CN112598932A - Automobile anti-collision early warning model based on vehicle-road cooperation technology - Google Patents
Automobile anti-collision early warning model based on vehicle-road cooperation technology Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract
The invention provides an automobile anti-collision early warning model based on a vehicle-road cooperation technology, which comprises a driving guide device, a detection device, a sensing device, a state diagnosis device, an early warning device, an adjusting device and a processor, wherein the driving guide device is used for guiding a driving route of a vehicle; the detection device is configured to detect a positional shift of the vehicle; the sensing device is configured to predict driving or transformation intentions between adjacent ones; the early warning device is configured to respond to a distance of the vehicle and trigger an early warning signal; the adjustment device is configured to adjust a safety distance between vehicles or between a vehicle and a person. The invention adopts the cooperative device to cooperate the vehicle and the road, predicts the condition of the vehicle in the running process, and triggers the early warning signal based on the prediction to ensure the running safety of the vehicle.
Description
Technical Field
The invention relates to the technical field of automobile anti-collision, in particular to an automobile anti-collision early warning model based on a vehicle-road cooperation technology.
Background
Existing GPS location techniques include carrier-phase based location estimation, which is very accurate but has integer ambiguity problems, and pseudorange based location estimation, which is less accurate but has better real-time performance.
For example, CN104157167B prior art discloses a method for preventing collision of vehicles based on cooperative relative positioning technology, however, buildings exist at two sides of urban roads, which means that the line-of-sight path between GPS satellites and vehicles may be blocked, i.e. the vehicle-mounted GPS receiver can only receive the reflected signals of the satellites. The different path reflected signals originating from different buildings constitute multipath propagation of the received signal, which causes errors that may be as high as tens of meters, which undoubtedly reduces the accuracy of the absolute positioning. For DGPS systems, such multipath propagation errors can be reduced because the reference base station is often set up in an open environment and the received signals between neighboring vehicles have spatial correlation. Another typical uncontrolled intersection vehicle passing guidance system based on vehicle-road coordination and a guidance method thereof disclosed in the prior art of WO2017015951a1, and a vehicle collision warning method, a device and a vehicle disclosed in the prior art of WO2017080180a1 determine whether a vehicle will collide according to a predicted track, and give an acceleration required for avoiding vehicle collision.
The method and the device are provided for solving the problems that the error is too large, the collision is easily caused, the prediction time is too short, the starting is not timely, the interference is large, the misjudgment rate is high, the positioning accuracy is poor and the like in the field.
Disclosure of Invention
The invention aims to provide an automobile anti-collision early warning model based on a vehicle-road cooperation technology, aiming at the defects of the existing automobile collision early warning.
In order to overcome the defects of the prior art, the invention adopts the following technical scheme:
an automobile anti-collision early warning model based on a vehicle-road cooperation technology, the early warning model comprises a driving guiding device, a detection device, a sensing device, a state diagnosis device, an early warning device, an adjusting device and a processor, wherein the driving guiding device is configured to guide a driving route of a vehicle; the detection device is configured to detect a positional shift of the vehicle; the sensing device is configured to predict driving or transition intent between adjacent ones; the state diagnosing device is configured to diagnose a driving state of the vehicle or a driving state of an adjacent vehicle; the early warning device is configured to respond to a distance of the vehicle and trigger an early warning signal; the adjustment device is configured to adjust a safety distance between the vehicles or between a vehicle and a person.
Optionally, the driving guidance device includes a navigation unit and a pre-judging unit, the navigation unit is configured to navigate a route of the vehicle, and the navigation unit is configured to perform guidance based on a local map or real-time online map data; the pre-determination unit is configured to determine whether the vehicle changes lanes to a target lane at a target time; determining that the vehicle changes lanes to a target lane at about a target time; estimating that the vehicle and the remote vehicle will collide on the target lane at the target time; the operation of the vehicle component is modified such that the vehicle does not change lanes to the target lane at the target time.
Optionally, the detection device comprises a distance detection member, a detection probe and a capture unit configured to detect in real time with a vehicle in the identification range; the detection unit is configured to detect the speed and distance parameters of other vehicles within a distance range for collection; the distance detection means is configured to estimate the distance of the other vehicle and collect the distance per unit time.
