CN111833648A - Vehicle collision early warning method and device - Google Patents
Vehicle collision early warning method and device Download PDFInfo
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- CN111833648A CN111833648A CN201910314723.1A CN201910314723A CN111833648A CN 111833648 A CN111833648 A CN 111833648A CN 201910314723 A CN201910314723 A CN 201910314723A CN 111833648 A CN111833648 A CN 111833648A
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Abstract
The application discloses a vehicle collision early warning method and device, comprising the following steps: predicting the moving track of a target object and acquiring a target running path of a target vehicle; determining the position of a predicted collision point between the target vehicle and the target object according to the moving track and the target running path; and acquiring the current motion parameters of the target vehicle, and performing vehicle collision early warning according to the position of the predicted collision point and the current motion parameters. Therefore, even if the target vehicle and the target object are located on a curve to run, the target vehicle can determine the position of the predicted collision point by predicting the moving track of the target object and the running path of the target vehicle, so that vehicle collision early warning is triggered in time based on the position of the predicted collision point, the effectiveness of the vehicle collision early warning is ensured, and the safety of a driver in driving the vehicle is improved.
Description
Technical Field
The application relates to the technical field of vehicle collision early warning, in particular to a vehicle collision early warning method and device.
Background
With the development of automobile technology, the safety of vehicle driving becomes an important issue of increasing concern. In order to avoid the collision between the vehicle and other vehicles as much as possible, a vehicle collision early warning technology is developed, namely, the driver is warned in time when the vehicle and other vehicles are likely to collide in a future period of time, so that the safety of the driver in driving the vehicle is improved.
The existing vehicle collision early warning technology basically realizes the early warning function on a straight road, but when the vehicle and the vehicle in front run on a curve, the vehicle may wrongly judge the vehicle in front as the vehicle which has finished changing the road based on the existing vehicle collision early warning technology, so that even if the distance between the vehicle and the vehicle in front is less than the safe distance enough to trigger the warning, the early warning cannot be generated due to the wrong judgment, and the safety of the driver driving the vehicle is further reduced.
Disclosure of Invention
In order to solve the above problems, embodiments of the present application provide a vehicle collision warning method and apparatus, so that even when a vehicle and a vehicle ahead travel on a curved road, the vehicle can accurately make a collision judgment and trigger a warning in time, thereby improving the safety of a driver driving the vehicle.
In a first aspect, an embodiment of the present application provides a vehicle collision warning method, where the method includes:
predicting a moving track of a target object;
acquiring a target running path of a target vehicle and a current motion parameter of the target vehicle;
determining the position of a predicted collision point between the target object and the target vehicle according to the moving track and the target driving path;
and carrying out vehicle collision early warning according to the position of the predicted collision point and the current motion parameters of the target vehicle.
In some possible embodiments, the determining the position of the predicted collision point between the target object and the target vehicle according to the movement trajectory and the target traveling path includes:
selecting a preset number of path points on the target driving path, wherein the preset number is a positive integer greater than 1;
if the moving track and the line segment between two adjacent path points have intersection points, determining the positions of the intersection points, and determining the positions of the predicted collision points between the target object and the target vehicle based on the positions of the intersection points.
In some possible embodiments, the determining the position of the predicted collision point between the target object and the target vehicle according to the movement trajectory and the target traveling path includes:
and if an intersection point exists between the moving track and the target driving path, determining the position of the intersection point, and determining the position of a predicted collision point between the target object and the target vehicle based on the position of the intersection point.
In some possible embodiments, if the number of the intersection points is plural, the position of the predicted collision point is a position of an intersection point closest to the target vehicle among the plural intersection points.
In some possible embodiments, the obtaining the target traveling path of the target vehicle includes:
and determining a target running path of the target vehicle according to the high-precision map.
In some possible embodiments, the obtaining the target traveling path of the target vehicle includes:
and calculating a target running path of the target vehicle according to the current motion parameters of the target vehicle.
