CN110807951A - Vehicle collision avoidance method, device, equipment and storage medium - Google Patents
Vehicle collision avoidance method, device, equipment and storage medium Download PDFInfo
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- CN110807951A CN110807951A CN201911109950.7A CN201911109950A CN110807951A CN 110807951 A CN110807951 A CN 110807951A CN 201911109950 A CN201911109950 A CN 201911109950A CN 110807951 A CN110807951 A CN 110807951A
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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
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention belongs to the technical field of traffic safety, and discloses a vehicle collision avoidance method, device, equipment and storage medium. The method comprises the following steps: the method comprises the steps of obtaining speed information of a host vehicle and a slave vehicle in a vehicle intersection area, calculating vehicle intersection time according to the speed information of the host vehicle and the speed information of the slave vehicle, judging whether the host vehicle has a collision risk or not according to the vehicle intersection time, determining the priority of the host vehicle and the slave vehicle according to a preset rule when the host vehicle has the collision risk, and pushing collision avoidance prompt information to the vehicle with lower priority in the host vehicle and the slave vehicle. Through the mode, the vehicle can safely pass through the intersection, so that a better experience effect is provided for a user.
Description
Technical Field
The invention relates to the technical field of traffic safety, in particular to a vehicle collision avoidance method, device, equipment and storage medium.
Background
At present, the intersection is a place with multiple accidents, particularly the intersection without signal lamp control, when the sight of a driver is shielded, a vehicle passes through the intersection, and a vehicle collision accident can be caused.
Therefore, there is an urgent need to solve the problem regarding a vehicle intersection collision, thereby ensuring that the vehicle can safely pass through the intersection.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle collision avoidance method, a vehicle collision avoidance device, equipment and a storage medium, and aims to solve the technical problem that the prior art cannot ensure that a vehicle can safely pass through an intersection.
In order to achieve the above object, the present invention provides a vehicle collision avoidance method, comprising the steps of:
acquiring the speed information of a master vehicle and the speed information of a slave vehicle in a vehicle intersection area;
calculating vehicle intersection time according to the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicles;
judging whether the host vehicle has a collision risk or not according to the vehicle intersection time;
when the host vehicle has collision risks, determining the priority of the host vehicle and the priority of the slave vehicle according to a preset rule, and pushing collision avoidance prompt information to the vehicle with lower priority in the host vehicle and the slave vehicle.
Preferably, the vehicle intersection time includes an intersection time of the master vehicle and an intersection time of the slave vehicle;
the step of judging whether the host vehicle has a collision risk according to the vehicle intersection time comprises the following steps:
judging whether the intersection time of the master vehicle is consistent with the intersection time of the slave vehicle or not according to the vehicle intersection time;
when the intersection time of the host vehicle is inconsistent with the intersection time of the slave vehicle, determining that the host vehicle has no collision risk;
and when the intersection time of the host vehicle is consistent with the interaction time of the slave vehicle, judging that the host vehicle has the collision risk.
Preferably, the step of determining the priority of the master vehicle and the slave vehicle according to a preset rule includes:
acquiring a lane line of a master vehicle and a lane line of a slave vehicle;
judging whether the lane line of the master vehicle is consistent with the lane line of the slave vehicle;
when the lane line of the host vehicle is inconsistent with the lane line of the slave vehicle, determining the priority of the host vehicle and the priority of the slave vehicle according to a preset condition;
when the lane line of the master vehicle is consistent with the lane line of the slave vehicle, determining the priority of the master vehicle and the priority of the slave vehicle according to the intersection time of the master vehicle and the intersection time of the slave vehicle.
Preferably, the step of determining the priorities of the master vehicle and the slave vehicles according to the junction time of the master vehicle and the junction time of the slave vehicles includes:
comparing the junction time of the master vehicle with the junction time of the slave vehicle;
if the intersection time of the master vehicle is less than the intersection time of the slave vehicles, determining that the priority of the master vehicle is higher than that of the slave vehicles;
if the intersection time of the master vehicle is greater than the intersection time of the slave vehicles, determining that the priority of the slave vehicles is higher than that of the master vehicle;
and if the intersection time of the host vehicle is consistent with the intersection time of the slave vehicle, determining the priority of the host vehicle and the priority of the slave vehicle according to the longitude and the latitude of the position of the host vehicle and the longitude and the latitude of the position of the slave vehicle.
