CN110588641A - Forward target crossing warning method and system - Google Patents

Forward target crossing warning method and system Download PDF

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Publication number
CN110588641A
CN110588641A CN201910842384.4A CN201910842384A CN110588641A CN 110588641 A CN110588641 A CN 110588641A CN 201910842384 A CN201910842384 A CN 201910842384A CN 110588641 A CN110588641 A CN 110588641A
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CN
China
Prior art keywords
vehicle
target
forward target
driver
forward
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CN201910842384.4A
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Chinese (zh)
Inventor
王志忠
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爱驰汽车有限公司
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Priority to CN201910842384.4A priority Critical patent/CN110588641A/en
Publication of CN110588641A publication Critical patent/CN110588641A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143Alarm means

Abstract

The invention discloses a forward target crossing warning method and device. The method comprises the following steps: acquiring state information of a driver of the vehicle and/or acquiring a target type of a forward target; determining an alarm threshold according to the state information of the driver of the vehicle and/or the target type of a forward target; monitoring the relative position and relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and relative speed; and when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy. According to the scheme, the final warning threshold is determined comprehensively according to the state information of the driver of the vehicle and/or the target type of the forward target, so that the warning prompt can be matched with the current complex driving state, and the operation auxiliary effect on the vehicle is improved; moreover, the scheme is simple and feasible, and is suitable for large-scale application and implementation.

Description

Forward target crossing warning method and system

Technical Field

The invention relates to the technical field of vehicles, in particular to a forward target crossing warning method and system.

Background

FCTA (Front Cross Traffic Alerting) is a vehicle operation assisting function that can detect a target object in Front left and right of a vehicle and prompt a corresponding warning when there is a risk of collision between the vehicle and the target object.

However, the inventor finds the following defects in the prior art in the implementation process: when the current FCTA performs alarm prompting, a uniform alarm threshold is generally adopted. For example, in the prior art, when the time for the host vehicle to collide with the forward target is less than 2.5 seconds, a corresponding warning prompt is directly sent to the host vehicle. However, with the uniform alarm threshold, the alarm prompt cannot be matched with the current complex driving state, thereby reducing the vehicle operation assistance effect of the FCTA.

Disclosure of Invention

In view of the above, the present invention has been developed to provide a forward target traversal warning method and system that overcome, or at least partially address, the above-identified problems.

According to an aspect of the present invention, there is provided a forward target traversal warning method, including:

acquiring state information of a driver of the vehicle and/or acquiring a target type of a forward target;

determining a warning threshold according to the state information of the driver of the vehicle and/or the target type of the forward target;

monitoring the relative position and relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and relative speed;

and when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy.

According to another aspect of the present invention, there is provided a forward target traversal warning system, comprising:

the driver state monitoring module is suitable for acquiring the state information of the driver of the vehicle; and/or, a target type determining module, adapted to obtain a target type of the forward target;

the warning threshold determining module is suitable for determining a warning threshold according to the state information of the driver of the vehicle and/or the target type of the forward target;

a monitoring module adapted to monitor a relative position and a relative speed of the forward target with respect to the host vehicle;

the time determining module is suitable for predicting the meeting time of the vehicle and the forward target according to the relative position and the relative speed;

and the alarm module is suitable for executing a corresponding alarm strategy when the meeting time is less than or equal to the alarm threshold.

According to yet another aspect of the present invention, there is provided a vehicle including the above-described forward target crossing warning system.

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 which causes the processor to execute the operation corresponding to the forward target crossing warning method.

According to yet another aspect of the present invention, there is provided a computer storage medium having stored therein at least one executable instruction that causes a processor to perform operations corresponding to the forward target traversal warning method described above.

According to the forward target crossing warning method and device provided by the invention, firstly, the state information of the driver of the vehicle is obtained, and/or the target type of the forward target is obtained; determining an alarm threshold according to the state information of the driver of the vehicle and/or the target type of a forward target; monitoring the relative position and relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and relative speed; and when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy. According to the scheme, the final warning threshold is determined comprehensively according to the state information of the driver of the vehicle and/or the target type of the forward target, so that the warning prompt can be matched with the current complex driving state, and the operation auxiliary effect on the vehicle is improved; moreover, the scheme is simple and feasible, and is suitable for large-scale application and implementation.

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.