In some possible embodiments, the performing a vehicle collision warning according to the position of the predicted collision point and the current motion parameter of the target vehicle includes:
calculating the prediction duration required by the target vehicle to travel to the position of the predicted collision point according to the current motion parameters of the target vehicle;
and if the predicted time length is less than the preset time length, performing vehicle collision early warning.
In some possible embodiments, the predicting the movement trajectory of the target object includes:
acquiring the moving direction of the target object and the relative position of the target object relative to a target vehicle;
and calculating the movement track of the target object according to the relative position and the movement direction of the target object.
In some possible embodiments, the current motion parameters of the target vehicle include a current vehicle speed, a current acceleration, and a current vehicle heading angle of the target vehicle.
In a second aspect, an embodiment of the present application further provides a vehicle collision warning apparatus, where the apparatus includes:
the prediction module is used for predicting the movement track of the target object;
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a target running path of a target vehicle and a current motion parameter of the target vehicle;
the determining module is used for determining the position of a predicted collision point between the target object and the target vehicle according to the moving track and the target driving path;
and the early warning module is used for carrying out vehicle collision early warning according to the position of the predicted collision point and the current motion parameters of the target vehicle.
In some possible embodiments, the determining module includes:
the selecting unit is used for selecting a preset number of path points on the target driving path, wherein the preset number is a positive integer greater than 1;
the first determining unit is used for determining the position of an intersection point if the movement track and a line segment between two adjacent path points have the intersection point;
a second determination unit configured to determine a position of a predicted collision point between the target object and the target vehicle based on the position of the intersection.
In some possible embodiments, the determining module includes:
a third determining unit, configured to determine a position of an intersection point if the movement trajectory and the target travel path have the intersection point;
a fourth determination unit configured to determine a position of a predicted collision point between the target object and the target vehicle based on the position of the intersection.
In some possible embodiments, if the number of the intersection points is plural, the position of the predicted collision point is a position of an intersection point closest to the target vehicle among the plural intersection points.
In some possible embodiments, the obtaining module is specifically configured to determine the target travel path of the target vehicle according to a high-precision map.
In some possible embodiments, the obtaining module is specifically configured to calculate the target travel path of the target vehicle according to the current motion parameter of the target vehicle.
In some possible embodiments, the early warning module includes:
the first calculation unit is used for calculating the prediction time length required by the target vehicle to travel to the position of the predicted collision point according to the current motion parameters of the target vehicle;
and the early warning unit is used for carrying out vehicle collision early warning if the predicted time length is less than the preset time length.
In some possible embodiments, the prediction module includes:
an acquisition unit configured to acquire a moving direction of the target object and a relative position of the target object with respect to a target vehicle;
and the second calculating unit is used for calculating the moving track of the target object according to the relative position and the moving direction of the target object.
In some possible embodiments, the current motion parameters of the target vehicle include a current vehicle speed, a current acceleration, and a current vehicle heading angle of the target vehicle.