Preferably, the step of determining the priority of the host vehicle and the slave vehicle according to the longitude and latitude of the host vehicle position and the longitude and latitude of the slave vehicle position comprises:
comparing the longitude of the host vehicle position to the longitude of the slave vehicle position;
determining that the slave vehicle is higher in priority than the master vehicle if the longitude of the host vehicle position is less than the longitude of the slave vehicle position;
determining that the host vehicle is higher in priority than the slave vehicle if the longitude of the host vehicle position is greater than the longitude of the slave vehicle position;
if the longitude of the host vehicle position is consistent with the longitude of the slave vehicle position, judging the latitude of the host vehicle position and the latitude of the slave vehicle;
determining that the slave vehicle is higher in priority than the master vehicle if the latitude of the host vehicle position is less than the longitude of the slave vehicle position;
if the latitude of the host vehicle position is greater than the longitude of the slave vehicle position, it is determined that the priority of the host vehicle is higher than that of the slave vehicle.
Preferably, the step of pushing collision avoidance prompting information to a vehicle with a lower priority of the master vehicle and the slave vehicles includes:
giving an early warning prompt to a vehicle with lower priority in the master vehicle and the slave vehicles;
and calculating the recommended speed corresponding to the master vehicle or the slave vehicle with the lower priority through a preset speed algorithm according to the early warning prompt, and displaying the recommended speed on an early warning interface corresponding to the master vehicle or the slave vehicle with the lower priority.
Preferably, before the step of acquiring the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicle in the vehicle junction area, the method further includes:
acquiring position information of a host vehicle;
acquiring the position information of the slave vehicle in a preset area according to the position information of the master vehicle;
and calculating a vehicle intersection area through a preset area algorithm according to the position information of the master vehicle and the position information of the slave vehicle.
In addition, to achieve the above object, the present invention also provides a vehicle collision avoidance apparatus, including: the acquisition module is used for acquiring the speed information of a master vehicle and the speed information of a slave vehicle in a vehicle intersection area;
the calculation module is used for calculating vehicle intersection time according to the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicle;
the judging module is used for judging that the main vehicle has collision risks according to the vehicle intersection time;
and the information module is used for determining the priority of the host vehicle and the slave vehicle according to a preset rule when the host vehicle has collision risk, and pushing collision avoidance prompt information to the host vehicle or the slave vehicle with lower priority.
In addition, to achieve the above object, the present invention also provides an electronic device, including: memory, a processor and a vehicle collision avoidance program stored on and executable on the memory, the vehicle collision avoidance program configured to implement the steps of the vehicle collision avoidance method as claimed in any one of the claims herein.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having stored thereon a vehicle collision avoidance program which, when executed by a processor, implements the steps of the vehicle collision avoidance method as set forth in any one of the claims in its entirety.
The method comprises the steps of firstly obtaining the speed information of a host vehicle and a slave vehicle in a vehicle intersection area, then calculating the vehicle intersection time according to the speed information of the host vehicle and the speed information of the slave vehicle, judging whether the host vehicle has a collision risk or not according to the vehicle intersection time, and finally determining the priority of the host vehicle and the slave vehicle according to a preset rule when the host vehicle has the collision risk, pushing collision avoidance prompt information to the host vehicle or the slave vehicle with lower priority, and providing safe passing speed for the vehicles so as to ensure that the vehicles can pass through an intersection safely.
Drawings
Fig. 1 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a vehicle collision avoidance method of the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of a vehicle collision avoidance method of the present invention;
fig. 4 is a block diagram showing the structure of the first embodiment of the vehicle collision avoidance apparatus of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the electronic device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle collision avoidance program.
In the electronic apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device of the present invention may be provided in the electronic device, and the electronic device calls the vehicle collision avoidance program stored in the memory 1005 through the processor 1001 and executes the vehicle collision avoidance method provided by the embodiment of the present invention.
An embodiment of the present invention provides a vehicle collision avoidance method, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the vehicle collision avoidance method according to the present invention.
In this embodiment, the vehicle collision avoidance method includes the steps of:
step S10: the method comprises the steps of obtaining vehicle speed information of a host vehicle and vehicle speed information of a slave vehicle in a vehicle intersection area.
It should be noted that before acquiring the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicle in the vehicle intersection area, the position information of the master vehicle needs to be acquired, then the position information of the slave vehicle in the preset area is acquired according to the position information of the master vehicle, and then the vehicle intersection area is calculated through a preset area algorithm according to the position information of the master vehicle and the position information of the slave vehicle.
It should be understood that the slave vehicle is another vehicle within the vehicle intersection area than the own vehicle.
Further, for ease of understanding, the following is exemplified:
assuming that a host vehicle is 50m away from an intersection, screening peripheral vehicle information, when receiving that far vehicle information exists in a left or right intersection area, determining a lane corresponding to the host vehicle and a lane corresponding to a far vehicle through GPS information to obtain an intersection area of the two vehicles, and then acquiring the vehicle speed information of the host vehicle and the vehicle speed information of a slave vehicle in the intersection area of the two vehicles.
