CN111688577A - Vehicle obstacle avoidance warning method and system - Google Patents
Vehicle obstacle avoidance warning method and system Download PDFInfo
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- CN111688577A CN111688577A CN202010557086.3A CN202010557086A CN111688577A CN 111688577 A CN111688577 A CN 111688577A CN 202010557086 A CN202010557086 A CN 202010557086A CN 111688577 A CN111688577 A CN 111688577A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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Abstract
The embodiment of the invention relates to a vehicle obstacle avoidance warning method and a system, wherein the method is applied to a vehicle obstacle avoidance warning system; the method comprises the following steps: the first microwave sensor and/or the second microwave sensor detect whether an obstacle exists in a set range in front of the vehicle or not in the running process of the vehicle, and determine the distance between the vehicle and the obstacle when the obstacle is detected; the processor determining a current collision risk level based on a current travel speed of the vehicle and a distance between the vehicle and the obstacle; the alarm performs an obstacle alarm based on the collision risk level. Therefore, the vehicle driver can be timely reminded when the obstacle appears in the vehicle blind area, and the driving safety is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent driving, in particular to a vehicle obstacle avoidance warning method and system.
Background
The blind area of the vehicle is an area where a driver is in a normal driver seat position and the sight line of the driver is shielded by a vehicle body and cannot directly observe the driver. In short, when a driver sits on a driver seat to drive, the blind area of the vehicle is called as an invisible area.
In daily traffic, the number of accidents caused by vehicle blind areas is large, and particularly, for large vehicles such as buses, trucks and special vehicles, traffic accidents are easy to happen due to the vehicle blind areas. Therefore, it is important how to automatically detect and alarm obstacles in the vehicle blind area during the driving process of the vehicle.
Disclosure of Invention
In view of this, in order to solve the above technical problems or some technical problems, embodiments of the present invention provide a vehicle obstacle avoidance warning method and system.
In a first aspect, an embodiment of the present invention provides a vehicle obstacle avoidance warning method, where the method is applied to a vehicle obstacle avoidance warning system, where the system includes a first microwave sensor, a second microwave sensor, a processor, and a warning device; the method comprises the following steps:
the first microwave sensor and/or the second microwave sensor detect whether an obstacle exists in a set range in front of the vehicle or not in the running process of the vehicle, and determine the distance between the vehicle and the obstacle when the obstacle is detected;
the processor determining a current collision risk level based on a current travel speed of the vehicle and a distance between the vehicle and the obstacle;
the alarm performs an obstacle alarm based on the collision risk level.
In one possible embodiment, the method further comprises:
when the first microwave sensor and/or the second microwave sensor detect an obstacle, determining an orientation relation between a vehicle and the obstacle, wherein the orientation relation comprises: the obstacle is positioned at the left front part of the vehicle, the obstacle is positioned at the right front part of the vehicle, or the obstacle is positioned at the right front part of the vehicle;
the processor determining a target light emitting element among first and second light emitting elements in the alarm based on a positional relationship between the vehicle and the obstacle;
the alarm performs obstacle alarm based on the collision risk level, including:
the target light emitting element performs obstacle warning based on the collision risk level.
In one possible embodiment, the method further comprises:
when the first microwave sensor and/or the second microwave sensor detect an obstacle, determining the height of the obstacle;
the processor determines a current collision risk level based on a current travel speed of the vehicle and a distance between the vehicle and the obstacle, including:
the processor determines a current collision risk level based on a current driving speed of the vehicle and a distance between the vehicle and the obstacle when it is determined that the height of the obstacle satisfies a set height range.
In one possible embodiment, the method further comprises:
the processor controls the warning device to generate a warning signal for prompting the obstacle to be less perceptible by a driver of the vehicle upon determining that the height of the obstacle satisfies a set height range and is below a set height threshold.
In one possible embodiment, the processor determines a current collision risk level based on a current traveling speed of the vehicle and a distance between the vehicle and the obstacle, including:
the processor uses the current running speed of the vehicle and the distance between the vehicle and the obstacle as keywords, and searches a recorded judgment rule set for a target corresponding relation containing the keywords, wherein the judgment rule set comprises: the corresponding relation among the running speed of the vehicle, the distance between the vehicle and the obstacle and the collision risk level;
and determining the collision risk level in the target corresponding relation as the current collision risk level.
In one possible embodiment, the method further comprises:
the processor collects alarm related information and sends the collected alarm related information to a server in the system, wherein the alarm related information at least comprises the following components: the current running speed of the vehicle, the distance between the vehicle and the obstacle, and driving habit information of a driver of the vehicle;
and the server determines a judgment rule set based on the alarm related information and sends the determined judgment rule set to the processor, so that the processor updates the recorded judgment rule set by using the received judgment rule set.
