CN111038380A - Forward collision early warning method and system - Google Patents
Forward collision early warning method and system Download PDFInfo
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- CN111038380A CN111038380A CN201911328840.XA CN201911328840A CN111038380A CN 111038380 A CN111038380 A CN 111038380A CN 201911328840 A CN201911328840 A CN 201911328840A CN 111038380 A CN111038380 A CN 111038380A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
Abstract
The application provides a forward collision early warning method and a forward collision early warning system. The method comprises the following steps: detecting yaw rate information of the vehicle; when the vehicle is determined to be in a turning state according to the yaw angular velocity information, adjusting the monitoring range of the forward collision to a specified threshold value; and within the specified threshold, if the collision time and/or the head time distance between the forward obstacle and the vehicle meet the early warning condition, generating a forward collision warning signal and giving an alarm. According to the method, the monitoring range of the forward collision is adjusted, so that the situation that the normal road equipment detected by the sensor at a distance is regarded as an obstacle to be collided is avoided as much as possible, the misinformation caused by the early warning of the forward collision during turning is reduced, and the early warning accuracy is improved.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a forward collision early warning method and a forward collision early warning system.
Background
In the existing automobile forward collision early warning technology, a sensor detects a front obstacle, calculates the headway and/or the collision time between the automobile and the front automobile, and performs early warning on forward collision of the automobile according to the headway and/or the collision time.
However, according to the technical scheme, when a turn enters a ramp or a large-amplitude turn occurs, the protective iron sheet or the fence of the ramp is mistakenly detected as an obstacle, an alarm is easily triggered during the turn to generate a false alarm, and the early warning accuracy is poor.
Disclosure of Invention
Therefore, it is necessary to provide a forward collision warning method and a forward collision warning system for the above technical defects, especially the technical defect of poor warning accuracy.
A forward collision early warning method comprises the following steps:
detecting yaw rate information of the vehicle;
when the vehicle is determined to be in a turning state according to the yaw rate information, adjusting the monitoring range of forward collision to a specified threshold value;
detecting the collision time and/or the headway of the vehicle and a forward obstacle in the monitoring range;
and if the collision time and/or the locomotive headway meet the early warning condition, generating a forward collision warning signal and warning.
In one embodiment, the step of adjusting the monitoring range of the forward collision to a specified threshold comprises:
presetting a designated threshold value, and adjusting the monitoring range of the forward collision to the designated threshold value, wherein the designated threshold value is smaller than the monitoring range.
In one embodiment, the step of detecting the collision time and/or headway of the vehicle with a forward obstacle in the monitoring range includes:
monitoring the real-time distance, the relative speed and the direction of the forward obstacle in the monitoring range through an electromagnetic wave sensor; detecting current speed data of the vehicle through an OBD interface detection module; and acquiring the collision time and the headway according to the real-time distance, the relative speed and the direction of the forward obstacle and the current speed data of the vehicle.
In one embodiment, the step of detecting yaw-rate information of the vehicle includes:
controlling a gyroscope to measure a yaw rate of the vehicle; and judging whether the vehicle is in a steering driving state or not according to the change of the yaw rate.
In one embodiment, the yaw-rate information includes a heading of the vehicle; the step of adjusting the monitoring range of the forward collision to a specified threshold comprises:
analyzing the course of the vehicle according to the yaw angular velocity; and determining a monitoring range to be adjusted according to the heading of the vehicle, and taking the monitoring range to be adjusted as the specified threshold.
The utility model provides a forward collision early warning system, includes treater, gyroscope, electromagnetic wave sensor, OBD interface detection module and alarm module respectively with the treater is connected:
the processor is used for executing the steps of the forward collision warning method according to any one of the embodiments;
the alarm module is used for prompting according to the forward collision alarm signal.
In one embodiment, the electromagnetic wave sensor comprises a millimeter wave sensor or a microwave sensor.
In one embodiment, the OBD interface detection module is further connected with an OBD interface of the vehicle, and the OBD interface detection module is configured to obtain a current vehicle speed of the vehicle through the OBD interface and transmit the current vehicle speed to the processor;
the alarm module comprises a visual indication device and/or an audible indication device.
In one embodiment, the electromagnetic wave sensor is mounted on the outside or inside of the vehicle head.
In one embodiment, the processor, the gyroscope, and the electromagnetic wave sensor are integrated into an electromagnetic wave radar device, and the electromagnetic wave radar device is installed outside or inside the vehicle head.