Step S20: and calculating the vehicle intersection time according to the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicle.
It should be noted that, by using the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicle, the intersection time of the master vehicle passing through the intersection area and the intersection time of the slave vehicle passing through the intersection area are respectively calculated.
Step S30: and judging whether the host vehicle has a collision risk or not according to the vehicle intersection time.
It should be understood that the vehicle intersection time includes an intersection time of the master vehicle and an intersection time of the slave vehicle, and when the intersection time of the master vehicle and the intersection time of the slave vehicle coincide, it is determined that the master vehicle and the slave vehicle have a collision risk, and when the intersection time of the master vehicle and the intersection time of the slave vehicle do not coincide, it is determined that the master vehicle and the slave vehicle do not have a collision risk.
Step S40: when the host vehicle has collision risks, determining the priority of the host vehicle and the priority of the slave vehicle according to a preset rule, and pushing collision avoidance prompt information to the vehicle with lower priority in the host vehicle and the slave vehicle.
It should be noted that, when the host vehicle and the slave vehicle have a collision risk, a lane line of the host vehicle and a lane line of the slave vehicle are acquired, whether the lane line of the host vehicle is consistent with the lane line of the slave vehicle is judged, when the lane line of the host vehicle is inconsistent with the lane line of the slave vehicle, the priorities of the host vehicle and the slave vehicle are determined according to preset conditions, and when the lane line of the host vehicle is consistent with the lane line of the slave vehicle, the priorities of the host vehicle and the slave vehicle are determined according to the intersection time of the host vehicle and the intersection time of the slave vehicle.
It should be understood that the foregoing description of determining the priorities of the master vehicle and the slave vehicle based on the intersection time of the master vehicle and the intersection time of the slave vehicle is understood to refer to determining that the intersection time of the master vehicle and the slave vehicle is greater than each other, determining that the master vehicle is higher than the slave vehicle if the intersection time of the master vehicle is less than the intersection time of the slave vehicle, determining that the slave vehicle is higher than the master vehicle if the intersection time of the master vehicle is greater than the intersection time of the slave vehicle, and determining the priorities of the master vehicle and the slave vehicle based on the longitude and latitude of the position of the master vehicle and the longitude and latitude of the position of the slave vehicle if the intersection time of the master vehicle coincides with the intersection time of the slave vehicle.
Further, it is to be understood that the above-mentioned determination of the priorities of the host vehicle and the slave vehicle based on the longitude and latitude of the host vehicle position and the longitude and latitude of the slave vehicle position is made such that the longitude and latitude of the host vehicle, the longitude and latitude of the slave vehicle, and the longitude of the host vehicle position and the longitude of the slave vehicle position are first acquired, the priority of the slave vehicle is determined to be higher than the host vehicle if the longitude of the host vehicle position is smaller than the longitude of the slave vehicle position, the priority of the slave vehicle to be higher than the slave vehicle if the longitude of the host vehicle position is larger than the longitude of the slave vehicle position, the latitude of the host vehicle position is determined to be higher than the slave vehicle if the longitude of the host vehicle position coincides with the longitude of the slave vehicle position, the latitude of the host vehicle position is smaller than the longitude of the slave vehicle position, it is determined that the slave vehicle is higher in priority than the master vehicle, and if the latitude of the position of the master vehicle is greater than the longitude of the position of the slave vehicle, it is determined that the master vehicle is higher in priority than the slave vehicle.
In addition, according to the obtained priority result, a memorable early warning prompt is given to the master vehicle or the slave vehicle with lower priority, according to the early warning prompt, a recommended vehicle speed corresponding to the master vehicle or the slave vehicle with lower priority is calculated through a preset vehicle speed algorithm, and the recommended vehicle speed is displayed on an early warning interface corresponding to the master vehicle or the slave vehicle with lower priority, so that the master vehicle or the slave vehicle can run according to the recommended vehicle speed, and the vehicle can safely pass through the intersection.
Further, for ease of understanding, the following is exemplified:
when the vehicle is judged to have the collision risk, the priority of the two vehicles is determined, and the priority judgment scheme is as follows:
firstly, determining that two vehicles are positioned on a lane line, wherein the priority of the vehicles in a straight lane is higher than that of the vehicles in a turning lane (including left-turning and right-turning), and default of the straight-line lane and the turning lane is taken as the turning lane;
if the two vehicles are on the straight lane or the turning lane, the time of the vehicles reaching the intersection area is judged, and the priority of the vehicles reaching the intersection area first is high;
when the time when the two vehicles arrive at the intersection area is the same, judging the time when the current vehicle speed moves out of the intersection area, and firstly moving out of the intersection area, wherein the priority of the vehicles is high;
if the two vehicles are still same in time of exiting the intersection area, the speed and the distance between the two vehicles and the intersection area are the same, at the moment, the priority is judged according to the longitude and the latitude of the vehicles, the vehicle with the larger longitude is compared with the vehicle with the higher priority, and if the longitude is the same, the vehicle with the larger latitude is compared with the vehicle with the higher priority.
