU once per second. In another case, the OBU and RSU may also perform frequency-varying communication, such as: the frequency of RSU and OBU communication may increase as the distance between the height limit bar and the vehicle decreases, such as: when the distance between the vehicle and the height limiting rod is in the range of 100-50 meters, the RSU can send the distance between the height limiting rod and the vehicle to the OBU every 5 seconds; when the distance between the vehicle and the height limiting rod is in the range of 50-20 meters, the RSU can send the distance between the height limiting rod and the vehicle to the OBU once every 1 second; when the distance between the vehicle and the height-limiting rod is within 20 meters, the RSU may send the distance between the height-limiting rod and the vehicle to the OBU every 0.1 second.
the frequency at which the OBU generates the alert information and the frequency at which the OBU and the RSU communicate with each other may be decoupled, i.e., whether the OBU and the RSU communicate at a fixed frequency or at a variable frequency, the OBU may generate the alert information at a different frequency, and the "different frequency" at which the alert information is generated may be the same or different than the frequency at which the OBU and the RSU communicate with each other.
as an example, in an embodiment of the present invention, in order to improve the reminding efficiency of the prompt information, the OBU may further obtain driving state information of the vehicle, where the driving state information at least includes a vehicle speed of the vehicle, and then the OBU may adjust a frequency of generating the prompt information based on the driving state information, where the vehicle speed of the vehicle in the driving state information and the frequency of generating the prompt information are positively correlated. It can be understood that when the speed of the vehicle obtained by the OBU is higher, the OBU can determine that the need for sending a prompt to remind that the vehicle and the height limit rod are likely to collide is more urgent, then the OBU can increase the frequency of generating the prompt information, frequently prompt the driver of the vehicle of the distance between the current vehicle and the height limit rod, and prompt the driver to decelerate to stop or detour; on the contrary, when the OBU obtains that the speed of the vehicle is lower, the OBU can determine that the requirement for sending a prompt to remind that the vehicle and the height limiting rod are possibly collided is relatively low, then, the OBU can keep the frequency of the generated prompt information unchanged or reduced, prompt the driver of the vehicle of the distance between the current vehicle and the height limiting rod with a small frequency, and prompt the driver to stop at a reduced speed or to detour.
In some possible implementation manners, the OBU of the vehicle may further determine whether the vehicle is at risk of collision with the height limit lever according to the driving state information of the vehicle and the distance between the vehicle and the height limit lever, where the risk of collision is that the vehicle approaches the height limit lever and the vehicle runs at the current speed and acceleration, and the vehicle speed cannot be reduced to 0 before the height limit lever. Then, when the OBU determines that the vehicle and the height limiting rod are not in risk of collision based on the running state information, the controller can run according to the operation of the driver when the vehicle is prompted to stop or detour; when the OBU determines that there is a risk of collision between the vehicle and the height limiting rod based on the driving state information, in order to ensure the safety of the vehicle and the driver, the OBU may generate a control command and send the control command to a controller of the vehicle, and the controller may enter an intelligent driving mode, that is, control the vehicle according to the control command and ignore the operation of the driver, specifically, may be to control the vehicle to reduce the vehicle speed to zero before the vehicle collides with the height limiting rod, or control the vehicle to change the driving direction.
as can be seen, the vehicle collision avoidance method provided by the embodiment of the present invention is suitable for vehicles including an OBU, especially for vehicles with a relatively high height such as a double-deck bus and a large truck, and the vehicle collision avoidance method specifically may include: if the vehicle is about to pass through the height limiting rod, the OBU on the vehicle can establish connection with the RSU corresponding to the height limiting rod and receive height limiting information sent by the RSU of the height limiting rod; at the moment, the OBU can generate prompt information according to the height limiting information, the prompt information is used for representing that the height limiting rod which cannot safely pass through exists in front of the vehicle, and the vehicle is prompted to detour or stop. Like this, through communication and data interaction between the RSU that OBU on the vehicle and limit for height pole correspond, can let the vehicle know the limit for height pole on the road in the place ahead in advance, and the big or small relation between the height of the high pole of judgement vehicle that can be intelligent and the height of limit for height pole, whether effectual definite vehicle can be safe pass through the limit for height pole to in time send the suggestion on the vehicle under the circumstances that the affirmation can not pass through safely, make the vehicle can effectively avoid with limit for height pole bump, improve road traffic safety.
in addition, an embodiment of the present invention further provides a vehicle collision avoidance device, referring to fig. 3, which is a schematic structural diagram of the vehicle collision avoidance device 300, where the device 300 may be applied to an on-board unit OBU, and specifically, the device may include: a first receiving unit 301 and a first generating unit 302.
