CN111516707A - Driving assistance method, device and system - Google Patents

Driving assistance method, device and system Download PDF

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Publication number
CN111516707A
CN111516707A CN202010421510.1A CN202010421510A CN111516707A CN 111516707 A CN111516707 A CN 111516707A CN 202010421510 A CN202010421510 A CN 202010421510A CN 111516707 A CN111516707 A CN 111516707A
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China
Prior art keywords
vehicle
reading
vehicle information
information
driving assistance
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CN202010421510.1A
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Chinese (zh)
Inventor
金建
陈强
张国宁
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Hefei Jiedai Electromechanical Technology Co ltd
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Hefei Jiedai Electromechanical Technology Co ltd
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Priority to CN202010421510.1A priority Critical patent/CN111516707A/en
Publication of CN111516707A publication Critical patent/CN111516707A/en
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W50/00—Details 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W30/00—Purposes 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4043—Lateral speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4044—Direction of movement, e.g. backwards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to the technical field of vehicle assistance, and discloses a driving assistance method, a device and a system, wherein the method comprises the following steps: writing the vehicle information into the electronic tag, reading the vehicle information in real time, comparing the vehicle information, giving attention to the grade, judging the numerical range and sending out a warning; the method can quickly determine the information of surrounding vehicles, accurately and efficiently detect the abnormal conditions, and provide warning information for drivers in time for reference, and has higher practical value and wide application prospect.

Description

Driving assistance method, device and system
Technical Field
The invention relates to the technical field of vehicle assistance, in particular to a driving assistance method, device and system.
Background
With the increasing automobile keeping quantity in the world, the automobile traffic accidents have been increased in successive years, and the traffic safety problem becomes a public nuisance in modern society. Statistically, among all traffic accidents, car crash accidents (including car collisions and car-to-fixture collisions) are the predominant form. The collision accident of the automobile is mostly caused by the factors of too fast driving speed, too small driving distance, untimely braking and the like.
In order to further improve road traffic safety and help drivers to reduce erroneous operations, attention has been paid to and intelligent automobile safety technologies represented by Advanced Driver Assistance Systems (ADAS) in recent years. The automobile emergency collision avoidance system assists a driver to adjust the motion track of an automobile through active intervention of an actuator, so that collision avoidance is realized. The novel bicycle can save lives of drivers at critical moment, and has good market prospect.
In the prior art, for the grasping of the information of surrounding vehicles, most distance data formed by radar or laser ranging cannot accurately and quickly acquire the real-time motion information and the important parameter information such as internal power and steering of the surrounding vehicles, and effective reminding cannot be made.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a driving assistance method, a driving assistance device and a driving assistance system, which are used for solving the problems in the background art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides a driving assistance method, which includes the following steps:
writing static vehicle information and dynamic vehicle information into an electronic tag in real time to wait for reading, wherein the static vehicle information comprises a license plate number, a vehicle model and a vehicle overall dimension, and the dynamic vehicle information comprises vehicle running direction, real-time speed, engine rotating speed, acceleration, steering angle, load weight and position information;
reading vehicle information stored in all vehicle electronic tags in a preset range in real time, comparing the vehicle information with the vehicle information, granting different attention degrees of the compared vehicles to be sent to a memory for storage or updating the attention degree grade corresponding to the vehicle in the memory;
and for the vehicle with the highest attention degree, if the data in the dynamic vehicle information exceeds a preset normal value range, a warning signal is sent to the driver of the vehicle.
Preferably, the dynamic vehicle information is acquired by:
acquiring parameters including vehicle speed per hour, engine speed, steering angle and acceleration through a CAN bus of the vehicle;
determining vehicle position information and a driving direction through the GPS/INS in cooperation with a gyroscope;
the weight of the load of the vehicle is collected through the arranged pressure sensor.
Preferably, the vehicle information stored in the vehicle electronic tag within the preset range is compared with the vehicle information by the following method:
reading real-time position information of the vehicle and the comparison vehicle, calculating to obtain a linear distance between the two vehicles, and performing orthogonal decomposition on the linear distance along the driving direction of the vehicle to obtain a vertical distance along the driving direction of the vehicle and a transverse distance perpendicular to the driving direction of the vehicle;
reading the running direction data of the vehicle and the comparison vehicle, and calculating to obtain the running direction included angle of the two vehicles;
reading and comparing the output torque and the engine speed of the vehicle engine, and calculating to obtain the output torque and the speed variation;
preferably, the granting of the attention level comprises the steps of:
reading and comparing the vertical distance S of the vehicle relative to the vehicleVerticalTransverse distance SHorizontal barAngle theta with the direction of travelClip；
Reading and comparing real-time speed V of vehicleTime of flightAnd an acceleration a;
reading the variation delta R of the rotating speed;
substituting formula P ═ λ1SVertical+λ2SHorizontal bar+λ3θClip+λ4VTime of flight+λ5a+λ5Δ R obtains a rating of interest parameter for the aligned vehicle, where λ1、λ2、λ3、λ4、λ5、λ5And reading a weight coefficient value corresponding to a prestored mode according to the driving environment mode selected by the user as the weight coefficient.