In a second aspect, an embodiment of the present invention provides a vehicle obstacle avoidance warning system, including: the system comprises a first microwave sensor, a second microwave sensor, a processor and an alarm;
the first microwave inductor is arranged on a left side rearview mirror of a vehicle, and the second microwave inductor is arranged on a right side rearview mirror of the vehicle;
the first microwave sensor and/or the second microwave sensor detect whether an obstacle exists in a set range in front of the vehicle in the driving process of the vehicle, and determine the distance between the vehicle and the obstacle when the obstacle is detected;
the processor is used for determining a current collision risk level based on the current running speed of the vehicle and the distance between the vehicle and the obstacle;
and the alarm device carries out obstacle alarm based on the collision risk level.
In one possible embodiment, the alarm comprises: a first light emitting element and a second light emitting element;
the first light-emitting element is arranged in a gap at the joint of the left side edge of the front windshield of the vehicle and the vehicle body, and the second light-emitting element is arranged in a gap at the joint of the right side edge of the front windshield of the vehicle and the vehicle body.
In one possible embodiment, the first microwave sensor and/or the second microwave sensor, when detecting an obstacle, determines an orientation relationship between a vehicle and the obstacle, the orientation relationship including: the obstacle is positioned at the left front part of the vehicle, or the obstacle is positioned at the right front part of the vehicle;
the processor determining a target light emitting device among the first and second light emitting elements based on a directional relationship between the vehicle and the obstacle;
and the target light-emitting device performs obstacle warning based on the collision risk level.
In one possible embodiment, the first microwave sensor and/or the second microwave sensor, when detecting an obstacle, determines the height of the obstacle;
and the processor determines the current collision risk level based on the current running speed of the vehicle and the distance between the vehicle and the obstacle when the height of the obstacle is determined to meet the set height range.
In one possible embodiment, the processor, upon determining that the height of the obstacle satisfies a set height range and is below a set height threshold, controls the alert to generate an alert signal to alert that the obstacle is not readily perceptible to a driver of the vehicle.
In one possible embodiment, the processor searches for a target correspondence including a keyword in a recorded judgment rule set using a current driving speed of a vehicle and a distance between the vehicle and the obstacle as the keyword, where the judgment rule set includes: the corresponding relation of the driving speed, the distance and the collision risk level;
and determining the collision risk level in the target corresponding relation as the current collision risk level.
In one possible embodiment, the system further comprises: a server;
the processor collects alarm related information and sends the collected alarm related information to the server, wherein the alarm related information at least comprises: the current running speed of the vehicle, the distance between the vehicle and the obstacle, and driving habit information of a driver of the vehicle;
and the server determines a judgment rule set based on the alarm related information and sends the determined judgment rule set to the processor, so that the processor updates the recorded judgment rule set by using the received judgment rule set.
In a third aspect, an embodiment of the present invention provides a vehicle, including the vehicle obstacle avoidance warning system in any one of the foregoing embodiments.
In the embodiment of the invention, whether an obstacle exists in a set range in front of a vehicle is detected by the first microwave sensor and/or the second microwave sensor in the driving process of the vehicle, the distance between the vehicle and the obstacle is determined when the obstacle is detected, the current collision risk level is determined by the processor based on the current driving speed of the vehicle and the distance between the vehicle and the obstacle, and the alarm gives an alarm for the obstacle based on the collision risk level, so that the driver of the vehicle can be reminded in time when the obstacle appears in a blind area of the vehicle, and the driving safety is improved.
Furthermore, the embodiment detects the obstacle in the driving process of the vehicle through the microwave inductor, and the microwave inductor has small volume, convenient installation and low cost, so that the installation flexibility of the vehicle obstacle warning system is improved, and the implementation cost of obstacle avoidance warning is reduced.
Drawings
Fig. 1 is an architecture diagram of a vehicle obstacle avoidance warning system according to an embodiment of the present invention;
FIG. 2 is a schematic view of the installation position and detection range of the microwave sensor;
FIG. 3 is a schematic diagram of a main control board with a processor;
FIG. 4 is a schematic view of the installation location of the alarm;
fig. 5 is a flowchart of an embodiment of a vehicle obstacle avoidance warning method provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
In order to facilitate understanding of the embodiments of the present invention, the following first describes an architecture of the vehicle obstacle avoidance warning system provided by the present invention.