After the priority of the vehicle is determined, the high-priority vehicle does not perform early warning, the low-priority vehicle performs collision early warning, and the recommended vehicle speed is displayed on an early warning picture. The recommended vehicle speed passes through the intersection area time according to the high priority, and is calculated by adopting an evasion principle, if the current distance of the low priority from the intersection area is 45m, the high priority vehicle passes through the intersection area after 5s, the low priority vehicle is recommended to reach 2m before the intersection area at most after 5s, namely 5s, the running distance of the low priority vehicle is at most 43m, the vehicle speed of the low priority vehicle is required to be 30.96km/h (namely 43m/5s is 8.6m/s), the vehicle speed is directly rounded (the number after a decimal point is not reserved), and the recommended vehicle speed is displayed on an early warning interface and is less than or equal to 30 km/h.
And after the high-priority vehicle passes through the intersection area, the early warning is removed.
And when a plurality of threatening vehicles exist, screening the most urgent threatening vehicle for judgment.
The embodiment includes acquiring vehicle speed information of a host vehicle and a slave vehicle in a vehicle intersection area, calculating vehicle intersection time according to the vehicle speed information of the host vehicle and the vehicle speed information of the slave vehicle, wherein the vehicle intersection time comprises intersection time of the host vehicle and intersection time of the slave vehicle, judging whether the intersection time of the host vehicle is consistent with the intersection time of the slave vehicle, judging that the host vehicle does not have a collision risk when the intersection time of the host vehicle is inconsistent with the intersection time of the slave vehicle, judging that the host vehicle has a collision risk when the intersection time of the host vehicle is consistent with the interaction time of the slave vehicle, and finally determining priorities of the host vehicle and the slave vehicle according to a preset rule when the host vehicle has a collision risk, and pushing collision avoidance prompting information to the host vehicle or the vehicle with a low priority, through providing safe speed of passing for the vehicle to guarantee that the vehicle can pass through the intersection safely, improved the safety guarantee simultaneously for the user.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of a vehicle collision avoidance method according to the present invention.
Based on the first embodiment, the vehicle collision avoidance method of the present embodiment includes, in step S40:
step S401: a lane line of the master vehicle and a lane line of the slave vehicle are acquired.
Step S402: and judging whether the lane line of the master vehicle is consistent with the lane line of the slave vehicle.
Step S403: and when the lane line of the host vehicle is inconsistent with the lane line of the slave vehicle, determining the priority of the host vehicle and the priority of the slave vehicle according to a preset condition.
Step S404: comparing the junction time of the master vehicle with the junction time of the slave vehicle when the lane line of the master vehicle coincides with the lane line of the slave vehicle.
Step S405: and if the intersection time of the master vehicle is less than the intersection time of the slave vehicles, judging that the priority of the master vehicle is higher than that of the slave vehicles.
Step S406: and if the intersection time of the host vehicle is consistent with the intersection time of the slave vehicle, determining the priority of the host vehicle and the priority of the slave vehicle according to the longitude and the latitude of the position of the host vehicle and the longitude and the latitude of the position of the slave vehicle.
Step S407: and if the intersection time of the master vehicle is greater than the intersection time of the slave vehicles, determining that the priority of the master vehicle is lower than that of the slave vehicles.
It should be noted that, when the host vehicle and the slave vehicle have a collision risk, a lane line of the host vehicle and a lane line of the slave vehicle are acquired, whether the lane line of the host vehicle is consistent with the lane line of the slave vehicle is judged, when the lane line of the host vehicle is inconsistent with the lane line of the slave vehicle, the priorities of the host vehicle and the slave vehicle are determined according to preset conditions, and when the lane line of the host vehicle is consistent with the lane line of the slave vehicle, the priorities of the host vehicle and the slave vehicle are determined according to the intersection time of the host vehicle and the intersection time of the slave vehicle.
It should be understood that the foregoing description of determining the priorities of the master vehicle and the slave vehicle based on the intersection time of the master vehicle and the intersection time of the slave vehicle is understood to refer to determining that the intersection time of the master vehicle and the slave vehicle is greater than each other, determining that the master vehicle is higher than the slave vehicle if the intersection time of the master vehicle is less than the intersection time of the slave vehicle, determining that the slave vehicle is higher than the master vehicle if the intersection time of the master vehicle is greater than the intersection time of the slave vehicle, and determining the priorities of the master vehicle and the slave vehicle based on the longitude and latitude of the position of the master vehicle and the longitude and latitude of the position of the slave vehicle if the intersection time of the master vehicle coincides with the intersection time of the slave vehicle.