Ranking the grade parameters after finishing the comparison of all vehicles in the preset range, and awarding attention grades according to the grade from high to low.
Preferably, the warning signal is sent to the driver of the vehicle, and the warning signal is sent to the vehicle with the highest attention degree.
Preferably, when the straight-line distance between the vehicle and the comparison vehicle is lower than a preset threshold, the high-precision distance measuring service is triggered, and the method comprises the following steps:
establishing a space coordinate system, wherein the space coordinate system takes the center of the vehicle body of the vehicle as the origin of coordinates, the direction parallel to the ground to the front of the vehicle head is taken as the positive direction of a Y axis, the direction perpendicular to the ground to the lower part of the ground is taken as the positive direction of a Z axis, and the direction parallel to the ground to the right side of a driver is taken as the positive direction of an X axis;
reading the vehicle outline size data to obtain the farthest endpoint coordinates of each surface of the vehicle outline solid;
reading and comparing vehicle outline size data, and combining distance data measured by a laser arranged at the periphery of the vehicle to obtain the coordinates of the farthest end points of all surfaces of the vehicle outline stereo;
and calculating the point distance of the coordinate of the farthest end point of each surface of the outline stereo of the vehicle and the coordinate of the farthest end point of each surface of the outline stereo of the comparison vehicle, and feeding back the corresponding position of the point with the minimum distance to the driver of the vehicle and the driver of the comparison vehicle in real time.
Preferably, the high precision distance measurement service further comprises a modeling step of:
and reading the coordinate data of the vehicle in the space coordinate system and the coordinate data of the vehicle with the highest attention degree, and dynamically displaying the outline models of the two vehicles in proportion on a vehicle internal display device.
The present invention also provides a driving assistance apparatus including:
the electronic tag module is used for storing static vehicle information and dynamic vehicle information, wherein the static vehicle information comprises a license plate number, a vehicle model and a vehicle overall dimension, and the dynamic vehicle information comprises a vehicle running direction, a real-time speed, an engine rotating speed, an acceleration, a steering angle, a load weight and position information;
the data reading and writing module is used for writing the static vehicle information and the dynamic vehicle information into the electronic tag in real time to wait for reading;
the data processing module is used for reading vehicle information stored in all vehicle electronic tags in a preset range in real time, comparing the vehicle information with the vehicle information, granting different attention degrees of the compared vehicles to be sent to the memory for storage or updating the attention degree grade corresponding to the vehicle in the memory;
and the reminding display module is used for sending a warning signal to the driver of the vehicle when the data in the dynamic vehicle information corresponding to the vehicle with the highest attention degree exceeds a preset normal value range.
The present invention also provides a driving assistance system including:
one or more processors;
storage means for storing one or more programs;
a driving assistance device;
the one or more programs, when executed by the one or more processors, cause a driving assistance apparatus to implement the method of driving assistance in cooperation with the one or more processors.
The invention also provides a vehicle control system comprising the driving assistance system.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, by acquiring important static information and real-time dynamic information in vehicle running and utilizing a control system and a data acquisition device of an automobile, the information is quickly and accurately summarized and is waited to be read, so that data delay and data errors caused by external measurement of acquired data in the prior art are avoided, and on the other hand, vehicle information data which cannot be measured externally but is expected to be important and effectively known to surrounding vehicle drivers is provided in real time, so that accurate and effective driving auxiliary information is further processed and obtained for the drivers to refer to;
according to the invention, the surrounding vehicle information in the preset range is compared with the vehicle information, different attention levels are granted according to the comparison result, the important vehicle information is mainly monitored for the highest level, and once an abnormal condition occurs, the important vehicle information is timely reported, so that the surrounding vehicles are dynamically monitored and prompted according to the actual driving environment.