Referring to fig. 1, a structural diagram of a vehicle obstacle avoidance warning system according to an embodiment of the present invention is shown. As shown in fig. 1, the vehicle obstacle avoidance warning system 100 includes: a first microwave inductor 101, a second microwave inductor 102, a processor 103, and an alarm 104. In one example, the vehicle obstacle avoidance warning system 100 is installed on a vehicle and used for detecting whether an obstacle exists in a set range in front of the vehicle during the running process of the vehicle and giving an obstacle warning when the obstacle is detected, so that a driver of the vehicle can be timely reminded when the obstacle appears in a blind area of the vehicle, and the driving safety is improved.
In one embodiment, as shown in fig. 2, the first microwave inductor 101 is disposed on the left side rear-view mirror of the vehicle, and the second microwave inductor 102 is disposed on the right side rear-view mirror of the vehicle. In one example, first microwave inductor 101 and second microwave inductor 102 employ a 77GHz high frequency sensor. Hang first microwave inductor 101 on the vehicle left side rear-view mirror through the metal couple, equally, hang second microwave inductor 102 on the vehicle right side rear-view mirror through the metal couple, this also means first microwave inductor 101 and second microwave inductor can set up in a flexible way on the vehicle, simple to operate. It should be noted that the installation positions of the first microwave inductor 101 and the second microwave inductor 102 described herein are only used as examples and are not meant to be limiting.
It is understood that the installation position of the microwave inductor determines the detection range of the microwave inductor, i.e., the above-mentioned set range. For example, as shown in fig. 2, the detection range of the first microwave sensor 101 is a range shown by 201, and the detection range of the second microwave sensor 102 is a range shown by 202.
In one example, the sensing range herein does not refer to the sensing range of the microwave sensor, for example, as shown in fig. 2, the sensing range of the first microwave sensor 101 is shown as 203, which includes the sensing range of the first microwave sensor 101. The reason for this is that: part of the vehicle body falls into the sensing range of the microwave sensor, but the part of the vehicle body is a part of the vehicle and is not an obstacle, which means that if the sensing range of the microwave sensor is directly used as the detection range, the part of the vehicle body is likely to be mistakenly identified as the obstacle, thereby causing a false alarm.
Taking the first microwave sensor 101 as an example, as an alternative implementation manner, the first microwave sensor 101 may start to emit a microwave signal immediately after being turned on for the first time, and receive the microwave signal passing through or reflected by the peripheral object. Then, the angle of the vehicle body edge with respect to the first microwave sensor 101 is calculated based on the microwave signal received by the first microwave sensor 101, and the detection range is determined. Optionally, the detection range may be determined by the first microwave sensor 101, or the first microwave sensor 101 sends the received microwave signal to an external device, such as a server (not shown in fig. 1) in the vehicle obstacle avoidance warning system 100, and the server determines the detection range, which can save the computing resources of the first microwave sensor 101.
As another alternative implementation manner, the first microwave sensor 101 may be assisted by an infrared sensor (not shown in fig. 1) in the vehicle obstacle avoidance warning system 100 to determine the detection range. Here, since the infrared sensor can be used for body judgment, when the first microwave sensor 101 detects an object, an infrared signal reflected by the object and received by the infrared sensor can be further acquired, and the object can be judged based on the infrared signal to determine whether the object is a body.
In addition, since the detection range is determined by actual measurement, there is no strict requirement on the installation angle of the microwave sensor when the microwave sensor is installed on the vehicle. This further increases the flexibility of installation of the microwave inductor.
In one embodiment, the processor 103 is located on a main control board (not shown in fig. 1) of the vehicle obstacle avoidance warning system 100. In one example, as shown in fig. 3, in addition to the processor 103, the main control board may further include: a power supply and charging module 301 and a communication module 302. The power supply and charging module 301 is used for supplying power to the main control board, and simultaneously supports an On-board diagnostic (OBD) interface to directly access the OBD interface of the vehicle for charging. The communication module 302 is configured to implement communication between the processor 103, the first microwave sensing module 101, and the second microwave sensing module 102, and a server, for example, to send a microwave signal received by the first microwave sensing module 101 to the server, so that the server determines a detection range of the first microwave sensing module 101 based on the microwave signal. Optionally, the communication module 302 may be a 4G module.
In one embodiment, as shown in fig. 4, the alarm 104 includes a first light emitting element 1041 and a second light emitting element 1042. The first light emitting element 1041 is disposed in a gap between a left side edge of a front windshield of the vehicle and a vehicle body, and the second light emitting element 1042 is disposed in a gap between a right side edge of the front windshield of the vehicle and the vehicle body. It should be noted that the mounting positions of the first light emitting element 1041 and the second light emitting element 1042 described herein are only used as examples and are not limited.