Drawings

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 forward target traversal warning method provided in accordance with one embodiment of the present invention;

FIG. 2 illustrates a flow chart of a forward target traversal warning method provided in accordance with another embodiment of the present invention;

FIG. 3 illustrates an alert area schematic provided in accordance with another embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating a forward target traversal warning system according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a computing device according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can 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 invention to those skilled in the art.

Example one

Fig. 1 shows a flowchart of a forward target traversal warning method according to an embodiment of the present invention. Among them, the forward target crossing warning method provided by the present embodiment is an optimization of the existing forward target crossing warning method, and the forward target crossing warning method provided by the present embodiment can be applied to various vehicles.

As shown in fig. 1, the method includes:

step S110, obtaining the state information of the driver of the vehicle, and/or obtaining the target type of the forward target.

Unlike the setting of a uniform alarm threshold in the prior art, the present embodiment comprehensively considers the complex situation in the actual vehicle driving process, and comprehensively determines the alarm threshold. Specifically, different forward targets affect the vehicle differently, as different state information of the driver affects the driver's handling of the traveling condition. Therefore, in the present embodiment, the warning threshold is determined according to the state information of the driver of the vehicle, or the target type of the forward target, or a combination of the state information of the driver of the vehicle and the target type of the forward target, so that the warning threshold matches the current vehicle driving condition.

Here, the "own vehicle" described in the present embodiment specifically refers to a vehicle to which the present embodiment is applied. In an actual implementation process, the present embodiment provides a forward target crossing warning method, which assists in vehicle driving only when the vehicle is in forward driving, so that the present embodiment may monitor the vehicle control unit of the host vehicle to obtain the current gear information of the host vehicle, and further determine whether the host vehicle is in a forward driving state, if so, execute steps S110-S140; otherwise, the scheme is ended.

In a specific implementation, the state information of the driver of the vehicle and/or the target type of the forward target may be obtained by using a preset data obtaining strategy (such as obtaining in real time or obtaining at preset intervals).

Specifically, the state information of the driver of the host vehicle includes: an online state or an offline state. In an actual implementation process, the online state of the driver of the vehicle can be monitored through image acquisition equipment (such as a camera and the like) arranged in the vehicle. For example, a fatigue monitoring system provided in the vehicle may be used to determine whether the driver is in a fatigue driving state, and if so, determine that the state information of the driver is in an offline state, otherwise, determine that the state information of the driver is in an online state. In short, the present embodiment does not limit the specific determination manner of the state information of the driver of the vehicle, and those skilled in the art can select a corresponding determination manner according to the actual business situation.

Further, the forward target is specifically a target object located in front left or front right of the host vehicle during forward running of the host vehicle, and the target object is specifically a movable target object. The target type of the forward target includes at least one of the following types: truck type, car type, bicycle type, and pedestrian type, among others. Here, it should be understood by those skilled in the art that the object type division manner of the forward object provided in the present embodiment is not limited to the above classification, and those skilled in the art may adopt a corresponding division manner according to actual requirements.

And step S120, determining a warning threshold according to the state information of the driver of the vehicle and/or the target type of the forward target.

In this embodiment, corresponding warning thresholds are configured in advance for different state information of the driver of the vehicle and/or target types of the forward target, so as to generate warning threshold configuration information. Then, after obtaining the state information of the driver of the vehicle and/or the target type of the forward target in step S110, the warning threshold matching the state information of the driver of the vehicle and/or the target type of the forward target is obtained according to the comparison between the obtained information and the warning threshold configuration information.

Step S130, the relative position and relative speed of the forward target with respect to the vehicle are monitored, and the meeting time between the vehicle and the forward target is estimated according to the relative position and relative speed.

In the actual implementation process, the position information and the speed information of the forward target and the position information and the speed information of the vehicle can be monitored in real time, and then the relative position and the relative speed of the forward target relative to the vehicle can be calculated.

Further, according to the calculated relative position and relative speed, the meeting time of the vehicle and the forward target is estimated. The time when the vehicle meets the forward target is the estimated time when the vehicle collides with the forward target in the current state. In the process of predicting the meeting time of the vehicle and the forward target, the meeting time can be determined according to the ratio of the relative position to the relative speed.

And step S140, when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy.

When the meeting time of the vehicle and the forward target calculated in step S130 is less than or equal to the warning threshold determined in step S120 and matched with the state information of the driver of the vehicle and/or the target type of the forward target, it indicates that the vehicle and the forward target will collide at about the meeting time, and if the meeting time is less than or equal to the warning threshold, a corresponding warning strategy is executed.