According to the forward collision early warning method and the forward collision early warning system, the monitoring range of forward collision is adjusted, so that normal road equipment detected by a sensor at a distance is prevented from being regarded as an obstacle to be collided as far as possible, the misinformation caused by forward collision early warning during turning is reduced, and the early warning accuracy is improved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice.
Drawings
The foregoing and/or additional aspects and advantages will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an environmental diagram illustrating an embodiment of a forward collision warning method;
FIG. 2 is a flow diagram of a forward collision warning method in one embodiment;
fig. 3 is a schematic structural diagram of a forward collision warning system in one embodiment.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As shown in fig. 1, fig. 1 is a diagram of an implementation environment of a forward collision warning method provided in an embodiment, in the implementation environment, including a vehicle 110 and a forward collision warning system installed in the vehicle, where the forward collision warning system includes a processor 121, a gyroscope 122, an electromagnetic wave sensor 123, an OBD interface detection module (not shown in fig. 1), and an alarm module 124, and the gyroscope 122, the electromagnetic wave sensor 123, the OBD interface detection module, and the alarm module 124 are respectively connected to the processor. Wherein the processor 121, the gyroscope 122, and the electromagnetic wave sensor 123 are installed at the head 111 of the vehicle 110; the alarm module 124 is disposed in the compartment of the vehicle 110, and the alarm module 124 and the processor 121 may be connected by wireless communication, or the alarm module 124 and the processor 121 may be connected by a bus. The OBD interface detection module is generally placed in the cockpit, for example, may be placed below the steering wheel, also facilitates the OBD interface connection of the OBD interface detection module and the vehicle.
The gyroscope 122, also called an angular velocity sensor, is a device for sensing and maintaining a direction, and is designed based on the theory that angular momentum is not constant. Once the gyroscope begins to rotate, the gyroscope has a tendency to resist changes in direction due to the angular momentum of the wheels. The principle of an angular velocity sensor is generally that the direction of the axis of rotation of a rotating object does not change when it is not affected by an external force. The measured physical quantities of the gyroscope 122 may include yaw, rotational angular velocity during tilt, and yaw angular velocity, and the heading of the vehicle may be detected by the gyroscope 122.
The electromagnetic wave sensor 123 can monitor obstacles in a monitoring range, and monitoring of the obstacles in vehicle collision prevention is achieved. The electromagnetic wave sensor 123 may include a millimeter wave sensor using millimeter waves having a wavelength between a centimeter wave and a light wave, so that the millimeter waves have advantages of both microwave guidance and photoelectric guidance. Compared with a centimeter wave sensor, the millimeter wave sensor has the characteristics of small volume, easy integration and high spatial resolution; compared with optical sensors such as a camera, infrared sensors, laser sensors and the like, the millimeter wave radar has the advantages of being strong in fog, smoke and dust penetrating capability, strong in anti-interference capability and capable of achieving all-weather all-day-long characteristics.
In an embodiment, as shown in fig. 2, fig. 2 is a flowchart of a forward collision warning method in an embodiment, where the embodiment proposes a forward collision warning method, which may be applied to the processor 121, and specifically includes the following steps:
step S210: yaw-rate information of the vehicle is detected.
The yaw rate information is used for judging the driving direction of the vehicle and mainly reflects whether the vehicle is in a straight driving state or a turning state during driving. In this step, the current yaw rate information of the vehicle is detected in real time, and the current driving direction state of the vehicle is reflected. The yaw rate information may include angular velocity, steering angle, heading, yaw rate, etc.
Specifically, the step of detecting the yaw-rate information of the vehicle may include:
step S211: controlling a gyroscope to measure the yaw rate of the vehicle; step S212: whether the vehicle is in a turning travel state is determined based on the change in the yaw rate.
The gyroscope measures the yaw rate of the vehicle in real time and analyzes the change of the yaw rate of the vehicle. When the change in the yaw rate satisfies the condition for determining that the vehicle is turning, it is determined that the vehicle is in a turning traveling state.
The above-mentioned mode of acquireing corner information directly acquires yaw velocity information, and is simple convenient, is suitable for multiple motorcycle type, and the compatibility degree is high. The steering wheel angle information does not need to be acquired through an On-Board Diagnostics (OBD) system in a specific vehicle type and the matching pertinence cracking is carried out, and the yaw angular speed information can be easily obtained in the mode.