In one example, the first light emitting element 1041 and the second light emitting element 1042 may be ultra thin crystal neon light emitting sheets. Because the ultrathin crystal neon light-emitting sheet is relatively transparent and small in size, the ultrathin crystal neon light-emitting sheet is used as an alarm and is arranged in a gap at the joint of the left side edge and the right side edge of the front windshield of the vehicle and the vehicle body, the visual field of a vehicle driver cannot be influenced, and meanwhile, the ultrathin crystal neon light-emitting sheet can play an effective barrier alarm role for the vehicle driver when an obstacle alarm is carried out.
The architecture of the vehicle obstacle avoidance warning system 100 is described above. The following describes the vehicle obstacle avoidance warning method provided by the present invention with reference to fig. 1 by a specific embodiment.
Referring to fig. 5, a flowchart of an embodiment of a vehicle obstacle avoidance warning method provided by the present invention is applied to the vehicle obstacle avoidance warning system 100 illustrated in fig. 1, and includes the following steps:
step 501: the first microwave sensor and/or the second microwave sensor detect whether an obstacle exists in a set range in front of the vehicle or not in the running process of the vehicle, and determine the distance between the vehicle and the obstacle when the obstacle is detected.
In one example, first microwave inductor 101 and second microwave inductor 102 may both be in operation during vehicle operation. When the first microwave sensor 101 and the second microwave sensor 102 are both in the operating state, the above-mentioned set range refers to the detection range of the first microwave sensor 101 and the second microwave sensor 102, such as the ranges 201 and 202 shown in fig. 2.
In another example, only one of the first microwave sensor 101 and the second microwave sensor 102 may be in an operating state during the driving of the vehicle, which means that the first microwave sensor 101 and the second microwave sensor 102 are independent from each other, and the operating state of one does not affect the other. When the first microwave sensor 101 is in an operating state and the second microwave sensor 102 is not in an operating state, the set range refers to a detection range of the first microwave sensor 101, such as a range 201 shown in fig. 2. When the second microwave sensor 102 is in an operating state and the first microwave sensor 101 is not in an operating state, the set range refers to a detection range of the second microwave sensor 102, such as a range 202 shown in fig. 2.
In the embodiment of the invention, the first microwave sensor and/or the second microwave sensor detect whether an obstacle exists in a set range in front of the vehicle during the running process of the vehicle, and when the obstacle is detected, the current running speed of the vehicle and the distance between the vehicle and the obstacle are determined.
Taking the first microwave sensor as an example, when no obstacle exists in the set range in front of the vehicle, the fluctuation of the microwave signal received by the first microwave sensor on the whole set range is small, and when an obstacle exists in the set range in front of the vehicle, the value corresponding to the microwave signal reflected by the obstacle is obviously higher than the value corresponding to the microwave signal reflected by the area in the set range without the obstacle, so that the first microwave sensor can detect the obstacle, and meanwhile, the distance between the obstacle and the vehicle can be determined according to the value corresponding to the microwave signal reflected by the obstacle. As to how the first microwave sensor detects the obstacle and determines the distance between the vehicle and the obstacle, the present invention is not repeated.
Step 502: the processor determines a current collision risk level based on a current travel speed of the vehicle and a distance between the vehicle and the obstacle.
The collision risk level here is used to indicate the level of the collision risk between the vehicle and the obstacle. Optionally, the collision risk classes may include high risk, medium risk, low risk.
It is understood that, in practical applications, the risk of collision between the vehicle and the obstacle is closely related to the traveling speed of the vehicle and the distance between the vehicle and the obstacle. For example, in a case where the traveling speed of the vehicle is constant, the closer the distance between the vehicle and the obstacle, the higher the risk of collision between the vehicle and the obstacle. For another example, in the case where the distance between the vehicle and the obstacle is constant, the higher the traveling speed of the vehicle, the higher the risk of collision between the vehicle and the obstacle. Based on this, in an embodiment of the present invention, the processor determines the current collision risk level based on the current traveling speed of the vehicle and the distance between the vehicle and the obstacle. In one example, the processor may obtain the current driving speed of the vehicle through the OBD interface.
In one embodiment, the processor records a judgment rule set, and the judgment rule set may include a plurality of judgment rules, each judgment rule including a corresponding relationship between a driving speed of the vehicle, a distance between the vehicle and an obstacle, and a collision risk level, for the processor to judge the collision risk level. In this embodiment, the processor uses the current driving speed of the vehicle and the distance between the vehicle and the obstacle determined in step 501 as keywords, searches for a corresponding relationship (hereinafter referred to as a target corresponding relationship) containing the keywords in the recorded judgment rule set, and determines the collision risk level in the target corresponding relationship as the current collision risk level.