In an alternative embodiment, the alarm threshold may include a first alarm threshold and a second alarm threshold; wherein the first alarm threshold is greater than the second alarm threshold; corresponding warning strategies can be executed according to the size relationship between the meeting time and the first warning threshold and the second warning threshold, and the vehicle driver can be provided with matched warning aiming at different risk degrees by adopting a multi-stage warning threshold setting mode, so that the user experience is favorably improved. In a specific implementation process, when the meeting time is less than or equal to a first alarm threshold, a reminding mode (such as voice reminding or visual reminding) is adopted for alarming; and when the meeting time is less than or equal to the second alarm threshold and greater than the first alarm threshold, alarming by adopting a brake braking mode.

Therefore, the present embodiment first obtains the state information of the driver of the vehicle, and/or obtains the target type of the forward target; further determining an alarm threshold according to the state information of the driver of the vehicle and/or the target type of the forward target; monitoring the relative position and relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and relative speed; and when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy. According to the scheme, the final warning threshold is determined comprehensively according to the state information of the driver of the vehicle and/or the target type of the forward target, so that the warning prompt can be matched with the current complex driving state, and the operation auxiliary effect on the vehicle is improved; moreover, the scheme is simple and feasible, and is suitable for large-scale application and implementation.

Example two

Fig. 2 shows a flowchart of a forward target traversal warning method according to another embodiment of the present invention. The forward target crossing warning method provided by the present embodiment can be applied to various vehicles, and is further optimized with respect to the method shown in fig. 1:

step S210, obtaining the state information of the driver of the vehicle, and/or obtaining the target type of the forward target.

Wherein the target type comprises at least one of the following types: truck type, car type, bicycle type, and pedestrian type; the state information of the driver of the host vehicle includes: an online state or an offline state. The specific implementation process of this step may refer to the corresponding part in step S110, and this embodiment is not described herein again.

Step S220, according to the state information of the driver and/or the target type of the forward target, a warning threshold and a warning area are determined.

In this embodiment, except that corresponding warning thresholds are configured in advance for different state information of the driver of the vehicle and/or target types of the forward targets. In order to further improve the implementation effect of the forward target crossing warning method, in this embodiment, corresponding warning areas are configured for different state information of the driver of the vehicle and/or target types of the forward target, so that the generated configuration information includes the different state information of the driver of the vehicle and/or warning thresholds and warning areas corresponding to the forward target.

As shown in table 1, corresponding warning thresholds (including a first warning threshold and a second warning threshold) are configured in advance for different combinations of the state information of the driver of the vehicle and the target type of the forward target; and configuring a corresponding alarm area according to the target type of the forward target. Wherein, "Y" represents that the state information of the driver is in an online state, and "N" represents that the state information of the driver is in an offline state; "primary" represents a first alarm threshold and "secondary" represents a second alarm threshold; the "forward direction" represents the farthest distance from the forward direction of the host vehicle in the warning region, and the "lateral direction" represents the farthest distance from the lateral direction (perpendicular to the forward direction) of the host vehicle in the warning region. As shown in fig. 3, the shaded area in the figure is the warning area corresponding to the car, and the forward distance in the figure is 3m, and the lateral distance in the figure is 25 m. It can be seen from the table that under the same condition, the corresponding alarm threshold and alarm area when the driver is in the on-line state are smaller than the alarm threshold and alarm area when the driver is in the off-line state; under the same condition, the alarm threshold and the alarm area are respectively as follows: truck > car > bicycle > pedestrian.

TABLE 1

In a specific implementation process, according to the acquired state information of the driver of the vehicle and/or the target type of the forward target, comparing with pre-generated configuration information (such as table 1), an alarm threshold and an alarm area matched with the state information of the driver of the vehicle and/or the target type of the forward target are obtained.

Step S230, judging whether the forward target is positioned in a corresponding warning area; if so, monitoring the relative position and the relative speed of the forward target relative to the vehicle, and estimating the meeting time of the vehicle and the forward target according to the relative position and the relative speed.

In this embodiment, before performing a collision warning, it is determined in advance whether a forward target is located in a corresponding warning area, where the corresponding warning area is determined according to the state information of the driver of the vehicle and/or a target type of the forward target (as shown in table 1, the corresponding warning area may be determined only according to the target type of the target, so as to improve the execution efficiency of the method).