Further, the amplitude of the vehicle steering can be quantified according to the degree of change of the yaw rate and the yaw rate; the scene of the vehicle turning can be presumed according to the magnitude of the vehicle steering. The vehicle turns more when the yaw rate change is larger; when the yaw rate change is large, the vehicle may make a large-amplitude turn; when the angular velocity variation is small, the vehicle may change lanes on a straight-ahead road.
Step S220: when it is determined that the vehicle is in a turning state based on the yaw rate information, the monitoring range of the forward collision is adjusted to a prescribed threshold value.
In the step, when the vehicle is determined to turn during driving through the yaw velocity information, the monitoring range of the forward collision is adjusted to adapt to the change of the detection direction and the detection area along with the turning in the forward collision early warning system, and the detection range is adjusted to a specified threshold value matched with the turning state.
When the vehicle runs forwards on the straight road, a smooth road without obstacles is arranged right in front of the vehicle head. However, in the process of turning, the guard rails possibly facing the ramps, green belts on both sides of the road and the like are arranged right in front of the vehicle head, and at the moment, the forward collision early warning system takes the detected guard rails, green belts and the like as the obstacles to be collided, triggers an alarm and causes false alarm. In this step, the monitoring range of the forward collision is adjusted to a specified threshold, and if the monitoring range is reduced, normal road equipment such as guard rails and green belts is prevented from being regarded as an obstacle to be collided. For example, the step of adjusting the monitoring range of the forward collision to a specified threshold in step S220 may include: presetting a designated threshold value, and adjusting the monitoring range of the forward collision to the designated threshold value, wherein the designated threshold value is smaller than the monitoring range.
Step S230: the collision time and/or headway of the vehicle with a forward obstacle is detected within the monitoring range.
In the step, a sensor in the forward collision early warning system can monitor a forward obstacle in a monitoring range, and the collision time and/or the headway of the vehicle and the forward obstacle are acquired by detecting the distance, the direction and the relative speed between the vehicle and the forward obstacle and combining the current speed of the vehicle.
Step S240: and if the collision time and/or the locomotive headway meet the early warning condition, generating a forward collision warning signal and warning.
In this step, if the collision time and/or the headway satisfy the early warning condition, the forward obstacle is regarded as an obstacle to be collided, and the forward collision early warning system generates a forward collision warning signal and gives an alarm. In this case, the number of obstacles in the forward direction from a distance can be minimized as much as possible to trigger an alarm.
The forward collision early warning method comprises the steps of detecting yaw velocity information of a vehicle, adjusting a monitoring range of forward collision to a specified threshold value when the vehicle is determined to be in a turning state according to the yaw velocity information, detecting collision time and/or a vehicle headway of the vehicle and a forward obstacle in the monitoring range, and generating a forward collision warning signal and giving an alarm if the collision time and/or the vehicle headway meet early warning conditions; through the monitoring range of the forward collision of adjustment, avoid far away by the normal road equipment of sensor detection as far as possible by being regarded as the barrier that is about to collide, reduce the wrong report that the forward collision early warning arouses when turning, promoted the early warning accuracy.
In one embodiment, the step of detecting the collision time and/or the headway of the vehicle with the forward obstacle in the monitoring range in step S230 may include:
step S231: and monitoring the real-time distance, the relative speed and the direction of the forward obstacle in a monitoring range through an electromagnetic wave sensor.
In the step, the electromagnetic wave sensor detects the forward obstacle to obtain the real-time distance, the relative speed and the direction between the vehicle and the forward obstacle.
Step S232: and detecting the current speed data of the vehicle through an OBD interface detection module.
Step S233: and acquiring collision time and headway according to the real-time distance, the relative speed and the direction of the forward obstacle and the current speed data of the vehicle.
And acquiring the collision time and the headway of the vehicle and the forward obstacle according to the distance, the direction, the relative speed and the current vehicle speed data.
According to the forward collision early warning method, the collision time and the real-time distance can be acquired through the forward collision early warning system.
In one embodiment, the yaw-rate information may include a heading of the vehicle.
The step of adjusting the monitoring range of the forward collision to a specified threshold in step S220 may include:
s221: and analyzing the heading of the vehicle according to the yaw rate.
In the step, the turning amplitude of the vehicle is analyzed according to the yaw rate, and the course of the vehicle when turning is determined according to the turning amplitude.
S222: and determining a monitoring range to be adjusted according to the heading of the vehicle, and taking the monitoring range to be adjusted as a specified threshold value.
In this step, the designated threshold value can change along with the course, the designated threshold value is larger when the course change of the vehicle is smaller, and the designated threshold value is smaller when the course change of the vehicle is larger, so that the monitoring range is adjusted accordingly.