For example, as shown in table 1 below, an example of a set of decision rules is:
TABLE 1
Assuming that the current running speed of the vehicle is 60km/h and the distance between the vehicle and the obstacle is 2 meters, the current collision risk level is a medium risk based on the judgment rule set exemplified in table 1.
Assuming that the current driving speed of the vehicle is 80km/h and the distance between the vehicle and the obstacle is 2 m, the current collision risk level can be obtained as a high risk based on the judgment rule set exemplified in table 1.
Step 503: the alarm performs an obstacle alarm based on the collision risk level.
Here, different collision risk levels correspond to different warning forms, which enables the vehicle driver to intuitively determine the current collision risk level according to the perceived warning form.
In one embodiment, the different forms of alarms are represented by different flashing frequencies of the alarms. Optionally, the higher the current collision risk level, the higher the flashing frequency of the alarm. Optionally, when the collision risk level is high risk, the alarm keeps on constantly until no obstacle is detected or the collision risk level changes.
According to the technical scheme, in the embodiment of the invention, whether the obstacle exists in the set range in front of the vehicle is detected through the first microwave inductor and/or the second microwave inductor in the driving process of the vehicle, the distance between the vehicle and the obstacle is determined when the obstacle is detected, the current collision risk level is determined by the processor based on the current driving speed of the vehicle and the distance between the vehicle and the obstacle, and the alarm gives an alarm for the obstacle based on the collision risk level, so that the driver of the vehicle can be reminded in time when the obstacle appears in the blind area of the vehicle, and the driving safety is improved.
Furthermore, the embodiment detects the obstacle in the driving process of the vehicle through the microwave inductor, and the microwave inductor has small volume, convenient installation and low cost, so that the installation flexibility of the vehicle obstacle warning system is improved, and the implementation cost of obstacle avoidance warning is reduced.
In addition, in one embodiment, the alarm can indicate the orientation relation between the vehicle and the obstacle through different alarm forms, so that the vehicle driver can intuitively judge the orientation of the obstacle according to the perceived alarm form.
In one example, the orientation relationship here includes: the obstacle is located at the left front of the vehicle, or the obstacle is located at the right front of the vehicle, or the obstacle is located directly in front of the vehicle. Wherein, if only the first microwave sensor detects the obstacle, it can be determined that the obstacle is located in the front left of the vehicle; if only the second microwave sensor detects the obstacle, it can be determined that the obstacle is located at the right front of the vehicle; if the first microwave sensor and the second microwave sensor detect the obstacle, it can be determined that the obstacle is located right in front of the vehicle, or that there is an obstacle in front of the left and right of the vehicle, respectively.
In one embodiment, the processor may determine a target light emitting element among the first light emitting element 1041 and the second light emitting element 1042 illustrated in fig. 4 based on the orientation relationship between the vehicle and the obstacle, and then perform the obstacle warning by the target light emitting element. That is, when the orientation relationship between the vehicle and the obstacle is indicated, different forms of warning are expressed as different light emitting positions.
In one example, if the obstacle is located in the front left of the vehicle, the processor determines the first light emitting element 1041 as the target light emitting element. By giving an alarm of the obstacle through the first light emitting element 1041, it can be realized that the driver of the vehicle visually judges that the obstacle is located in the left front of the vehicle.
In another example, if the obstacle is located at the front right of the vehicle, the processor determines the second light emitting element 1042 as the target light emitting element. By giving an obstacle alarm through the second light emitting element 1042, it is possible for the driver of the vehicle to intuitively determine that the obstacle is located in the front right of the vehicle.
In yet another example, if the obstacle is located directly in front of the vehicle, the processor determines the first light emitting element 1041 and the second light emitting element 1042 as the target light emitting element. By performing obstacle warning through the first light emitting element 1041 and the second light emitting element 1042, it can be achieved that a driver of the vehicle intuitively determines that an obstacle is located right in front of the vehicle.
Of course, if there is an obstacle in each of the front left and right of the vehicle, the processor may determine the first light emitting element 1041 and the second light emitting element 1042 as the target light emitting element.
In addition, in practical application, the obstacles detected by the microwave sensor do not necessarily prevent the vehicle from running, for example, small stones, speed bumps, etc. on the road surface do not prevent the vehicle from running, so that the obstacle alarm may not be performed when the obstacles are detected. Meanwhile, although some relatively high or large obstacles such as vehicles, telegraph poles, width limiting piles and the like can obstruct the vehicles from running, the obstacles are easily sensed by the drivers of the vehicles, so that when the obstacles are detected, the obstacles are not alarmed so as to avoid distracting the attention of the drivers of the vehicles.