In the implementation manner of the embodiment of the application, the position where the collision between the target vehicle and the target object is likely to occur is predicted by predicting the moving track of the target object and the traveling path of the target vehicle, and then the vehicle collision early warning is performed according to the position. Specifically, the target vehicle can predict the moving track of the target object and acquire the target driving path of the target vehicle; then, the target vehicle can determine the position of a predicted collision point (namely, the position where collision is likely to occur) between the target vehicle and the target object according to the moving track of the target object and the target driving path of the target vehicle; and then, the target vehicle can acquire the current motion parameters of the target vehicle, and performs vehicle collision early warning according to the position of the predicted collision point and the current motion parameters. Therefore, the embodiment of the application can be suitable for a straight lane, and even if the target vehicle and the target object are located on a curve to run at the same time, the target vehicle can determine the position of the predicted collision point between the target vehicle and the target object through predicting the moving track of the target object and the running path of the target vehicle, so that vehicle collision early warning is triggered in time based on the position of the predicted collision point, the problem that the vehicle collision early warning is invalid due to the fact that the transverse relative distance between the target vehicle and the target object is too large is avoided, the effectiveness of the vehicle collision early warning is guaranteed, and the safety of a driver driving the vehicle is improved. Meanwhile, the embodiment of the application can also realize transverse early warning, namely when the longitudinal distance between the target vehicle and the target object is within a certain range, and when the transverse distance is smaller, the vehicle collision early warning can be triggered, so that the target vehicle and the target object can be prevented from colliding transversely.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic diagram of an application scenario in an embodiment of the present application;
FIG. 2 is a schematic flow chart of a vehicle collision warning method in an embodiment of the present application;
FIG. 3 is a schematic diagram of a target vehicle selecting waypoints and determining the location of a predicted collision point;
fig. 4 is a schematic structural diagram of a vehicle collision warning device in an embodiment of the present application.
Detailed Description
In the process of driving the vehicle by the driver, if the vehicle can timely send out vehicle collision early warning, the driver can timely take corresponding driving measures (such as braking and decelerating, changing the driving direction and the like) based on the vehicle collision early warning to avoid the vehicle colliding with other vehicles. In the existing vehicle collision early warning scheme, when the vehicle runs, the relative distance and the relative speed between the vehicle in front and the vehicle in the same lane and the vehicle are acquired, so that the time length required for the vehicle to run at the relative speed for the relative distance is calculated, and when the time length is greater than a certain threshold value, the collision early warning for the vehicle is triggered to remind a driver to change the current driving strategy so as to avoid collision between the vehicle and the vehicle in front.
However, the inventor has found that the existing vehicle collision warning scheme is generally only suitable for a straight lane and is not suitable for a curve, namely, when a vehicle runs on the curve, the vehicle collision warning cannot be triggered even if the distance between the vehicle and a vehicle in front is less than a safe distance enough to trigger warning. Specifically, in practical applications, a road on which a vehicle travels usually includes a plurality of lanes, and a vehicle on a different lane is generally considered not to have a vehicle collision. However, when the host vehicle and the front vehicle are traveling on a curve at the same time, even if the front vehicle and the host vehicle are located on the same lane, the lateral relative distance between the host vehicle and the front vehicle may be larger than a certain value, so that the host vehicle may misinterpret the front vehicle as a vehicle traveling on a different lane from the host vehicle (i.e., misinterpret that the front vehicle has completed changing lanes), and further, when the relative distance between the host vehicle and the front vehicle is smaller than a safe distance sufficient to trigger an alarm, the host vehicle may not trigger a vehicle collision warning, so that the existing vehicle collision warning scheme may fail on the curve.
Based on this, the embodiments of the present application provide a vehicle collision warning method, taking a host vehicle and a front vehicle as an example, predicting a position where the host vehicle and the front vehicle may collide by predicting a movement trajectory of the front vehicle and a traveling path of the host vehicle, and further performing vehicle collision warning according to the position. Specifically, the vehicle can predict the movement track of the vehicle ahead and acquire the target driving path of the vehicle; then, the vehicle can determine the position of the predicted collision point (i.e. the position where collision is likely to occur) between the vehicle and the front vehicle according to the movement track of the front vehicle and the target driving path of the vehicle; and then, the vehicle can acquire the current motion parameters of the vehicle, and early warning of vehicle collision is carried out according to the position of the predicted collision point and the current motion parameters. Therefore, the embodiment of the application can be suitable for a straight lane, and even if the vehicle and the front vehicle run on a curve at the same time, the vehicle can determine the position of the predicted collision point between the vehicle and the front vehicle by predicting the movement track of the front vehicle and the running path of the vehicle, so that the vehicle collision early warning is triggered in time based on the position of the predicted collision point, the problem that the vehicle collision early warning is invalid due to the fact that the transverse relative distance between the vehicle and the front vehicle is too large is avoided, the effectiveness of the vehicle collision early warning is further ensured, and the safety of a driver driving the vehicle is improved.