If the forward target enters the corresponding warning area, it is indicated that the forward target and the vehicle may have a risk of collision in a future preset time period, the relative position and the relative speed of the forward target relative to the vehicle are further monitored, and the meeting time of the vehicle and the forward target is estimated according to the relative position and the relative speed.

If the forward target does not currently enter the corresponding warning area, it is indicated that there is no risk of collision between the forward target and the host vehicle within a future preset time period (i.e., it is indicated that the forward target is far away from the host vehicle and does not have the risk of collision within a short time period), the position of the forward target is continuously monitored, and whether the forward target enters the corresponding warning area is determined.

And step S240, when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy.

In a specific implementation process, when the meeting time is less than or equal to a first alarm threshold, a reminding mode (such as voice reminding or visual reminding) is adopted for alarming; and when the meeting time is less than or equal to the second alarm threshold and greater than the first alarm threshold, alarming by adopting a brake braking mode.

Therefore, the final warning threshold is determined according to the state information of the driver of the vehicle and/or the target type of the forward target, so that the warning prompt can be matched with the current complex driving state, and the operation auxiliary effect on the vehicle is improved; in addition, the present embodiment further determines a final warning area according to the state information of the driver of the vehicle and/or the target type of the forward target, and performs subsequent warning threshold judgment only when the forward target is located in the warning area, so as to further improve the operation assistance effect on the vehicle, reduce the data computation amount, and improve the execution efficiency. In addition, the scheme is simple and feasible, and is suitable for large-scale application and implementation.

EXAMPLE III

Fig. 4 is a schematic structural diagram illustrating a forward target crossing warning apparatus according to an embodiment of the present invention. As shown in fig. 4, the apparatus includes: a driver status monitoring module 41, a target type determination module 42, an alert threshold determination module 43, a monitoring module 44, a time determination module 45, and an alert module 46. In the embodiment, the millimeter-wave angle radar ECU can be used as a main control module, and forward target crossing warning is realized through interaction with other hardware devices.

The driver state monitoring module 41 is adapted to acquire state information of the driver of the vehicle; wherein the driver state monitoring module 41 may be acted upon by a fatigue driving system in the vehicle; and/or an object type determination module 42 adapted to obtain an object type of the forward object.

And an alarm threshold determining module 43, adapted to determine an alarm threshold according to the state information of the driver of the vehicle and/or the target type of the forward target.

A monitoring module 44 adapted to monitor the relative position and relative speed of the forward target with respect to the host vehicle.

And the time determining module 45 is adapted to predict the meeting time of the vehicle and the forward target according to the relative position and the relative speed.

And the alarm module 46 is suitable for executing a corresponding alarm strategy when the meeting time is less than or equal to the alarm threshold.

Optionally, the apparatus further comprises: a region judging module (not shown in the figure) adapted to judge whether the forward target is located in the corresponding warning region;

the monitoring module is further adapted to: and if the forward target is positioned in the corresponding warning area, monitoring the relative position and the relative speed of the forward target relative to the vehicle, and estimating the meeting time of the vehicle and the forward target according to the relative position and the relative speed.

Optionally, the corresponding warning area is determined according to the state information of the driver of the vehicle and/or the target type of the forward target.

Optionally, the target type includes at least one of the following types: truck type, car type, bicycle type, and pedestrian type;

the state information of the driver of the host vehicle includes: an online state or an offline state.

Optionally, the alarm threshold includes a first alarm threshold and a second alarm threshold; wherein the first alarm threshold is greater than the second alarm threshold;

the alert module is further adapted to: and executing a corresponding alarm strategy according to the size relationship between the meeting time and the first alarm threshold and the second alarm threshold.

Optionally, the alert module is further adapted to: when the meeting time is less than or equal to a first alarm threshold, alarming in a reminding mode;

and when the meeting time is less than or equal to the second alarm threshold and greater than the first alarm threshold, alarming by adopting a brake braking mode.

The specific implementation process of each module in the system may refer to the description of the corresponding part in the method embodiment shown in fig. 1 and/or fig. 2, which is not described herein again.