Based on this, in an embodiment, taking the first microwave sensor as an example, when the first microwave sensor detects that an obstacle exists in a set range in front of the vehicle, the height of the obstacle is determined. Then, when it is determined that the height of the obstacle meets the set height range, for example, 5 cm to 2 m, it is determined to perform obstacle warning, that is, the above steps 502 and 503 are performed.
Further, in practical applications, when an obstacle warning is performed, a vehicle driver usually adjusts the viewing angle of the vehicle driver to sense the obstacle. However, for some obstacles with a low height, such as children with a low height, parking posts, and the like, it is likely that the vehicle driver cannot perceive the obstacle even if adjusting his own viewing angle. In this case, in order to avoid that the vehicle driver erroneously judges that there is no obstacle in front of the vehicle because the vehicle driver cannot perceive the obstacle by himself, an alarm signal for prompting that the obstacle is not easily perceived by the vehicle driver may be generated by the alarm device, for example, flashing on a specified section of the first light emitting element 1041.
In one embodiment, the processor controls the warning device to generate a warning signal for alerting the driver of the vehicle that the obstacle is not readily perceptible when the height of the obstacle is determined to meet a set height range and is below a set height threshold, such as 50 centimeters.
In addition, in practical applications, when an obstacle appears in front of the vehicle, different drivers have different driving habits and reaction speeds, and meanwhile, for the same driver, the difference of mental states at different time points causes the difference of the reaction speeds. For example, drivers with a high driving experience can usually sense an obstacle in time and adopt a braking action of smooth deceleration when sensing the obstacle, while drivers with a low driving experience are likely to be unable to sense the obstacle in time and adopt a braking action of sudden braking when sensing the obstacle. For another example, the same driver may feel the obstacle in time in a good mental state during the day, and may not feel the obstacle in time at night due to physical exhaustion. Based on the above, under the condition that the vehicle running speed and the distance between the vehicle and the obstacle are fixed, different warning sensitivities can be adopted for different drivers or the same driver at different time points, for example, the warning sensitivity is reduced under the condition that the driver can timely sense the obstacle, so that the situation that the warning of the obstacle with higher strength is dispersed to the attention of the driver is avoided, the warning sensitivity is improved under the condition that the driver cannot timely sense the obstacle is judged, the attention of the driver to the obstacle is timely brought, and the collision is effectively avoided. Here, adopting different alarm sensitivities can be realized by formulating different judgment rule sets.
Based on the above description, in an embodiment, the processor may collect alarm-related information, where the alarm-related information at least includes: the driving speed of the vehicle, the distance between the vehicle and the obstacle, and driving habit information of the driver of the vehicle, such as braking time, speed change at the time of braking, etc., after which a judgment rule set is determined based on the alarm-related information, and the judgment rule set recorded on the processor is updated with the newly determined judgment rule set.
For example, when the driving speed of the vehicle is 60km/h and it is detected that the distance between the vehicle and the obstacle is 2 meters, the driver of the vehicle takes a braking action of hard braking, and the driving speed of the vehicle is reduced to 0 within 0.2 seconds, which means that the driver of the vehicle does not timely sense the obstacle. In this case, the sensitivity of the warning to the driver of the vehicle may be improved, for example, by adjusting the judgment rule set illustrated in table 1 to the following table 2:
TABLE 2
As shown in table 2, when the distance between the vehicle and the obstacle is 2 m or less, the obstacle warning is performed on the vehicle driver in the high-risk warning mode, and compared with the case where the distance between the vehicle and the obstacle is 1 m or less, the obstacle warning is performed on the vehicle driver in the high-risk warning mode, so that the warning sensitivity is improved.
For another example, when the vehicle has a traveling speed of 60km/h and a distance between the vehicle and the obstacle is detected to be 6 m, the driver of the vehicle takes a braking action of smooth deceleration, and the traveling speed of the vehicle is reduced to 40km/h within 2 seconds and the obstacle is successfully avoided, which means that the driver of the vehicle can timely sense the obstacle. In this case, the sensitivity of the warning to the driver of the vehicle may be reduced, for example, by adjusting the judgment rule set illustrated in table 1 above to the following table 3:
TABLE 3
As shown in table 3, the obstacle warning is performed in the form of a high-risk warning only when the distance between the vehicle and the obstacle is 0.8 m or less, and the warning sensitivity is reduced compared to the case where the obstacle warning is performed in the form of a high-risk warning when the distance between the vehicle and the obstacle is 1 m or less.