As an example, the embodiment of the present application may be applied to an exemplary application scenario as shown in fig. 1. In this scenario, the host vehicle 101 and the preceding vehicle 102 may be traveling on a curve as shown in fig. 1 at the same time. During the running process of the host vehicle 101, the moving track of the front vehicle 102 can be predicted, the target running path of the host vehicle 101 is acquired, and then the host vehicle 101 can determine the position where the collision between the host vehicle 101 and the front vehicle 102 is possible according to the moving track of the front vehicle 102 and the target running path of the host vehicle 101); next, the host vehicle 101 may acquire current motion parameters such as a vehicle speed, an acceleration, and a vehicle heading angle of the host vehicle 101, and determine whether a collision between the host vehicle 101 and the preceding vehicle 102 will occur in a short time according to the position where the collision is likely to occur and the acquired current motion parameters, if so, the host vehicle 101 may perform a vehicle collision warning, and if not, the host vehicle 101 may repeatedly perform the above-described process in a next detection cycle.
It is to be understood that the above scenario is only one example of a scenario provided in the embodiment of the present application, and the embodiment of the present application is not limited to this scenario. For example, in other possible application scenarios, the host vehicle 101 may also predict the movement tracks of the front vehicle and/or the transverse vehicle on other lanes, so that the host vehicle may make a vehicle collision warning in time; alternatively, the calculation process performed by the host-vehicle 101 may be performed by a server, and the server may feed back the calculation result to the host-vehicle 101 so that the host-vehicle 101 performs a vehicle collision warning or the like based on the calculation result. In summary, the embodiments of the present application may be applied in any applicable scenario and are not limited to the above exemplary scenario.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, various non-limiting embodiments accompanying the present application examples are described below with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present application and not all 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 application.
Referring to fig. 2, fig. 2 is a schematic flow chart of a method in an embodiment of the present application, where the method may be applied to a target vehicle (i.e., the host vehicle mentioned above), and the method specifically may include:
s201: and predicting the moving track of the target object.
In this embodiment, the target vehicle may predict the movement trajectory of the target object around itself so as to determine whether there is a collision point between the target object and the target vehicle and a specific position of the collision point after the collision point exists based on the movement trajectory.
In an exemplary embodiment, the target vehicle may acquire a moving direction of the target object and a relative position of the target object with respect to the target vehicle using the sensing sensors, and calculate a moving trajectory of the target object according to the acquired relative position and the moving direction of the target object, and use the moving trajectory as a predicted moving trajectory of the target object. For example, a sensing sensor such as a camera or a millimeter wave radar may be disposed on the target vehicle (or a sensing sensor such as a camera or a millimeter wave radar may be disposed on the target vehicle after being fused), and then the target vehicle may measure a lateral distance, a longitudinal distance, and a heading angle of the target object with respect to the target vehicle by using the sensing sensors, so as to determine a relative position of the target object with respect to the target vehicle based on the measured lateral distance and longitudinal distance of the target object with respect to the target vehicle, and determine a moving direction of the target object based on the measured heading angle of the target object.
The target object in the present embodiment may specifically be an object that may collide with the target vehicle during movement, for example, a vehicle (including a motor vehicle and a non-motor vehicle) running around the target vehicle, or a pedestrian around the target vehicle.
S202: and acquiring a target running path of the target vehicle.
In the present embodiment, the target vehicle determines whether or not the target object collides with the target vehicle traveling on the target travel path when the target object moves on the predicted movement trajectory, based on the movement trajectory of the target object and the target travel path of the target vehicle, and therefore, the target vehicle can acquire the target travel path of the target vehicle while predicting the movement trajectory of the target object.