The larger the course change is, the more the specified threshold value is to be reduced, and the misjudgment of road facilities and greening facilities outside the lane is avoided during turning. This is because the width of the lane in the traveling lane road is much shorter than the length of the lane, the heading direction at the time of turning gradually points in the width direction of the lane, and the heading direction, that is, the direction of forward detection, also gradually points in the lane other than the current lane or in greening or road facilities.
The forward collision early warning method can adjust the monitoring range more adaptively, and further reduce the false alarm of forward collision early warning.
In an embodiment, as shown in fig. 3, fig. 3 is a schematic structural diagram of a forward collision warning system in an embodiment, and the forward collision warning system provided in this embodiment may include a processor 310, a gyroscope 320, an electromagnetic wave sensor 330, an OBD interface detection module 340, and an alarm module 350, where the gyroscope 320, the electromagnetic wave sensor 330, the OBD interface detection module 340, and the alarm module 350 are respectively connected to the processor 310.
For example, the electromagnetic wave sensor 330 may be installed outside or inside the vehicle head. It is also possible to integrate the processor 310, the gyroscope 320, and the electromagnetic wave sensor 330 into an electromagnetic wave radar device, and to install the integrated electromagnetic wave radar device 330 outside or inside the vehicle head.
The processor may be configured to perform the steps of the forward collision warning method as in any of the embodiments described above.
The processor may perform detecting yaw-rate information of the vehicle; when the vehicle is determined to be in a turning state according to the yaw angular velocity information, adjusting the monitoring range of the forward collision to a specified threshold value; detecting collision time and/or headway of a vehicle and a forward obstacle in a monitoring range; and generating a forward collision alarm signal and alarming if the collision time and/or the locomotive headway meet the early warning condition.
The alert module 350 may be configured to prompt in response to a forward collision alert signal.
The warning module 350 may include a visual indication device and/or an audible indication device through which the forward collision warning signal is output. The forward collision warning signal may include primary warning information and secondary warning information. For the first-level alarm information, an orange light indication and a plurality of alarm tones (such as a transient Bi alarm tone with a frequency of 3 kHz) can be sent out; for the secondary alarm information, a red light and a continuous prolonged warning sound (such as a 'Bi' warning sound with the duration of 1s and the frequency of 3 kHz) can be emitted.
Above-mentioned to collision early warning system, through the monitoring range of adjustment forward collision, avoid far away by the normal road equipment of sensor detection by being regarded as the barrier that is about to collide as far as possible, forward collision early warning's wrong report arouses when reducing the turn has promoted the forecast accuracy.
In one embodiment, the electromagnetic wave sensor 330 includes a millimeter wave sensor or a microwave sensor.
The millimeter wave sensor uses millimeter waves, and the wavelength of the millimeter waves is between centimeter waves and light waves, so the millimeter waves have the advantages of microwave guidance and photoelectric guidance. Compared with a centimeter wave sensor, the millimeter wave sensor has the characteristics of small volume, easy integration and high spatial resolution; compared with optical sensors such as a camera, infrared sensors, laser sensors and the like, the millimeter wave radar has the advantages of being strong in fog, smoke and dust penetrating capability, strong in anti-interference capability and capable of achieving all-weather all-day-long characteristics. The millimeter wave can refer to electromagnetic waves in a frequency domain (the wavelength is 1-10 mm) of 30-300 GHz, wherein a 24GHz millimeter wave sensor and a 77Ghz millimeter wave sensor are mainly used for automobile collision avoidance.
In one embodiment, the OBD interface detection module is further connected with an OBD interface of the vehicle, and the OBD interface detection module is configured to obtain the current speed of the vehicle through the OBD interface and transmit the current speed to the processor.
The OBD interface detection module can acquire the current speed of the vehicle and transmit the current speed to the processor. The processor can call a monitoring range and an early warning condition matched with the current vehicle speed so as to adapt the forward collision early warning system to the current vehicle speed. The higher the vehicle speed, the larger the monitoring range. For example, during straight travel, a current speed of 50 km would match a monitoring range of within 30 meters, whereas a current speed of 20 km would match a monitoring range of within 15 meters; and when the vehicle is identified to turn greatly, the monitoring range can be adjusted to be within 5 meters or 5 meters.
In one embodiment, the step of adjusting the monitoring range of the forward collision to a specified threshold performed by the processor may include: presetting a designated threshold value, and adjusting the monitoring range of the forward collision to the designated threshold value, wherein the designated threshold value is smaller than the monitoring range.