Further, it is to be understood that the above-mentioned determination of the priorities of the host vehicle and the slave vehicle based on the longitude and latitude of the host vehicle position and the longitude and latitude of the slave vehicle position is made such that the longitude and latitude of the host vehicle, the longitude and latitude of the slave vehicle, and the longitude of the host vehicle position and the longitude of the slave vehicle position are first acquired, the priority of the slave vehicle is determined to be higher than the host vehicle if the longitude of the host vehicle position is smaller than the longitude of the slave vehicle position, the priority of the slave vehicle to be higher than the slave vehicle if the longitude of the host vehicle position is larger than the longitude of the slave vehicle position, the latitude of the host vehicle position is determined to be higher than the slave vehicle if the longitude of the host vehicle position coincides with the longitude of the slave vehicle position, the latitude of the host vehicle position is smaller than the longitude of the slave vehicle position, it is determined that the slave vehicle is higher in priority than the master vehicle, and if the latitude of the position of the master vehicle is greater than the longitude of the position of the slave vehicle, it is determined that the master vehicle is higher in priority than the slave vehicle.
In addition, according to the obtained priority result, a memorable early warning prompt is given to the master vehicle or the slave vehicle with lower priority, according to the early warning prompt, a recommended vehicle speed corresponding to the master vehicle or the slave vehicle with lower priority is calculated through a preset vehicle speed algorithm, and the recommended vehicle speed is displayed on an early warning interface corresponding to the master vehicle or the slave vehicle with lower priority, so that the master vehicle or the slave vehicle can run according to the recommended vehicle speed, and the vehicle can safely pass through the intersection.
Further, for ease of understanding, the following is exemplified:
when the vehicle is judged to have the collision risk, the priority of the two vehicles is determined, and the priority judgment scheme is as follows:
firstly, determining that two vehicles are positioned on a lane line, wherein the priority of the vehicles in a straight lane is higher than that of the vehicles in a turning lane (including left-turning and right-turning), and default of the straight-line lane and the turning lane is taken as the turning lane;
if the two vehicles are on the straight lane or the turning lane, the time of the vehicles reaching the intersection area is judged, and the priority of the vehicles reaching the intersection area first is high;
when the time when the two vehicles arrive at the intersection area is the same, judging the time when the current vehicle speed moves out of the intersection area, and firstly moving out of the intersection area, wherein the priority of the vehicles is high;
if the two vehicles are still same in time of exiting the intersection area, the speed and the distance between the two vehicles and the intersection area are the same, at the moment, the priority is judged according to the longitude and the latitude of the vehicles, the vehicle with the larger longitude is compared with the vehicle with the higher priority, and if the longitude is the same, the vehicle with the larger latitude is compared with the vehicle with the higher priority.
After the priority of the vehicle is determined, the high-priority vehicle does not perform early warning, the low-priority vehicle performs collision early warning, and the recommended vehicle speed is displayed on an early warning picture. The recommended vehicle speed passes through the intersection area time according to the high priority, and is calculated by adopting an evasion principle, if the current distance of the low priority from the intersection area is 45m, the high priority vehicle passes through the intersection area after 5s, the low priority vehicle is recommended to reach 2m before the intersection area at most after 5s, namely 5s, the running distance of the low priority vehicle is at most 43m, the vehicle speed of the low priority vehicle is required to be 30.96km/h (namely 43m/5s is 8.6m/s), the vehicle speed is directly rounded (the number after a decimal point is not reserved), and the recommended vehicle speed is displayed on an early warning interface and is less than or equal to 30 km/h.
And after the high-priority vehicle passes through the intersection area, the early warning is removed.
And when a plurality of threatening vehicles exist, screening the most urgent threatening vehicle for judgment.
The present embodiment determines the priorities of the host vehicle and the slave vehicle by first determining the intersection time of the host vehicle and the intersection time of the slave vehicle according to the lane line of the host vehicle and the lane line of the slave vehicle, and then determining the priorities of the host vehicle and the slave vehicle according to the longitude and latitude of the position of the host vehicle and the longitude and latitude of the position of the slave vehicle, thereby more accurately determining the priorities of the vehicles under a plurality of conditions to obtain accurate warning information.
Furthermore, an embodiment of the present invention further provides a storage medium, where a vehicle collision avoidance program is stored, and the vehicle collision avoidance program, when executed by a processor, implements the steps of the vehicle collision avoidance method as described above.
Referring to fig. 4, fig. 4 is a block diagram illustrating a first embodiment of a vehicle collision avoidance apparatus according to the present invention.