In one exemplary embodiment of obtaining the target travel path, the target vehicle may determine the target travel path of the target vehicle based on a high-precision map. It can be understood that in practical applications, the driver may input a destination on the target vehicle, and the target vehicle may generate the navigation path with the current location as a starting point and the destination input by the driver as an end point, so as to navigate the driving path of the driver based on the navigation path. Therefore, in the present embodiment, the target vehicle can determine the target travel path of the target vehicle based on the path plan of the high-precision map. In one example, the target driving route is a route on which the current target vehicle is to drive, and the starting point of the target driving route may specifically be a position where the target vehicle is currently located.
In another exemplary embodiment of obtaining the target travel route, the target vehicle may predict the target travel route. Specifically, the target vehicle may obtain a current motion parameter of the target vehicle, and calculate a target driving path of the target vehicle according to the current motion parameter, where the calculated target driving path is a path predicted to be driven by the target vehicle in a future period of time. At this time, the target vehicle may determine whether there is a collision point between the target object and the target vehicle based on the predicted movement trajectory of the target object and the predicted target travel path.
S203: and determining the position of the predicted collision point between the target object and the target vehicle according to the moving track of the target object and the target running path of the target vehicle.
In an exemplary embodiment of determining the location of the predicted collision point, the target vehicle may select a preset number of waypoints on the acquired target travel path, wherein the preset number is a positive integer greater than 1; for any two adjacent path points, if an intersection point exists between the movement track of the target object and the line segment between the two adjacent path points, the position of the intersection point is determined, and the position of the predicted collision point between the target object and the target vehicle is further determined based on the determined intersection point position. It can be understood that, for any two adjacent path points on the target driving path, if there is an intersection point between the moving trajectory of the target object and the line segment between the two adjacent path points, it indicates that when the target object moves along the moving trajectory and the target vehicle drives between the two adjacent path points, there may be a risk of collision between the target object and the target vehicle, and the position where the collision occurs is also the position of the intersection point.
For example, as shown in fig. 3, the target vehicle may sequentially select 5 waypoints A, B, C, D and E (waypoint a is closest to the target vehicle and waypoint E is farthest from the target vehicle) at equal intervals on the target route by using the vehicle-mounted combined inertial navigation and the high-precision map (or by using the vehicle-mounted combined inertial navigation and the laser radar), where the distance between two adjacent waypoints may be 30 meters, and the waypoint a may also be 30 meters from the target vehicle. Assuming that there is an intersection x between the movement trajectory of the target object and the line segment between the path points C and D, the position of the intersection x may be taken as the position of the predicted collision point. In some examples, the selected waypoint may also include the current location of the target vehicle.
It should be noted that the movement trajectory of the target object may have an intersection with a line segment between a plurality of pairs of adjacent path points, and accordingly, the target vehicle may determine the positions of a plurality of intersections, and therefore, the target vehicle may determine the positions of all the intersections as the positions of the predicted collision points, that is, the positions of the predicted collision points may be a plurality of positions. In one example, the target vehicle may also determine the position of the intersection closest to the target vehicle as the position of the predicted collision point, and in this case, the position of the predicted collision point may be one.
In the above embodiment, the determined intersection point may not be located on the target travel path, but in another exemplary embodiment of determining the position of the predicted collision point, the target vehicle may also directly calculate whether an intersection point exists between the movement trajectory of the target object and the target travel path of the target vehicle, and if the intersection point exists, the target vehicle may determine the position of the intersection point, where the intersection point is located on the target travel path; the target vehicle may then further determine a location of a predicted collision point between the target object and the target vehicle based on the determined location of the intersection point. Similarly, if there may be a plurality of intersections between the movement trajectory of the target object and the target travel path, the target vehicle may determine the positions of a plurality of predicted collision points based on the positions of the plurality of intersections, or may determine the position of an intersection closest to the target vehicle as the position of the predicted collision point, in which case, the position of the predicted collision point may be one.
S204: and acquiring the current motion parameters of the target vehicle.