In one embodiment, the step of detecting the collision time and/or headway of the vehicle with a forward obstacle in the monitoring range includes: monitoring the real-time distance, the relative speed and the direction of the forward obstacle in the monitoring range through an electromagnetic wave sensor; detecting current speed data of the vehicle through an OBD interface detection module; and acquiring the collision time and the headway according to the real-time distance, the relative speed and the direction of the forward obstacle and the current speed data of the vehicle.
In one embodiment, the step of detecting yaw-rate information of the vehicle performed by the processor comprises: controlling a gyroscope to measure a yaw rate of the vehicle; and judging whether the vehicle is in a steering driving state or not according to the change of the yaw rate.
In one embodiment, the yaw-rate information includes a heading of the vehicle; the step of adjusting the monitoring range of the forward collision to a specified threshold performed by the processor may include: analyzing the heading of the vehicle according to the yaw; and determining a monitoring range to be adjusted according to the heading of the vehicle, and taking the monitoring range to be adjusted as the specified threshold.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (10)
1. A forward collision early warning method is characterized by comprising the following steps:
detecting yaw rate information of the vehicle;
when the vehicle is determined to be in a turning state according to the yaw rate information, adjusting the monitoring range of forward collision to a specified threshold value;
detecting the collision time and/or the headway of the vehicle and a forward obstacle in the monitoring range;
and if the collision time and/or the locomotive headway meet the early warning condition, generating a forward collision warning signal and warning.
2. The forward collision warning method according to claim 1, wherein the step of adjusting the monitoring range of the forward collision to a specified threshold value comprises:
presetting a designated threshold value, and adjusting the monitoring range of the forward collision to the designated threshold value, wherein the designated threshold value is smaller than the monitoring range.
3. The forward collision warning method according to claim 1, wherein the step of detecting the collision time and/or headway of the vehicle with a forward obstacle in the monitoring range comprises:
monitoring the real-time distance, the relative speed and the direction of the forward obstacle in the monitoring range through an electromagnetic wave sensor;
detecting current speed data of the vehicle through an OBD interface detection module;
and acquiring the collision time and the headway according to the real-time distance, the relative speed and the direction of the forward obstacle and the current speed data of the vehicle.
4. The forward collision warning method as claimed in claim 1, wherein the step of detecting yaw-rate information of the vehicle comprises:
controlling a gyroscope to measure a yaw rate of the vehicle;
and judging whether the vehicle is in a steering driving state or not according to the change of the yaw rate.
5. The forward collision warning method according to claim 4, wherein the yaw rate information includes a heading of the vehicle;
the step of adjusting the monitoring range of the forward collision to a specified threshold comprises:
analyzing the course of the vehicle according to the yaw angular velocity;
and determining a monitoring range to be adjusted according to the heading of the vehicle, and taking the monitoring range to be adjusted as the specified threshold.
6. The utility model provides a forward collision early warning system, its characterized in that, includes treater, gyroscope, electromagnetic wave sensor, OBD interface detection module and alarm module respectively with the treater is connected:
the processor is used for executing the steps of the forward collision warning method according to any one of the claims 1 to 5;
the alarm module is used for prompting according to the forward collision alarm signal.
7. The forward collision warning system according to claim 6, wherein the electromagnetic wave sensor comprises a millimeter wave sensor or a microwave sensor.
8. The forward collision warning system according to claim 6, wherein the OBD interface detection module is further connected to an OBD interface of the vehicle, and the OBD interface detection module is configured to obtain a current vehicle speed of the vehicle through the OBD interface and transmit the current vehicle speed to the processor;
the alarm module comprises a visual indication device and/or an audible indication device.
9. The forward collision warning system according to claim 6, characterized in that the electromagnetic wave sensor is installed outside or inside the vehicle head.
10. The forward collision warning system according to claim 9, wherein the processor, the gyroscope, and the electromagnetic wave sensor are integrated as an electromagnetic wave radar device, and the electromagnetic wave radar device is installed outside or inside the vehicle head.
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| CN113882308A (en) * | 2021-10-21 | 2022-01-04 | 长沙中联重科环境产业有限公司 | Anticollision mechanism, cover shovel device and snow sweeper |
| CN113882308B (en) * | 2021-10-21 | 2023-11-07 | 长沙中联重科环境产业有限公司 | Anti-collision mechanism, cover shovel device and snow breaker |
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Application publication date: 20200421 |