As shown in fig. 4, a vehicle collision avoidance apparatus according to an embodiment of the present invention includes: the acquisition module 4001 is used for acquiring the vehicle speed information of a master vehicle and the vehicle speed information of a slave vehicle in a vehicle intersection area; the calculating module 4002 is used for calculating vehicle intersection time according to the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicle; a judging module 4003, configured to judge whether the host vehicle has a collision risk according to the vehicle intersection time; the information module 4004 is configured to, when the host vehicle has a collision risk, determine priorities of the host vehicle and the slave vehicles according to a preset rule, and push collision avoidance prompt information to a vehicle with a lower priority of the host vehicle and the slave vehicles.
The acquisition module 4001 acquires vehicle speed information of a master vehicle and vehicle speed information of a slave vehicle in a vehicle intersection area.
It should be noted that before acquiring the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicle in the vehicle intersection area, the position information of the master vehicle needs to be acquired, then the position information of the slave vehicle in the preset area is acquired according to the position information of the master vehicle, and then the vehicle intersection area is calculated through a preset area algorithm according to the position information of the master vehicle and the position information of the slave vehicle.
It should be understood that the slave vehicle is another vehicle within the vehicle intersection area than the own vehicle.
Further, for ease of understanding, the following is exemplified:
assuming that a host vehicle is 50m away from an intersection, screening peripheral vehicle information, when receiving that far vehicle information exists in a left or right intersection area, determining a lane corresponding to the host vehicle and a lane corresponding to a far vehicle through GPS information to obtain an intersection area of the two vehicles, and then acquiring the vehicle speed information of the host vehicle and the vehicle speed information of a slave vehicle in the intersection area of the two vehicles.
The calculation module 4002 calculates vehicle intersection time according to the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicle.
It should be noted that, by using the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicle, the intersection time of the master vehicle passing through the intersection area and the intersection time of the slave vehicle passing through the intersection area are respectively calculated.
The judging module 4003 judges whether the host vehicle has a collision risk according to the vehicle intersection time.
It should be understood that the vehicle intersection time includes an intersection time of the master vehicle and an intersection time of the slave vehicle, and when the intersection time of the master vehicle and the intersection time of the slave vehicle coincide, it is determined that there is a collision risk between the master vehicle and the slave vehicle, and when the intersection time of the master vehicle and the intersection time of the slave vehicle do not coincide, it is determined that there is no collision risk between the master vehicle and the slave vehicle.
The information module 4004 determines the priorities of the host vehicle and the slave vehicles according to a preset rule when the host vehicle has a collision risk, and pushes collision avoidance prompt information to a vehicle with a lower priority of the host vehicle and the slave vehicles.
It should be noted that, when the host vehicle and the slave vehicle have a collision risk, a lane line of the host vehicle and a lane line of the slave vehicle are acquired, whether the lane line of the host vehicle is consistent with the lane line of the slave vehicle is judged, when the lane line of the host vehicle is inconsistent with the lane line of the slave vehicle, the priorities of the host vehicle and the slave vehicle are determined according to preset conditions, and when the lane line of the host vehicle is consistent with the lane line of the slave vehicle, the priorities of the host vehicle and the slave vehicle are determined according to the intersection time of the host vehicle and the intersection time of the slave vehicle.
It should be understood that the foregoing description of determining the priorities of the master vehicle and the slave vehicle based on the intersection time of the master vehicle and the intersection time of the slave vehicle is understood to refer to determining that the intersection time of the master vehicle and the slave vehicle is greater than each other, determining that the master vehicle is higher than the slave vehicle if the intersection time of the master vehicle is less than the intersection time of the slave vehicle, determining that the slave vehicle is higher than the master vehicle if the intersection time of the master vehicle is greater than the intersection time of the slave vehicle, and determining the priorities of the master vehicle and the slave vehicle based on the longitude and latitude of the position of the master vehicle and the longitude and latitude of the position of the slave vehicle if the intersection time of the master vehicle coincides with the intersection time of the slave vehicle.
Further, it is to be understood that the above-mentioned determination of the priorities of the host vehicle and the slave vehicle based on the longitude and latitude of the host vehicle position and the longitude and latitude of the slave vehicle position is made such that the longitude and latitude of the host vehicle, the longitude and latitude of the slave vehicle, and the longitude of the host vehicle position and the longitude of the slave vehicle position are first acquired, the priority of the slave vehicle is determined to be higher than the host vehicle if the longitude of the host vehicle position is smaller than the longitude of the slave vehicle position, the priority of the slave vehicle to be higher than the slave vehicle if the longitude of the host vehicle position is larger than the longitude of the slave vehicle position, the latitude of the host vehicle position is determined to be higher than the slave vehicle if the longitude of the host vehicle position coincides with the longitude of the slave vehicle position, the latitude of the host vehicle position is smaller than the longitude of the slave vehicle position, it is determined that the slave vehicle is higher in priority than the master vehicle, and if the latitude of the position of the master vehicle is greater than the longitude of the position of the slave vehicle, it is determined that the master vehicle is higher in priority than the slave vehicle.