In some examples of specific implementations, the current motion parameters of the target vehicle may specifically include a current vehicle speed, a current acceleration, a current vehicle heading angle, and the like of the target vehicle. Of course, in other possible embodiments, only the current vehicle speed (e.g., constant speed driving on a straight road) or only the current vehicle speed and the current acceleration (e.g., driving on a straight road) may be included.
In the present embodiment, the execution order of steps S201, S202, and S204 is not limited, that is, steps S201, S202, and S204 may be executed simultaneously, or may be executed in any order.
S205: and performing vehicle collision early warning according to the determined position of the predicted collision point and the acquired current motion parameter.
In this embodiment, after the position of the predicted collision point is determined, whether a vehicle collision warning needs to be given can be determined by combining the current motion parameters of the target vehicle. It is understood that, in some scenarios, even if there is a predicted collision point between the movement trajectory of the target object and the target travel path of the target vehicle (or a line segment between two adjacent waypoints on the target travel path), if the predicted collision point is located farther from the target vehicle, the travel time of the target vehicle from the current location to the location of the predicted collision point is longer, and during the longer time, the movement trajectory of the target object may have changed so that the target object and the target vehicle will not collide, and at this time, the target vehicle may not be subjected to collision warning. For example, the determined position of the predicted collision point is 1 km away from the target vehicle, and the vehicle currently keeps driving at a speed of 60 km per hour, so that the time for the target vehicle to travel from the current position to the position of the predicted collision point is 1 minute.
On the contrary, if the position of the predicted collision point is closer to the target vehicle, the time required for the target vehicle to travel from the current position to the position of the predicted collision point is shorter, so that even if the movement track of the target object is changed, the changed movement track is not much different from the previously predicted movement track, and thus the target object and the target vehicle can be considered to collide with each other if a high possibility exists in a short time, and at this time, the target vehicle can give a vehicle collision warning.
Based on this, in an exemplary embodiment, the target vehicle may calculate a predicted time length required for the target vehicle to travel from the current position to the position of the predicted collision point based on the acquired current motion parameter, and if the predicted time length is less than a preset time length, the vehicle collision warning may be performed, whereas if the predicted time length is not less than the preset time length, the vehicle collision warning may not be performed even if the predicted collision point exists. Of course, if the target vehicle determines that there is no predicted collision point between the movement trajectory of the target object and the target travel path of the target vehicle, the vehicle collision warning may not be performed.
It should be noted that, if the positions of the predicted collision points determined by the target vehicle are multiple, in an embodiment, the target vehicle may calculate the predicted time length required for driving from the current position to the position of each predicted collision point, so as to obtain multiple predicted time lengths, then, the target vehicle may compare the multiple predicted time lengths, determine the predicted time length with the minimum value, and compare the predicted time length with the minimum value with the preset time length, if the predicted time length with the minimum value is less than the preset time length, the vehicle collision warning may be performed, otherwise, the vehicle collision warning may not be performed.
In this embodiment, when the target vehicle performs the vehicle collision warning, specifically, the warning system configured on the vehicle may be triggered to perform the vehicle collision warning. The early warning system can perform early warning on the driver based on any one or more of visual sense, auditory sense or touch sense. For example, the early warning system can present prompt information of early warning of vehicle collision on a vehicle-mounted display screen of a target vehicle and visually prompt a driver, such as information of 'collision risk with a vehicle ahead and please pay attention to driving'; the driver can also be prompted from the hearing angle by using a buzzer, voice broadcast and other modes; the driver can be prompted from a touch angle in a seat vibration or safety belt vibration mode; the vehicle collision early warning can be made for the driver by combining any of the angles.