Therefore, the present embodiment first obtains the state information of the driver of the vehicle, and/or obtains the target type of the forward target; further determining an alarm threshold according to the state information of the driver of the vehicle and/or the target type of the forward target; monitoring the relative position and relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and relative speed; and when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy. According to the scheme, the final warning threshold is determined comprehensively according to the state information of the driver of the vehicle and/or the target type of the forward target, so that the warning prompt can be matched with the current complex driving state, and the operation auxiliary effect on the vehicle is improved; moreover, the scheme is simple and feasible, and is suitable for large-scale application and implementation.

Example four

According to one embodiment of the present invention, a vehicle is provided that includes a forward target crossing warning system as described in fig. 4. The vehicle has an excellent vehicle driving assistance function and has the characteristics of simple structure and the like.

EXAMPLE five

According to one embodiment of the present invention, a non-transitory computer storage medium is provided that stores at least one executable instruction that can perform a forward target traversal warning method in any of the above-described method embodiments.

The executable instructions may be specifically configured to cause the processor to:

acquiring state information of a driver of the vehicle and/or acquiring a target type of a forward target;

determining a warning threshold according to the state information of the driver of the vehicle and/or the target type of the forward target;

monitoring the relative position and relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and relative speed;

and when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy.

In an alternative embodiment, the executable instructions may be specifically configured to cause the processor to:

judging whether the forward target is positioned in a corresponding alarm area;

if so, monitoring the relative position and the relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and the relative speed.

In an alternative embodiment, the corresponding warning area is determined according to the state information of the driver of the vehicle and/or the target type of the forward target.

In an alternative embodiment, the target type includes at least one of the following types: truck type, car type, bicycle type, and pedestrian type;

the state information of the driver of the host vehicle includes: an online state or an offline state.

In an alternative embodiment, the alarm thresholds include a first alarm threshold and a second alarm threshold; wherein the first alarm threshold is greater than the second alarm threshold;

the executable instructions may be specifically configured to cause the processor to:

and executing a corresponding alarm strategy according to the size relationship between the meeting time and the first alarm threshold and the second alarm threshold.

In an alternative embodiment, the executable instructions may be specifically configured to cause the processor to:

when the meeting time is less than or equal to a first alarm threshold, alarming in a reminding mode;

and when the meeting time is less than or equal to the second alarm threshold and greater than the first alarm threshold, alarming by adopting a brake braking mode.

Therefore, the present embodiment first obtains the state information of the driver of the vehicle, and/or obtains the target type of the forward target; further determining an alarm threshold according to the state information of the driver of the vehicle and/or the target type of the forward target; monitoring the relative position and relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and relative speed; and when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy. According to the scheme, the final warning threshold is determined comprehensively according to the state information of the driver of the vehicle and/or the target type of the forward target, so that the warning prompt can be matched with the current complex driving state, and the operation auxiliary effect on the vehicle is improved; moreover, the scheme is simple and feasible, and is suitable for large-scale application and implementation.

EXAMPLE six

Fig. 5 is a schematic structural diagram of an embodiment of a computing device according to an embodiment of the present invention, and the 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, for executing the program 510, may specifically perform the relevant steps described above for the forward target traversal warning method embodiment.

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 state information of a driver of the vehicle and/or acquiring a target type of a forward target;

determining a warning threshold according to the state information of the driver of the vehicle and/or the target type of the forward target;

monitoring the relative position and relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and relative speed;

and when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy.

In an alternative embodiment, the program 510 may be specifically configured to cause the processor 502 to perform the following operations:

judging whether the forward target is positioned in a corresponding alarm area;

if so, monitoring the relative position and the relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and the relative speed.

In an alternative embodiment, the corresponding warning area is determined according to the state information of the driver of the vehicle and/or the target type of the forward target.

In an alternative embodiment, the target type includes at least one of the following types: truck type, car type, bicycle type, and pedestrian type;

the state information of the driver of the host vehicle includes: an online state or an offline state.

In an alternative embodiment, the alarm thresholds include a first alarm threshold and a second alarm threshold; wherein the first alarm threshold is greater than the second alarm threshold;

the program 510 may specifically be used to cause the processor 502 to perform the following operations:

and executing a corresponding alarm strategy according to the size relationship between the meeting time and the first alarm threshold and the second alarm threshold.

In an alternative embodiment, the program 510 may be specifically configured to cause the processor 502 to perform the following operations:

when the meeting time is less than or equal to a first alarm threshold, alarming in a reminding mode;

and when the meeting time is less than or equal to the second alarm threshold and greater than the first alarm threshold, alarming by adopting a brake braking mode.