The first receiving unit 301 is configured to receive height limit information sent by a road side unit RSU of a height limit pole;
The first generating unit 302 is configured to generate prompt information according to the height limiting information, where the prompt information is used to represent that there is a height limiting rod in front of the vehicle, and prompt the vehicle to detour or stop.
optionally, if the height limiting information includes the height of the height limiting rod, the first generating unit 302 is specifically configured to:
and if the height of the height limiting rod is not greater than the height of the vehicle, generating the prompt message.
Optionally, if the height limiting information includes a comparison result of the RSU on the height of the height limiting rod and the height of the vehicle, the first generating unit 302 is specifically configured to:
and generating prompt information according to the comparison result.
Optionally, the apparatus 300 further comprises: a connection unit is established.
The connection establishing unit is used for establishing connection between the OBU and the RSU before receiving height limit information sent by a road side unit RSU of the height limit rod;
then, the first receiving unit 301 is specifically configured to: and receiving height limiting information of the height limiting rod sent by the RSU through the connection.
Optionally, the apparatus 300 further comprises: a first acquisition unit.
The first acquisition unit is used for acquiring the distance between the vehicle and the height limiting rod, and the prompt information is also used for prompting the distance between the height limiting rod and the vehicle.
Optionally, the apparatus 300 further comprises: a second acquisition unit and an adjustment unit.
the second acquisition unit is used for acquiring the running state information of the vehicle;
And the adjusting unit is used for adjusting the frequency of generating the prompt information based on the running state information, wherein the speed of the vehicle in the running state information is positively correlated with the frequency of generating the prompt information, and the prompt information is also used for prompting the distance between the height limiting rod and the vehicle at the current moment.
Optionally, the apparatus 300 further comprises: a second generating unit and a transmitting unit.
The second generation unit is used for generating a control command if the OBU determines that the vehicle and the height limiting rod are in collision risk based on the running state information;
And the sending unit is used for sending the control command to a controller of the vehicle so that the controller controls the vehicle to reduce the speed of the vehicle to zero before the vehicle collides with the height limiting rod or controls the vehicle to change the running direction.
the above description is related to the vehicle anti-collision device 300, wherein specific implementation manners and achieved effects may be referred to the description of an embodiment of the vehicle anti-collision method shown in fig. 2, and no further description is provided herein.
In addition, an embodiment of the present invention further provides a vehicle, referring to fig. 4, which is a schematic structural diagram of the vehicle 400, where the vehicle 400 specifically includes: an on board unit OBU 401, a playback unit 402, and a controller 403.
The OBU 401 is configured to execute the vehicle anti-collision method in any implementation manner in the embodiment corresponding to fig. 2, and communicate with the road side unit RSU of the height limiting rod to avoid collision with the height limiting rod;
The playing unit 402 is used for playing prompt information generated by the OBU 401 to prompt a limited height rod in front of the vehicle 400;
And the controller 403 is configured to control the vehicle 400 to run according to a control instruction or a driver operation, where the control instruction is sent to the controller 403 by the OBU 401.
the above description is related to a vehicle 400, wherein specific implementation manners and achieved effects may refer to the description of the embodiment of the vehicle anti-collision method shown in fig. 2, and are not repeated here.
In addition, an embodiment of the present invention further provides an apparatus 500, as shown in fig. 5, where the apparatus 500 includes a processor 501 and a memory 502:
The memory 502 is used for storing computer programs;
the processor 501 is configured to execute the vehicle collision avoidance method in any one implementation manner in the corresponding embodiment of fig. 2 according to the computer program.
in addition, an embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium is configured to store a computer program, where the computer program is configured to execute the vehicle collision avoidance method in any implementation manner in the corresponding embodiment of fig. 2.