In this embodiment, the target vehicle may predict the movement trajectory of the target object and obtain its own target travel path; then, the target vehicle can determine the position of a predicted collision point (namely, the position where collision is likely to occur) between the target vehicle and the target object according to the moving track of the target object and the target driving path of the target vehicle; and then, the target vehicle can acquire the current motion parameters of the target vehicle, and performs vehicle collision early warning according to the position of the predicted collision point and the current motion parameters. Therefore, the embodiment can be applied to a straight lane, and even if the target vehicle and the target object are located on a curve to run at the same time, the target vehicle can determine the position of the predicted collision point between the target vehicle and the target object by predicting the moving track of the target object and the running path of the target vehicle, so that the vehicle collision early warning is triggered in time based on the position of the predicted collision point, the problem that the vehicle collision early warning is invalid due to the fact that the transverse relative distance between the target vehicle and the target object is too large is solved, the effectiveness of the vehicle collision early warning is guaranteed, and the safety of a driver driving the vehicle is improved. Meanwhile, the embodiment of the application can also realize transverse early warning, namely when the longitudinal distance between the target vehicle and the target object is within a certain range, and when the transverse distance is smaller, the vehicle collision early warning can be triggered, so that the target vehicle and the target object can be prevented from colliding transversely.
In addition, the embodiment of the application also provides a vehicle collision early warning device. Referring to fig. 4, fig. 4 is a schematic structural diagram illustrating a vehicle collision warning apparatus in an embodiment of the present application, where the apparatus 400 includes:
a prediction module 401, configured to predict a movement trajectory of a target object;
an obtaining module 402, configured to obtain a target driving path of a target vehicle and a current motion parameter of the target vehicle;
a determining module 403, configured to determine, according to the moving trajectory and the target driving path, a position of a predicted collision point between the target object and the target vehicle;
and the early warning module 404 is configured to perform vehicle collision early warning according to the position of the predicted collision point and the current motion parameter of the target vehicle.
In some possible embodiments, the determining module 403 includes:
the selecting unit is used for selecting a preset number of path points on the target driving path, wherein the preset number is a positive integer greater than 1;
the first determining unit is used for determining the position of an intersection point if the movement track and a line segment between two adjacent path points have the intersection point;
a second determination unit configured to determine a position of a predicted collision point between the target object and the target vehicle based on the position of the intersection.
In some possible embodiments, the determining module 403 includes:
a third determining unit, configured to determine a position of an intersection point if the movement trajectory and the target travel path have the intersection point;
a fourth determination unit configured to determine a position of a predicted collision point between the target object and the target vehicle based on the position of the intersection.
In some possible embodiments, if the number of the intersection points is plural, the position of the predicted collision point is a position of an intersection point closest to the target vehicle among the plural intersection points.
In some possible embodiments, the obtaining module 402 is specifically configured to determine the target driving path of the target vehicle according to a high-precision map.
In some possible embodiments, the obtaining module 402 is specifically configured to calculate the target driving path of the target vehicle according to the current motion parameter of the target vehicle.
In some possible embodiments, the early warning module 404 includes:
the first calculation unit is used for calculating the prediction time length required by the target vehicle to travel to the position of the predicted collision point according to the current motion parameters of the target vehicle;
and the early warning unit is used for carrying out vehicle collision early warning if the predicted time length is less than the preset time length.
In some possible embodiments, the prediction module 401 includes:
an acquisition unit configured to acquire a moving direction of the target object and a relative position of the target object with respect to a target vehicle;
and the second calculating unit is used for calculating the moving track of the target object according to the relative position and the moving direction of the target object.
In some possible embodiments, the current motion parameters of the target vehicle include a current vehicle speed, a current acceleration, and a current vehicle heading angle of the target vehicle.