Further salient features and significant advances with respect to the present invention over the prior art are described in further detail in the examples section.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic flow chart of a driving assistance method of the present invention;
fig. 2 is a schematic structural view of a driving assistance apparatus of the invention;
FIG. 3 is a schematic diagram of a driving assistance system according to the present invention;
fig. 4 is a schematic structural diagram of a vehicle control system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that certain names are used throughout the specification and claims to refer to particular components. It will be understood that one of ordinary skill in the art may refer to the same component by different names. The present specification and claims do not intend to distinguish between components that differ in name but not function. As used in the specification and claims of this application, the terms "comprises" and "comprising" are intended to be open-ended terms that should be interpreted as "including, but not limited to," or "including, but not limited to. The embodiments described in the detailed description are preferred embodiments of the present invention and are not intended to limit the scope of the present invention.
Moreover, those skilled in the art will appreciate that aspects of the present invention may be embodied as a system, method or computer program product. Accordingly, various aspects of the present invention may be embodied in a combination of hardware and software, which may be referred to herein generally as a "circuit," module "or" system. Furthermore, in some embodiments, various aspects of the invention may also be embodied in the form of a computer program product in one or more microcontroller-readable media having microcontroller-readable program code embodied therein.
As shown in fig. 1 to 4, a driving assistance method of the present embodiment includes the steps of:
writing static vehicle information and dynamic vehicle information into an electronic tag in real time to wait for reading, wherein the static vehicle information comprises a license plate number, a vehicle model and a vehicle overall dimension, and the dynamic vehicle information comprises vehicle running direction, real-time speed, engine rotating speed, acceleration, steering angle, load weight and position information;
reading vehicle information stored in all vehicle electronic tags in a preset range in real time, comparing the vehicle information with the vehicle information, granting different attention degrees of the compared vehicles to be sent to a memory for storage or updating the attention degree grade corresponding to the vehicle in the memory;
and for the vehicle with the highest attention degree, if the data in the dynamic vehicle information exceeds a preset normal value range, a warning signal is sent to the driver of the vehicle.
The dynamic vehicle information in the present embodiment is acquired by the following method:
acquiring parameters including vehicle speed per hour, engine speed, steering angle and acceleration through a CAN bus of the vehicle;
determining vehicle position information and a driving direction through the GPS/INS in cooperation with a gyroscope;
the weight of the load of the vehicle is collected through the arranged pressure sensor.
The real-time parameter information of the vehicle is directly obtained on the basis of the existing CAN bus of the vehicle and the GPS/INS matched with the gyroscope and the pressure sensor, and no new equipment is required to be added, so that the application of the invention has practicability and economy.
In the embodiment, vehicle information stored in a vehicle electronic tag within a preset range is compared with vehicle information of a vehicle by the following method:
reading real-time position information of the vehicle and the comparison vehicle, calculating to obtain a linear distance between the two vehicles, and performing orthogonal decomposition on the linear distance along the driving direction of the vehicle to obtain a vertical distance along the driving direction of the vehicle and a transverse distance perpendicular to the driving direction of the vehicle;
reading the running direction data of the vehicle and the comparison vehicle, and calculating to obtain the running direction included angle of the two vehicles;
and reading and comparing the output torque and the engine speed of the vehicle engine, and calculating to obtain the output torque and the speed variation. And comparing the vehicle of the vehicle with the comparison vehicle to provide detailed reference data for subsequent attention levels.
The granting of the attention level in this embodiment includes the steps of:
reading and comparing the vertical distance S of the vehicle relative to the vehicleVerticalTransverse distance SHorizontal barAngle theta with the direction of travelClip；
Reading and comparing real-time speed V of vehicleTime of flightAnd an acceleration a;
reading the variation delta R of the rotating speed;
substituting formula P ═ λ1SVertical+λ2SHorizontal bar+λ3θClip+λ4VTime of flight+λ5a+λ5Δ R obtains a rating of interest parameter for the aligned vehicle, where λ1、λ2、λ3、λ4、λ5、λ5And reading a weight coefficient value corresponding to a prestored mode according to the driving environment mode selected by the user as the weight coefficient.
Ranking the grade parameters after finishing the comparison of all vehicles in the preset range, and awarding attention grades according to the grade from high to low. Weights are given to comparison results through selection of different driving environments, attention levels of comparison vehicles are obtained, and accordingly layered monitoring is conducted on the road vehicles in a distinguished mode.
In the present embodiment, a warning signal is issued to the driver of the vehicle and a warning signal is issued to the vehicle having the highest attention level.