The "first" in the names of the "first receiving unit", "first generating unit", and the like mentioned in the embodiments of the present invention is used only for name identification, and does not represent the first in sequence. The same applies to "second" etc.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a general hardware platform. With this understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM)/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a router, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present invention.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the apparatus embodiments and the apparatus embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for relevant points. The above-described embodiments of the apparatus and device are merely illustrative, and the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention. It should be noted that, for a person skilled in the art, several modifications and refinements can be made without departing from the invention, and these modifications and refinements should be regarded as the protection scope of the present invention.
Claims (11)
1. a vehicle collision prevention method is used for an on-board unit (OBU) and comprises the following steps:
Receiving height limiting information sent by a Road Side Unit (RSU) of a height limiting rod;
And generating prompt information according to the height limiting information, wherein the prompt information is used for representing that the height limiting rod which cannot safely pass through is arranged in front of the vehicle and prompting the vehicle to detour or stop.
2. the method of claim 1, wherein if the height limit information includes the height of the height limit pole, the generating a prompt message according to the height limit information includes:
and if the height of the height limiting rod is not greater than the height of the vehicle, generating the prompt message.
3. the method according to claim 1 or 2, wherein if the height limit information comprises a comparison result of the RSU on the height of the height limit lever and the height of the vehicle, the generating a prompt message according to the height limit information comprises:
And generating prompt information according to the comparison result.
4. The method of claim 1, wherein before the On Board Unit (OBU) receives the height limit information transmitted by the Road Side Unit (RSU) of the height limit pole, the method further comprises:
establishing a connection with the RSU;
the height limiting information sent by the road side unit RSU of the receiving height limiting rod specifically comprises the following steps: and receiving height limiting information of the height limiting rod sent by the RSU through the connection.
5. the method of claim 1, further comprising:
And acquiring the distance between the vehicle and the height limiting rod, wherein the prompt information is also used for prompting the distance between the height limiting rod and the vehicle.
6. The method of claim 1, further comprising:
Acquiring running state information of the vehicle;
and adjusting the frequency of generating the prompt message based on the running state information, wherein the speed of the vehicle in the running state information is positively correlated with the frequency of generating the prompt message, and the prompt message is also used for prompting the distance between the height limiting rod and the vehicle at the current moment.
7. The method of claim 6, further comprising:
if it is determined that the vehicle and the height limiting rod have the risk of collision based on the running state information, generating a control command;
and sending the control instruction to a controller of the vehicle, so that the controller controls the vehicle to reduce the speed of the vehicle to zero before the vehicle collides with the height limiting rod, or controls the vehicle to change the running direction.
8. a vehicle collision prevention device is applied to an on-board unit (OBU) and comprises:
The first receiving unit is used for receiving height limiting information sent by a Road Side Unit (RSU) of the height limiting rod;
And the first generating unit is used for generating prompt information according to the height limit information, wherein the prompt information is used for representing that the height limit rod which cannot safely pass through is arranged in front of the vehicle and prompting that the vehicle needs to detour or stop.
9. A vehicle, characterized in that the vehicle comprises an on board unit, OBU, a playback unit and a controller;
The OBU is used for executing the method of any one of the claims 1-7 and is communicated with a Road Side Unit (RSU) of a height limiting rod to avoid collision with the height limiting rod;
The playing unit is used for playing prompt information generated by the OBU and prompting that the height limiting rod is arranged in front of the vehicle;
the controller is used for controlling the vehicle to run according to a control instruction or the operation of a driver, and the control instruction is sent to the controller by the OBU.
10. an apparatus, comprising a processor and a memory:
The memory is used for storing a computer program;
The processor is configured to perform the method of any one of claims 1 to 7 in accordance with the computer program.
11. A computer-readable storage medium for storing a computer program for performing the method of any one of claims 1 to 7.
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| CN201910866316.1A CN110562137A (en) | 2019-09-12 | 2019-09-12 | vehicle anti-collision method and device and vehicle |
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| CN201910866316.1A CN110562137A (en) | 2019-09-12 | 2019-09-12 | vehicle anti-collision method and device and vehicle |
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