In addition, according to the obtained priority result, a memorable early warning prompt is given to the master vehicle or the slave vehicle with lower priority, according to the early warning prompt, a recommended vehicle speed corresponding to the master vehicle or the slave vehicle with lower priority is calculated through a preset vehicle speed algorithm, and the recommended vehicle speed is displayed on an early warning interface corresponding to the master vehicle or the slave vehicle with lower priority, so that the master vehicle or the slave vehicle can run according to the recommended vehicle speed, and the vehicle can safely pass through the intersection.
Further, for ease of understanding, the following is exemplified:
when the vehicle is judged to have the collision risk, the priority of the two vehicles is determined, and the priority judgment scheme is as follows:
firstly, determining that two vehicles are positioned on a lane line, wherein the priority of the vehicles in a straight lane is higher than that of the vehicles in a turning lane (including left-turning and right-turning), and default of the straight-line lane and the turning lane is taken as the turning lane;
if the two vehicles are on the straight lane or the turning lane, the time of the vehicles reaching the intersection area is judged, and the priority of the vehicles reaching the intersection area first is high;
when the time when the two vehicles arrive at the intersection area is the same, judging the time when the current vehicle speed moves out of the intersection area, and firstly moving out of the intersection area, wherein the priority of the vehicles is high;
if the two vehicles are still same in time of exiting the intersection area, the speed and the distance between the two vehicles and the intersection area are the same, at the moment, the priority is judged according to the longitude and the latitude of the vehicles, the vehicle with the larger longitude is compared with the vehicle with the higher priority, and if the longitude is the same, the vehicle with the larger latitude is compared with the vehicle with the higher priority.
After the priority of the vehicle is determined, the high-priority vehicle does not perform early warning, the low-priority vehicle performs collision early warning, and the recommended vehicle speed is displayed on an early warning picture. The recommended vehicle speed passes through the intersection area time according to the high priority, and is calculated by adopting an evasion principle, if the current distance of the low priority from the intersection area is 45m, the high priority vehicle passes through the intersection area after 5s, the low priority vehicle is recommended to reach 2m before the intersection area at most after 5s, namely 5s, the running distance of the low priority vehicle is at most 43m, the vehicle speed of the low priority vehicle is required to be 30.96km/h (namely 43m/5s is 8.6m/s), the vehicle speed is directly rounded (the number after a decimal point is not reserved), and the recommended vehicle speed is displayed on an early warning interface and is less than or equal to 30 km/h.
And after the high-priority vehicle passes through the intersection area, the early warning is removed.
And when a plurality of threatening vehicles exist, screening the most urgent threatening vehicle for judgment.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
The embodiment obtains the speed information of a host vehicle and a slave vehicle in a vehicle intersection area, then calculates the vehicle intersection time according to the speed information of the host vehicle and the speed information of the slave vehicle, judges whether the intersection time of the host vehicle is consistent with the intersection time of the slave vehicle, judges that the host vehicle does not have a collision risk when the intersection time of the host vehicle is inconsistent with the intersection time of the slave vehicle, judges that the host vehicle has a collision risk when the intersection time of the host vehicle is consistent with the interaction time of the slave vehicle, finally determines the priority of the host vehicle and the slave vehicle according to a preset rule when the host vehicle has a collision risk, and pushes collision avoidance prompting information to the vehicle with low priority in the host vehicle and the slave vehicle, and provides a safe passing speed for the vehicle, therefore, the vehicle can safely pass through the intersection, and meanwhile, the safety guarantee is improved for the user.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not elaborated in the embodiment may refer to the vehicle collision avoidance method provided by any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for collision avoidance for a vehicle, the method comprising:
acquiring the speed information of a master vehicle and the speed information of a slave vehicle in a vehicle intersection area;
calculating vehicle intersection time according to the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicles;
judging whether the host vehicle has a collision risk or not according to the vehicle intersection time;
when the host vehicle has collision risks, determining the priority of the host vehicle and the priority of the slave vehicle according to a preset rule, and pushing collision avoidance prompt information to the vehicle with lower priority in the host vehicle and the slave vehicle.