In this embodiment, when this car is less than the predetermined threshold with the comparison vehicle linear distance, trigger high accuracy distance measurement service, include:
establishing a space coordinate system, wherein the space coordinate system takes the center of the vehicle body of the vehicle as the origin of coordinates, the direction parallel to the ground to the front of the vehicle head is taken as the positive direction of a Y axis, the direction perpendicular to the ground to the lower part of the ground is taken as the positive direction of a Z axis, and the direction parallel to the ground to the right side of a driver is taken as the positive direction of an X axis;
reading the vehicle outline size data to obtain the farthest endpoint coordinates of each surface of the vehicle outline solid;
reading and comparing vehicle outline size data, and combining distance data measured by a laser arranged at the periphery of the vehicle to obtain the coordinates of the farthest end points of all surfaces of the compared vehicle outline stereo;
and calculating the point distance of the coordinate of the farthest end point of each surface of the outline stereo of the vehicle and the coordinate of the farthest end point of each surface of the outline stereo of the comparison vehicle, and feeding back the corresponding position of the point with the minimum distance to the driver of the vehicle and the driver of the comparison vehicle in real time.
The actual contour of the vehicle is compared in a space modeling mode when the distance between the vehicles is small in the embodiment, the most accurate and effective comparison model can be obtained, and therefore reasonable, effective and accurate reference data can be provided for drivers from the practical use angle.
The high-precision distance measurement service in this embodiment further includes a modeling step:
and reading the coordinate data of the vehicle in the space coordinate system and the coordinate data of the vehicle with the highest attention degree, and dynamically displaying the outline models of the two vehicles in proportion on a vehicle internal display device. In the embodiment, the outline model of the vehicle can be displayed for a driver in a three-dimensional manner, so that the road condition can be visually displayed, and particularly, a warning effect is provided for certain blind areas.
The present embodiment also provides a driving assistance apparatus including:
the electronic tag module is used for storing static vehicle information and dynamic vehicle information, wherein the static vehicle information comprises a license plate number, a vehicle model and a vehicle overall dimension, and the dynamic vehicle information comprises a vehicle running direction, a real-time speed, an engine rotating speed, an acceleration, a steering angle, a load weight and position information;
the data reading and writing module is used for writing the static vehicle information and the dynamic vehicle information into the electronic tag in real time to wait for reading;
the data processing module is used for reading vehicle information stored in all vehicle electronic tags in a preset range in real time, comparing the vehicle information with the vehicle information, granting different attention degrees of the compared vehicles to be sent to the memory for storage or updating the attention degree grade corresponding to the vehicle in the memory;
and the reminding display module is used for sending a warning signal to the driver of the vehicle when the data in the dynamic vehicle information corresponding to the vehicle with the highest attention degree exceeds a preset normal value range.
The present embodiment also provides a driving assistance system including:
one or more processors;
storage means for storing one or more programs;
a driving assistance device;
the one or more programs, when executed by the one or more processors, cause the driving assistance apparatus to implement the driving assistance method as described above in cooperation with the one or more processors.
The present embodiment also provides a vehicle control system including the driving assistance system described above.
The driving assistance method can quickly determine the information of surrounding vehicles, accurately and efficiently detect abnormal conditions, provide warning information for drivers in time for reference, and has high practical value and wide application prospect.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (10)

1. A driving assistance method characterized by comprising the steps of:
writing static vehicle information and dynamic vehicle information into an electronic tag in real time to wait for reading, wherein the static vehicle information comprises a license plate number, a vehicle model and a vehicle overall dimension, and the dynamic vehicle information comprises vehicle running direction, real-time speed, engine rotating speed, acceleration, steering angle, load weight and position information;
reading vehicle information stored in all vehicle electronic tags in a preset range in real time, comparing the vehicle information with the vehicle information, granting different attention degrees of the compared vehicles to be sent to a memory for storage or updating the attention degree grade corresponding to the vehicle in the memory;
and for the vehicle with the highest attention degree, if the data in the dynamic vehicle information exceeds a preset normal value range, a warning signal is sent to the driver of the vehicle.
2. The driving assistance method according to claim 1, wherein the dynamic vehicle information is acquired by:
acquiring parameters including vehicle speed per hour, engine speed, steering angle and acceleration through a CAN bus of the vehicle;
determining vehicle position information and a driving direction through the GPS/INS in cooperation with a gyroscope;
the weight of the load of the vehicle is collected through the arranged pressure sensor.