In one example, to reduce computational stress on the processor, the processor may send the collected alarm-related information to the server, determine a set of decision rules by the server based on the alarm-related information, and send the determined set of decision rules to the processor, such that the processor updates the recorded set of decision rules with the received set of decision rules.
Optionally, the server may determine the determination rule set based on the alarm related information in a machine learning manner. For example, a model for generating a judgment rule set may be trained in advance, and the model takes the alarm related information as input and the judgment rule set as output. In application, the server may input the received alarm related information to the model to obtain a set of judgment rules. As to the training process of the model, the present invention will not be described in detail.
Through the processing, the corresponding warning effect can be presented according to the driving habits of the vehicle driver, and the user experience is improved.
Corresponding to the foregoing embodiments of the vehicle obstacle avoidance warning method, the following describes the functions of each component in the vehicle obstacle avoidance warning system 100 with reference to the vehicle obstacle avoidance warning system 100 illustrated in fig. 1: in one possible embodiment, the first microwave sensor 101 and/or the second microwave sensor 102 detect whether an obstacle exists in a set range in front of the vehicle during the driving of the vehicle, and determine the distance between the vehicle and the obstacle when the obstacle is detected.
In a possible embodiment, the processor 103 determines a current collision risk level based on a current traveling speed of the vehicle and a distance between the vehicle and the obstacle;
and an alarm 104 for performing an obstacle alarm based on the current collision risk level.
In a possible embodiment, the first microwave sensor 101 and/or the second microwave sensor 102, when detecting an obstacle, determines an orientation relationship between the vehicle and the obstacle, the orientation relationship including: the obstacle is positioned at the left front part of the vehicle, or the obstacle is positioned at the right front part of the vehicle;
a processor 103 determining a target light emitting device among the first light emitting element 1041 and the second light emitting element 1042 based on a directional relation between the vehicle and the obstacle;
and a target light emitting device for performing an obstacle warning based on the collision risk level.
In a possible embodiment, the first microwave sensor 101 and/or the second microwave sensor 102, upon detecting an obstacle, determines the height of the obstacle;
and the processor 103 determines the current collision risk level based on the current running speed of the vehicle and the distance between the vehicle and the obstacle when determining that the height of the obstacle meets the set height range.
In one possible embodiment, the processor 103, upon determining that the height of the obstacle satisfies the set height range and is below the set height threshold, controls the warning generator to generate a warning signal for alerting the driver of the vehicle that the obstacle is not readily perceptible.
In a possible embodiment, the processor 103 searches a recorded judgment rule set for a target corresponding relationship containing a keyword, using the current driving speed of the vehicle and the distance between the vehicle and the obstacle as the keyword, where the judgment rule set includes: the corresponding relation of the driving speed, the distance and the collision risk level;
and determining the collision risk level in the target corresponding relation as the current collision risk level.
In a possible embodiment, the processor 103 collects alarm related information and sends the collected alarm related information to the server, where the alarm related information at least includes: the current running speed of the vehicle, the distance between the vehicle and the obstacle, and the driving habit information of the driver of the vehicle;
and the server determines the judgment rule set based on the alarm related information and sends the determined judgment rule set to the processor 103, so that the processor 103 updates the recorded judgment rule set by using the received judgment rule set.
The embodiment of the invention also provides a vehicle, and the vehicle comprises the vehicle obstacle avoidance warning system provided by the embodiment of the invention.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (14)
1. A vehicle obstacle avoidance warning method is characterized by being applied to a vehicle obstacle avoidance warning system, wherein the system comprises a first microwave inductor, a second microwave inductor, a processor and a warning device; the method comprises the following steps:
the first microwave sensor and/or the second microwave sensor detect whether an obstacle exists in a set range in front of the vehicle or not in the running process of the vehicle, and determine the distance between the vehicle and the obstacle when the obstacle is detected;
the processor determining a current collision risk level based on a current travel speed of the vehicle and a distance between the vehicle and the obstacle;
the alarm performs an obstacle alarm based on the collision risk level.
2. The method of claim 1, further comprising:
when the first microwave sensor and/or the second microwave sensor detect an obstacle, determining an orientation relation between a vehicle and the obstacle, wherein the orientation relation comprises: the obstacle is positioned at the left front part of the vehicle, the obstacle is positioned at the right front part of the vehicle, or the obstacle is positioned at the right front part of the vehicle;
the processor determining a target light emitting element among first and second light emitting elements in the alarm based on a positional relationship between the vehicle and the obstacle;
the alarm performs obstacle alarm based on the collision risk level, including:
the target light emitting element performs obstacle warning based on the collision risk level.