2. The method of claim 1, wherein the vehicle junction time comprises a junction time of the master vehicle and a junction time of the slave vehicle;
the step of judging whether the host vehicle has a collision risk according to the vehicle intersection time comprises the following steps:
judging whether the intersection time of the master vehicle is consistent with the intersection time of the slave vehicles;
when the intersection time of the host vehicle is inconsistent with the intersection time of the slave vehicle, determining that the host vehicle has no collision risk;
and when the intersection time of the host vehicle is consistent with the interaction time of the slave vehicle, judging that the host vehicle has the collision risk.
3. The method of claim 2, wherein the step of determining the priority of the master vehicle and the slave vehicle according to preset rules comprises:
acquiring a lane line of a master vehicle and a lane line of a slave vehicle;
judging whether the lane line of the master vehicle is consistent with the lane line of the slave vehicle;
when the lane line of the host vehicle is inconsistent with the lane line of the slave vehicle, determining the priority of the host vehicle and the priority of the slave vehicle according to a preset condition;
when the lane line of the master vehicle is consistent with the lane line of the slave vehicle, determining the priority of the master vehicle and the priority of the slave vehicle according to the intersection time of the master vehicle and the intersection time of the slave vehicle.
4. The method of claim 3, wherein the step of prioritizing the master vehicle and the slave vehicles based on the time of convergence of the master vehicle and the time of convergence of the slave vehicles comprises:
comparing the junction time of the master vehicle with the junction time of the slave vehicle;
if the intersection time of the master vehicle is less than the intersection time of the slave vehicles, determining that the priority of the master vehicle is higher than that of the slave vehicles;
if the intersection time of the master vehicle is greater than the intersection time of the slave vehicles, determining that the priority of the slave vehicles is higher than that of the master vehicle;
and if the intersection time of the host vehicle is consistent with the intersection time of the slave vehicle, determining the priority of the host vehicle and the priority of the slave vehicle according to the longitude and the latitude of the position of the host vehicle and the longitude and the latitude of the position of the slave vehicle.
5. The method of claim 4, wherein the step of prioritizing the master vehicle and the slave vehicle based on the longitude and latitude of the master vehicle position and the longitude and latitude of the slave vehicle position comprises:
comparing the longitude of the host vehicle position to the longitude of the slave vehicle position;
determining that the slave vehicle is higher in priority than the master vehicle if the longitude of the host vehicle position is less than the longitude of the slave vehicle position;
determining that the host vehicle is higher in priority than the slave vehicle if the longitude of the host vehicle position is greater than the longitude of the slave vehicle position;
if the longitude of the host vehicle position is consistent with the longitude of the slave vehicle position, judging the latitude of the host vehicle position and the latitude of the slave vehicle;
determining that the slave vehicle is higher in priority than the master vehicle if the latitude of the host vehicle position is less than the longitude of the slave vehicle position;
if the latitude of the host vehicle position is greater than the longitude of the slave vehicle position, it is determined that the priority of the host vehicle is higher than that of the slave vehicle.
6. The method of any one of claims 1 to 5, wherein the step of pushing collision avoidance prompting information to a vehicle with a lower priority of the master vehicle and the slave vehicles comprises:
giving an early warning prompt to a vehicle with lower priority in the master vehicle and the slave vehicles;
and calculating the recommended speed corresponding to the master vehicle or the slave vehicle with the lower priority through a preset speed algorithm according to the early warning prompt, and displaying the recommended speed on an early warning interface corresponding to the master vehicle or the slave vehicle with the lower priority.
7. The method of claim 1, wherein the step of obtaining vehicle speed information of the master vehicle and vehicle speed information of the slave vehicles in the vehicle junction area is preceded by the step of:
acquiring position information of a host vehicle;
acquiring the position information of the slave vehicle in a preset area according to the position information of the master vehicle;
and calculating a vehicle intersection area through a preset area algorithm according to the position information of the master vehicle and the position information of the slave vehicle.
8. A vehicle collision avoidance apparatus, comprising:
the acquisition module is used for acquiring the speed information of a master vehicle and the speed information of a slave vehicle in a vehicle intersection area;
the calculation module is used for calculating vehicle intersection time according to the vehicle speed information of the master vehicle and the vehicle speed information of the slave vehicle;
the judging module is used for judging whether the main vehicle has collision risks according to the vehicle intersection time;
and the information module is used for determining the priority of the host vehicle and the priority of the slave vehicle according to a preset rule when the host vehicle has collision risk, and pushing collision avoidance prompt information to the vehicle with lower priority in the host vehicle and the slave vehicle.
9. An electronic device, characterized in that the device comprises: memory, processor and vehicle collision avoidance program stored on the memory and executable on the processor, the vehicle collision avoidance program being configured to implement the steps of the vehicle collision avoidance method of any of claims 1 to 7.
10. A storage medium having stored thereon a vehicle collision avoidance program which, when executed by a processor, implements the steps of the vehicle collision avoidance method of any of claims 1 through 7.
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