Optionally, the sensing device includes a sensing element, a steering unit and a data acquisition unit, the sensing element is configured to detect the position of the vehicle, and the steering unit is configured to adjust the angle of the sensing element; the data acquisition unit is configured to summarize data of the sensing element and data of the detection device and transmit the summarized data and the data of the detection device with the processor through a communication device; the steering unit includes a steering base, a steering angle detecting member, and a steering driving mechanism, the sensing element is configured to be connected to one end of the steering base, and the steering angle detecting member is configured to detect an angle by which the sensing element is rotated; the other end of the steering seat is in driving connection with the steering driving mechanism.
Optionally, the state diagnosing device includes a route sensing mechanism, a geographic database and a vehicle identification mechanism; the route sensing mechanism is configured to identify and sense the geographic database; the vehicle identification mechanism is configured to upload to a cloud server through a network connection component, the geographic database comprises a monitoring camera of a vehicle moving path and is matched with positioning data of the vehicle identification mechanism based on data parameters of the camera; if the positioning data are matched, marking a navigation point by touching the route sensing mechanism; and if the positioning data are not matched, uploading the positioning data to a cloud server, and performing data interaction.
Optionally, the early warning device comprises a display mechanism, a processing mechanism and a guiding mechanism, wherein the display mechanism is configured to obtain a division standard path of the navigation deviation route plan; the processing mechanism is configured to determine one or more transition suitability distributions along the defined path and to determine extrema of the transition suitability distributions, determine a location of a planned road segment boundary, based on the transition preference information; providing on a display device a graphical indication of a segment defined by the road segment boundary determined by the processing unit; the guiding mechanism is configured to convert a standard path from a real distance into a suitability distribution and scale the path of the real-time movement to an effective distance scale based on real-time monitoring of the path of the movement of the encountered vehicles; and identifies a location from the segmented canonical path defined by the segmentation criteria over the range of valid distances.
Optionally, the adjustment device comprises a primary sensing unit and a secondary sensing unit, the primary sensing unit being configured such that, in response to receiving a first synchronisation pulse from the primary sensing unit at the secondary sensing unit, the secondary sensing unit varies the period of a second synchronisation pulse sent to the primary sensing unit to indicate to the primary sensing unit: the secondary sensing unit is configured to synchronize to the primary sensing unit and, in response to receiving a second synchronization pulse from the secondary sensing unit at the primary sensing unit, the primary sensing unit changes a period of the first synchronization pulse to the secondary sensing unit to indicate to the secondary sensing unit.
Optionally, the state diagnosis device performs route planning on a proposed route based on the cloud server response; and the routing includes determining whether the vehicle has a deviation; associating the particular location having the problem location tag based on determining that the deviation from the proposed route is a problem deviation; after associating the particular location with the problematic location tag, and receiving a request for traffic information from the cloud server.
Optionally, the early warning device further includes an early warning signal unit, where the early warning signal unit detects a state of a steering wheel of the vehicle in real time, calls data of the detection device and the sensing device when an early warning signal is triggered, and controls the steering wheel of the vehicle to provide a small reverse steering force; vibrating an actuator mounted on a steering wheel; generating a warning message, the warning message being displayed on a display device of the vehicle; and generates a warning sound that is played on a speaker of the vehicle.
The beneficial effects obtained by the invention are as follows:
1. searching information of vehicles with too close distance between a front vehicle and a rear vehicle at a specific position, marking the vehicles as problem labels, receiving a request for road condition information from a cloud server, and triggering an early warning signal if the road condition information in the area is displayed in a non-congestion state and a signal with too close distance is triggered, so that the two vehicles cannot collide;
2. the early warning sensitivity of collision is improved by adopting the acquisition of data between adjacent vehicles through the interaction device and carrying out cooperative interaction on the data between the vehicles based on the data;
3. prompting through a data link established by an interactive device, and reminding a rear vehicle through a warning signal, and responding to the rear vehicle to steer or deviate from a target lane where a front vehicle is located;
4. data interaction is carried out among vehicles around the positions of all waypoints passing through the air route, so that data interaction is carried out, cooperative work can be carried out among the vehicles or road conditions, and the whole collision early warning can be more accurate and reliable;
5. the early warning sensitivity of collision is improved by adopting the acquisition of data between adjacent vehicles through the interaction device and carrying out cooperative interaction on the data between the vehicles based on the data;
6. the cooperation device is adopted to cooperate the vehicle and the road, predict the condition of the vehicle in the running process, and trigger the early warning signal based on the prediction to ensure the running safety of the vehicle.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is a schematic control flow diagram of the present invention.