3. The method of claim 1, further comprising:
when the first microwave sensor and/or the second microwave sensor detect an obstacle, determining the height of the obstacle;
the processor determines a current collision risk level based on a current travel speed of the vehicle and a distance between the vehicle and the obstacle, including:
the processor determines a current collision risk level based on a current driving speed of the vehicle and a distance between the vehicle and the obstacle when it is determined that the height of the obstacle satisfies a set height range.
4. The method of claim 3, further comprising:
the processor controls the warning device to generate a warning signal for prompting the obstacle to be less perceptible by a driver of the vehicle upon determining that the height of the obstacle satisfies a set height range and is below a set height threshold.
5. The method of claim 1, wherein the processor determines a current collision risk level based on a current travel speed of the vehicle and a distance between the vehicle and the obstacle, comprising:
the processor uses the current running speed of the vehicle and the distance between the vehicle and the obstacle as keywords, and searches a recorded judgment rule set for a target corresponding relation containing the keywords, wherein the judgment rule set comprises: the corresponding relation among the running speed of the vehicle, the distance between the vehicle and the obstacle and the collision risk level;
and determining the collision risk level in the target corresponding relation as the current collision risk level.
6. The method of claim 5, further comprising:
the processor collects alarm related information and sends the collected alarm related information to a server in the system, wherein the alarm related information at least comprises the following components: the current running speed of the vehicle, the distance between the vehicle and the obstacle, and driving habit information of a driver of the vehicle;
and the server determines a judgment rule set based on the alarm related information and sends the determined judgment rule set to the processor, so that the processor updates the recorded judgment rule set by using the received judgment rule set.
7. A vehicle obstacle avoidance warning system, comprising: the system comprises a first microwave sensor, a second microwave sensor, a processor and an alarm;
the first microwave inductor is arranged on a left side rearview mirror of a vehicle, and the second microwave inductor is arranged on a right side rearview mirror of the vehicle;
the first microwave sensor and/or the second microwave sensor detect whether an obstacle exists in a set range in front of the vehicle in the driving process of the vehicle, and determine the distance between the vehicle and the obstacle when the obstacle is detected;
the processor is used for determining a current collision risk level based on the current running speed of the vehicle and the distance between the vehicle and the obstacle;
and the alarm device carries out obstacle alarm based on the collision risk level.
8. The system of claim 7, wherein the alarm comprises: a first light emitting element and a second light emitting element;
the first light-emitting element is arranged in a gap at the joint of the left side edge of the front windshield of the vehicle and the vehicle body, and the second light-emitting element is arranged in a gap at the joint of the right side edge of the front windshield of the vehicle and the vehicle body.
9. The system of claim 8,
the first microwave sensor and/or the second microwave sensor determine the orientation relation between the vehicle and the obstacle when the obstacle is detected, wherein the orientation relation comprises: the obstacle is positioned at the left front part of the vehicle, or the obstacle is positioned at the right front part of the vehicle;
the processor determining a target light emitting device among the first and second light emitting elements based on a directional relationship between the vehicle and the obstacle;
and the target light-emitting device performs obstacle warning based on the collision risk level.
10. The system of claim 7,
the first microwave sensor and/or the second microwave sensor determine the height of the obstacle when the obstacle is detected;
and the processor determines the current collision risk level based on the current running speed of the vehicle and the distance between the vehicle and the obstacle when the height of the obstacle is determined to meet the set height range.
11. The system of claim 10,
the processor controls the warning device to generate a warning signal for prompting that the obstacle is not easily perceived by a vehicle driver when it is determined that the height of the obstacle satisfies a set height range and is below a set height threshold.
12. The system of claim 7,
the processor searches a target corresponding relation containing the keywords in a recorded judgment rule set by taking the current running speed of the vehicle and the distance between the vehicle and the obstacle as keywords, wherein the judgment rule set comprises: the corresponding relation of the driving speed, the distance and the collision risk level;
and determining the collision risk level in the target corresponding relation as the current collision risk level.
13. The system of claim 12, further comprising: a server;
the processor collects alarm related information and sends the collected alarm related information to the server, wherein the alarm related information at least comprises: the current running speed of the vehicle, the distance between the vehicle and the obstacle, and driving habit information of a driver of the vehicle;
and the server determines a judgment rule set based on the alarm related information and sends the determined judgment rule set to the processor, so that the processor updates the recorded judgment rule set by using the received judgment rule set.
14. A vehicle characterized by comprising the vehicle obstacle avoidance warning system of any one of claims 7 to 13.
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