3. The driving assistance method according to claim 1, wherein the vehicle information stored in the vehicle electronic tag within the preset range is compared with the vehicle information by:
reading real-time position information of the vehicle and the comparison vehicle, calculating to obtain a linear distance between the two vehicles, and performing orthogonal decomposition on the linear distance along the driving direction of the vehicle to obtain a vertical distance along the driving direction of the vehicle and a transverse distance perpendicular to the driving direction of the vehicle;
reading the running direction data of the vehicle and the comparison vehicle, and calculating to obtain the running direction included angle of the two vehicles;
and reading and comparing the output torque and the engine speed of the vehicle engine, and calculating to obtain the output torque and the speed variation.
4. The driving assist method according to claim 3, characterized in that the granting of the attention level includes the steps of:
reading and comparing the vertical distance S of the vehicle relative to the vehicleVerticalTransverse distance SHorizontal barAngle theta with the direction of travelClip；
Reading and comparing real-time speed V of vehicleTime of flightAnd an acceleration a;
reading the variation delta R of the rotating speed;
substituting formula P ═ λ1SVertical+λ2SHorizontal bar+λ3θClip+λ4VTime of flight+λ5a+λ5Δ R obtains a rating of interest parameter for the aligned vehicle, where λ1、λ2、λ3、λ4、λ5、λ5Reading a weight coefficient value corresponding to a prestored mode according to a driving environment mode selected by a user as a weight coefficient;
ranking the grade parameters after finishing the comparison of all vehicles in the preset range, and awarding attention grades according to the grade from high to low.
5. The driving assistance method according to claim 1, wherein the warning signal is issued to the driver of the own vehicle and the warning signal is issued to the vehicle having the highest level of attention.
6. The driving assistance method according to claim 3, wherein the triggering of the high-precision distance measurement service when the straight-line distance between the host vehicle and the comparison vehicle is lower than a preset threshold value comprises:
establishing a space coordinate system, wherein the space coordinate system takes the center of the vehicle body of the vehicle as the origin of coordinates, the direction parallel to the ground to the front of the vehicle head is taken as the positive direction of a Y axis, the direction perpendicular to the ground to the lower part of the ground is taken as the positive direction of a Z axis, and the direction parallel to the ground to the right side of a driver is taken as the positive direction of an X axis;
reading the vehicle outline size data to obtain the farthest endpoint coordinates of each surface of the vehicle outline solid;
reading and comparing vehicle outline size data, and combining distance data measured by a laser arranged at the periphery of the vehicle to obtain the coordinates of the farthest end points of all surfaces of the vehicle outline stereo;
and calculating the point distance of the coordinate of the farthest end point of each surface of the outline stereo of the vehicle and the coordinate of the farthest end point of each surface of the outline stereo of the comparison vehicle, and feeding back the corresponding position of the point with the minimum distance to the driver of the vehicle and the driver of the comparison vehicle in real time.
7. The driving assist method according to claim 6, wherein the high-precision distance measuring service further comprises a modeling step of:
and reading the coordinate data of the vehicle in the space coordinate system and the coordinate data of the vehicle with the highest attention degree, and dynamically displaying the outline models of the two vehicles in proportion on a vehicle internal display device.
8. A driving assistance apparatus characterized by comprising:
the electronic tag module is used for storing static vehicle information and dynamic vehicle information, wherein the static vehicle information comprises a license plate number, a vehicle model and a vehicle overall dimension, and the dynamic vehicle information comprises a vehicle running direction, a real-time speed, an engine rotating speed, an acceleration, a steering angle, a load weight and position information;
the data reading and writing module is used for writing the static vehicle information and the dynamic vehicle information into the electronic tag in real time to wait for reading;
the data processing module is used for reading vehicle information stored in all vehicle electronic tags in a preset range in real time, comparing the vehicle information with the vehicle information, granting different attention degrees of the compared vehicles to be sent to the memory for storage or updating the attention degree grade corresponding to the vehicle in the memory;
and the reminding display module is used for sending a warning signal to the driver of the vehicle when the data in the dynamic vehicle information corresponding to the vehicle with the highest attention degree exceeds a preset normal value range.
9. A driving assistance system characterized by comprising:
one or more processors;
storage means for storing one or more programs;
a driving assistance device;
the one or more programs, when executed by the one or more processors, cause a driving assistance apparatus to implement, in cooperation with the one or more processors, the method of any one of claims 1-7.
10. A vehicle control system characterized by comprising the driving assist system according to claim 9.
CN202010421510.1A 2020-05-18 2020-05-18 Driving assistance method, device and system Withdrawn CN111516707A (en)

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Application publication date: 20200811