Fig. 2 is a schematic structural diagram of the vehicle and the cooperative apparatus.
Fig. 3 is a schematic right view of the vehicle.
Fig. 4 is a schematic structural diagram of the detection device.
Fig. 5 is a control flow diagram of the travel guide device.
Fig. 6 is a schematic view of an application scenario of the present invention.
The reference numbers illustrate: 1-a vehicle; 2-a cooperative device; 3-a detection device; 4-an induction device; 5-capture unit.
Detailed Description
In order to make the objects and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper" and "lower" and "left" and "right" etc., it is only for convenience of description and simplification of the description based on the orientation or positional relationship shown in the drawings, but it is not indicated or implied that the device or assembly referred to must have a specific orientation.
The first embodiment is as follows: an automobile anti-collision early warning model based on a vehicle-road cooperation technology, the early warning model comprises a driving guiding device, a detection device, a sensing device, a state diagnosis device, an early warning device, an adjusting device and a processor, wherein the driving guiding device is configured to guide a driving route of a vehicle; the detection device is configured to detect a positional shift of the vehicle; the sensing device is configured to predict driving or transition intent between adjacent ones; the state diagnosing device is configured to diagnose a driving state of the vehicle or a driving state of an adjacent vehicle; the early warning device is configured to respond to a distance of the vehicle and trigger an early warning signal; the adjustment device is configured to adjust a safety distance between the vehicles or between a vehicle and a person; the driving guide apparatus includes a navigation unit configured to navigate a route along which a vehicle travels, and a pre-determination unit configured to guide based on local map or real-time online map data; the pre-determination unit is configured to determine whether the vehicle changes lanes to a target lane at a target time; determining that the vehicle changes lanes to a target lane at about a target time; estimating that the vehicle and the remote vehicle will collide on the target lane at the target time; modifying operation of the vehicle component such that the vehicle does not change lane to the target lane at the target time; the detection device includes a distance detection member, a detection probe, and a capturing unit configured to detect in real time with a vehicle in an identification range; the detection unit is configured to detect the speed and distance parameters of other vehicles within a distance range for collection; the distance detection means is configured to estimate distances of other vehicles and collect the distances per unit time; the sensing device comprises a sensing element, a steering unit and a data acquisition unit, wherein the sensing element is configured to detect the position of the vehicle, and the steering unit is configured to adjust the angle of the sensing element; the data acquisition unit is configured to summarize data of the sensing element and data of the detection device and transmit the summarized data and the data of the detection device with the processor through a communication device; the steering unit includes a steering base, a steering angle detecting member, and a steering driving mechanism, the sensing element is configured to be connected to one end of the steering base, and the steering angle detecting member is configured to detect an angle by which the sensing element is rotated; the other end of the steering seat is in driving connection with the steering driving mechanism; the state diagnosis device comprises an air route induction mechanism, a geographic database and a vehicle identification mechanism; the route sensing mechanism is configured to identify and sense the geographic database; the vehicle identification mechanism is configured to upload to a cloud server through a network connection component, the geographic database comprises a monitoring camera of a vehicle moving path and is matched with positioning data of the vehicle identification mechanism based on data parameters of the camera; if the positioning data are matched, marking a navigation point by touching the route sensing mechanism; if the positioning data are not matched, uploading the positioning data to a cloud server, and performing data interaction; the early warning device comprises a display mechanism, a processing mechanism and a guiding mechanism, wherein the display mechanism is configured to obtain a division standard path of a navigation deviation route plan; the processing mechanism is configured to determine one or more transition suitability distributions along the defined path and to determine extrema of the transition suitability distributions, determine a location of a planned road segment boundary, based on the transition preference information; providing on a display device a graphical indication of a segment defined by the road segment boundary determined by the processing unit; the guiding mechanism is configured to convert a standard path from a real distance into a suitability distribution and scale the path of the real-time movement to an effective distance scale based on real-time monitoring of the path of the movement of the encountered vehicles; and identifying a location from a segmented standard path defined by the segmentation criteria over the range of valid distances; the adjustment device includes a primary sensing unit configured to change a period of a second synchronization pulse transmitted to the primary sensing unit in response to receiving the first synchronization pulse from the primary sensing unit at the secondary sensing unit to indicate to the primary sensing unit: the secondary sensing unit is configured to be synchronized to the primary sensing unit and, in response to receiving a second synchronization pulse from the secondary sensing unit at the primary sensing unit, the primary sensing unit changes a period of the first synchronization pulse to the secondary sensing unit to indicate to the secondary sensing unit; the state diagnosis device performs route planning on a suggested route based on the cloud server response; and the routing includes determining whether the vehicle has a deviation; associating the particular location having the problem location tag based on determining that the deviation from the proposed route is a problem deviation; after associating the particular location with the problematic location tag, and receiving a request for traffic information from a cloud server; the early warning device also comprises an early warning signal unit, the early warning signal unit detects the state of the steering wheel of the vehicle in real time, calls the data of the detection device and the sensing device when an early warning signal is triggered, and controls the steering wheel of the vehicle to provide small reverse steering force; vibrating an actuator mounted on a steering wheel; generating a warning message, the warning message being displayed on a display device of the vehicle; and generates a warning sound that is played on a speaker of the vehicle.