The embodiment not only can be suitable for a straight lane, even if the target vehicle and the target object are located on a curve to run, the target vehicle can also determine the position of a predicted collision point between the target vehicle and the target object through predicting the moving track of the target object and the running path of the target vehicle, so that vehicle collision early warning is triggered in time based on the position of the predicted collision point, the problem that the vehicle collision early warning is invalid due to the fact that the transverse relative distance between the target vehicle and the target object is too large is avoided, the effectiveness of the vehicle collision early warning is further ensured, and the safety of a driver driving the vehicle is improved. Meanwhile, the embodiment of the application can also realize transverse early warning, namely when the longitudinal distance between the target vehicle and the target object is within a certain range, and when the transverse distance is smaller, the vehicle collision early warning can be triggered, so that the target vehicle and the target object can be prevented from colliding transversely.
The "first" in the names of the "first determining unit", "first calculating unit", and the like mentioned in the embodiments of the present application is used only for name identification, and does not represent the first in order. The same applies to "second" etc.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a general hardware platform. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a storage medium, such as a read-only memory (ROM)/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the method according to the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only an exemplary embodiment of the present application, and is not intended to limit the scope of the present application.
Claims (10)
1. A vehicle collision warning method, characterized in that the method comprises:
predicting a moving track of a target object;
acquiring a target running path of a target vehicle and a current motion parameter of the target vehicle;
determining the position of a predicted collision point between the target object and the target vehicle according to the moving track and the target driving path;
and carrying out vehicle collision early warning according to the position of the predicted collision point and the current motion parameters of the target vehicle.
2. The method of claim 1, wherein determining the location of the predicted collision point between the target object and the target vehicle based on the movement trajectory and the target travel path comprises:
selecting a preset number of path points on the target driving path, wherein the preset number is a positive integer greater than 1;
if the moving track and the line segment between two adjacent path points have intersection points, determining the positions of the intersection points, and determining the positions of the predicted collision points between the target object and the target vehicle based on the positions of the intersection points.
3. The method of claim 1, wherein determining the location of the predicted collision point between the target object and the target vehicle based on the movement trajectory and the target travel path comprises:
and if an intersection point exists between the moving track and the target driving path, determining the position of the intersection point, and determining the position of a predicted collision point between the target object and the target vehicle based on the position of the intersection point.
4. The method according to claim 2 or 3, wherein the number of the intersection points is plural, and the position of the predicted collision point is a position of an intersection point closest to the target vehicle among the plural intersection points.
5. The method of claim 1, wherein the obtaining a target travel path for a target vehicle comprises:
and determining a target running path of the target vehicle according to the high-precision map.
6. The method of claim 1, wherein the obtaining a target travel path for a target vehicle comprises:
and calculating a target running path of the target vehicle according to the current motion parameters of the target vehicle.
7. The method of claim 1, wherein the performing a vehicle collision warning according to the location of the predicted collision point and the current motion parameters of the target vehicle comprises:
calculating the prediction duration required by the target vehicle to travel to the position of the predicted collision point according to the current motion parameters of the target vehicle;
and if the predicted time length is less than the preset time length, performing vehicle collision early warning.
8. The method of claim 1, wherein predicting the movement trajectory of the target object comprises:
acquiring the moving direction of the target object and the relative position of the target object relative to a target vehicle;
and calculating the movement track of the target object according to the relative position and the movement direction of the target object.
9. The method of any one of claims 1 to 8, wherein the current motion parameters of the target vehicle include a current vehicle speed, a current acceleration, and a current vehicle heading angle of the target vehicle.
10. A vehicle collision warning apparatus, characterized in that the apparatus comprises:
the prediction module is used for predicting the movement track of the target object;
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a target running path of a target vehicle and a current motion parameter of the target vehicle;
the determining module is used for determining the position of a predicted collision point between the target object and the target vehicle according to the moving track and the target driving path;
and the early warning module is used for carrying out vehicle collision early warning according to the position of the predicted collision point and the current motion parameters of the target vehicle.
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| CN201910314723.1A CN111833648A (en) | 2019-04-18 | 2019-04-18 | Vehicle collision early warning method and device |
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| CN201910314723.1A CN111833648A (en) | 2019-04-18 | 2019-04-18 | Vehicle collision early warning method and device |
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