Therefore, the present embodiment first obtains the state information of the driver of the vehicle, and/or obtains the target type of the forward target; further determining an alarm threshold according to the state information of the driver of the vehicle and/or the target type of the forward target; monitoring the relative position and relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and relative speed; and when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy. According to the scheme, the final warning threshold is determined comprehensively according to the state information of the driver of the vehicle and/or the target type of the forward target, so that the warning prompt can be matched with the current complex driving state, and the operation auxiliary effect on the vehicle is improved; moreover, the scheme is simple and feasible, and is suitable for large-scale application and implementation.

The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, 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. In addition, embodiments of the present invention are 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 embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention 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 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. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components according to 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. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.

Claims (10)

1. A forward target traversal warning method, comprising:
acquiring state information of a driver of the vehicle and/or acquiring a target type of a forward target;
determining a warning threshold according to the state information of the driver of the vehicle and/or the target type of the forward target;
monitoring the relative position and relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and relative speed;
and when the meeting time is less than or equal to the alarm threshold, executing a corresponding alarm strategy.
2. The method of claim 1, wherein the monitoring the relative position and relative speed of the forward target relative to the host vehicle, and estimating the encounter time between the host vehicle and the forward target according to the relative position and relative speed further comprises:
judging whether the forward target is positioned in a corresponding alarm area;
if so, monitoring the relative position and the relative speed of the forward target relative to the vehicle, and predicting the meeting time of the vehicle and the forward target according to the relative position and the relative speed.
3. The method according to claim 2, wherein the respective warning region is determined according to status information of the driver of the host vehicle and/or a target type of the forward target.
4. The method according to any of claims 1-3, wherein the target type comprises at least one of the following types: truck type, car type, bicycle type, and pedestrian type;
the state information of the driver of the host vehicle includes: an online state or an offline state.
5. The method of any of claims 1-3, wherein the alarm thresholds comprise a first alarm threshold and a second alarm threshold; wherein the first alarm threshold is greater than the second alarm threshold;
then, when the encounter time is less than or equal to the alarm threshold, executing the corresponding alarm policy further includes:
and executing a corresponding alarm strategy according to the size relationship between the meeting time and the first alarm threshold and the second alarm threshold.
6. The method of claim 5, wherein executing the corresponding alarm policy according to the magnitude relationship between the encounter time and the first alarm threshold and the second alarm threshold further comprises:
when the meeting time is less than or equal to a first alarm threshold, alarming in a reminding mode;
and when the meeting time is less than or equal to the second alarm threshold and greater than the first alarm threshold, alarming by adopting a brake braking mode.
7. A forward target traversal warning system, comprising:
the driver state monitoring module is suitable for acquiring the state information of the driver of the vehicle; and/or, a target type determining module, adapted to obtain a target type of the forward target;
the warning threshold determining module is suitable for determining a warning threshold according to the state information of the driver of the vehicle and/or the target type of the forward target;
a monitoring module adapted to monitor a relative position and a relative speed of the forward target with respect to the host vehicle;
the time determining module is suitable for predicting the meeting time of the vehicle and the forward target according to the relative position and the relative speed;
and the alarm module is suitable for executing a corresponding alarm strategy when the meeting time is less than or equal to the alarm threshold.
8. A vehicle comprising a forward target crossing warning system as claimed in claim 7.
9. 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 for storing at least one executable instruction that causes the processor to perform operations corresponding to the forward target traversal warning method of any of claims 1-6.
10. A computer storage medium having stored therein at least one executable instruction that causes a processor to perform operations corresponding to the forward target traversal warning method as claimed in any one of claims 1-6.
CN201910842384.4A 2019-09-06 2019-09-06 Forward target crossing warning method and system CN110588641A (en)

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CN103350670A (en) * 2013-07-16 2013-10-16 厦门金龙联合汽车工业有限公司 Vehicle forward collision warning method based on vehicle networking technology
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JP2012051498A (en) * 2010-09-02 2012-03-15 Suzuki Motor Corp Vehicle control system
CN102745194A (en) * 2012-06-19 2012-10-24 东南大学 Self-adaption alarming method for preventing tailgating with front car on expressway
CN103350670A (en) * 2013-07-16 2013-10-16 厦门金龙联合汽车工业有限公司 Vehicle forward collision warning method based on vehicle networking technology
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