Example two: this embodiment should be understood to include at least all of the features of any of the foregoing embodiments and further modifications thereon; providing an automobile anti-collision early warning model based on a vehicle-road cooperation technology, wherein the early warning model comprises a driving guiding device, a detection device, a sensing device, a state diagnosis device, an early warning device, an adjusting device and a processor, and the driving guiding device is configured to guide the driving route of a vehicle; the detection device is configured to detect a positional shift of the vehicle; the sensing device is configured to predict driving or transition intent between adjacent ones; the state diagnosing device is configured to diagnose a driving state of the vehicle or a driving state of an adjacent vehicle; the early warning device is configured to respond to a distance of the vehicle and trigger an early warning signal; the adjustment device is configured to adjust a safety distance between the vehicles or between a vehicle and a person; the processor is respectively in control connection with the driving guide device, the detection device, the induction device, the state diagnosis device, the early warning device and the adjusting device, and is used for regulating and controlling the devices under the centralized control of the processor, so that the devices can be cooperatively arranged with the automobile; the early warning model further comprises an interaction device configured to interact with encountered vehicles or vehicles in the same direction; the interactive data comprises telematics data received via a wireless network via a public network connection device, a plurality of road locations of the motor vehicle are determined at respective points in time, and the data are linked based on information of vehicles in the road; interacting data in the adjacent areas based on the positioning data; meanwhile, searching information of vehicles with too close distance between the front vehicle and the rear vehicle at a specific position, marking the vehicles as problem labels, receiving a request for road condition information from a cloud server, and triggering an early warning signal if the road condition information in the area is displayed in a non-congestion state and a signal with too close distance is triggered, so that the condition of collision between the two vehicles can not exist; the detection device and the induction device are used for detecting the periphery of the vehicle, detecting the state and the running speed of the vehicle based on detected data, and triggering an early warning signal of an early warning device if the distance between the vehicles is too close and the speed is too high;
in this embodiment, the interaction device includes a temporary link and a data progression unit, the establishment of the temporary link is based on pairing operation of the pairing unit, the interaction devices are respectively arranged on vehicles and establish data links within an effective identification range, meanwhile, the data progression unit is configured to rank the priority among the established data links, and the ranking of the priority is performed according to the distance between the two vehicles; the highest priority when there is no blockage between two adjacent vehicles; secondly, the shortest distance between two adjacent vehicles but the existence of other vehicles is a priority set as a second level; during the process of carrying out the temporary link, the interactive data only comprises the distance between two sides, the driving lane or the position of the lane; the interaction device is used for acquiring data between adjacent vehicles and cooperatively interacting the data between the vehicles based on the data, so that the early warning sensitivity of collision is improved;
the driving guide apparatus includes a navigation unit configured to navigate a route along which a vehicle travels, and a pre-determination unit configured to guide based on local map or real-time online map data; the pre-determination unit is configured to determine whether the vehicle changes lanes to a target lane at a target time; determining that the vehicle changes lanes to a target lane at about a target time; estimating that the vehicle and the remote vehicle will collide on the target lane at the target time; modifying operation of the vehicle component such that the vehicle does not change lane to the target lane at the target time; the navigation unit is used for navigating the vehicle, and is also configured to monitor the moving path of the vehicle in a use state for calling a route in the running track; the pre-determination unit is configured to pre-determine based on a path of travel of the vehicle, and detect vehicle parameters such as a steering, a deviation amount, and a running speed of the vehicle; the pre-judging unit is configured to trigger an early warning signal when the distance between two vehicles is too close in the process of changing the vehicles in adjacent lanes or the same lane; the pre-judging unit triggers timing operation when an adjacent vehicle approaches, and monitors the running track of the vehicle in a passing time range based on the timing operation; if the adjacent vehicle and the vehicle are on the same lane, detecting the distance between the two sides by collecting the data of the detection device or the sensing device, and triggering early warning operation if the distance between the two vehicles exceeds the set threshold upper limit; the early warning operation comprises common warning modes such as light warning, sound warning lamps and the like; in addition, when meeting vehicles approach to a front vehicle, prompting is carried out through a data link established by the interaction device, a warning signal is used for prompting a rear vehicle, and the rear vehicle is responded to steer or deviate from a target lane where the front vehicle is located; particularly, the early warning model responds to prompt a driver, and the driver performs braking or steering operation on the vehicle;
the detection device includes a distance detection member, a detection probe, and a capturing unit configured to detect in real time with a vehicle in an identification range; the detection unit is configured to detect the speed and distance parameters of other vehicles within a distance range for collection; the distance detection means is configured to estimate distances of other vehicles and collect the distances per unit time; the distance detection component is used for detecting substances and conditions around the vehicles and recording the distance between the vehicles based on the detection of the distance detection component; the distance detection means includes, but is not limited to, the following listed ones: common devices for detecting the distance, such as detection radars, distance sensors, photoelectric sensors, and the like; the detection probe preferably adopts a detection camera and captures an image of the vehicle; the capture unit is configured to capture images with the inspection probe; and storing the captured image or video in a memory; the capturing unit comprises a steering component, the steering component is used for rotating the angle of the detection probe and capturing passing vehicles by the detection probe, so that the whole capturing process can be unfolded; the steering component is also connected with the processor and realizes automatic following or capturing operation under the control of the processor;
the sensing device comprises a sensing element, a steering unit and a data acquisition unit, wherein the sensing element is configured to detect the position of the vehicle, and the steering unit is configured to adjust the angle of the sensing element; the data acquisition unit is configured to summarize data of the sensing element and data of the detection device and transmit the summarized data and the data of the detection device with the processor through a communication device; the steering unit includes a steering base, a steering angle detecting member, and a steering driving mechanism, the sensing element is configured to be connected to one end of the steering base, and the steering angle detecting member is configured to detect an angle by which the sensing element is rotated; the other end of the steering seat is in driving connection with the steering driving mechanism; the sensing device is arranged on the peripheral side of the vehicle and collects the peripheral side environment of the vehicle; meanwhile, the sensing element is matched with the steering unit for use, and the position of the sensing element is adjusted based on the steering operation of the steering unit; in this embodiment, the rotating base is provided with a platform for connecting the sensing element, the sensing element is fixedly connected with the platform, the rotating base rotates along the axis of the rotating base under the driving operation of the rotating driving mechanism, and the detection operation of the angle of the rotating base is realized under the detection operation of the steering angle detection piece; the sensing element, the steering angle detection piece, the steering driving mechanism and the processor form a feedback system, and when the rotating angle of the steering seat is inconsistent with the set angle, the steering driving mechanism can drive the steering seat to rotate, so that the rotating seat can rotate to a proper position; additionally, the inductive elements include, but are not limited to, the following: sensors which are commonly used and used for detecting moving objects, such as a linear velocity measuring sensor, a non-contact photoelectric velocity sensor, a wireless acceleration sensor, an inclination angle sensor, a magnetic resistance sensor and the like;
the state diagnosis device comprises an air route induction mechanism, a geographic database and a vehicle identification mechanism; the route sensing mechanism is configured to identify and sense the geographic database; the vehicle identification mechanism is configured to upload to a cloud server through a network connection component, the geographic database comprises a monitoring camera of a vehicle moving path and is matched with positioning data of the vehicle identification mechanism based on data parameters of the camera; if the positioning data are matched, marking a navigation point by touching the route sensing mechanism; if the positioning data are not matched, uploading the positioning data to a cloud server, and performing data interaction; the route sensing mechanism comprises an identification end and a rotating unit, the identification end is matched with the rotating unit for use, so that the identification end can collect surrounding environment, and the collected data and the geographic data are integrated, so that a navigation route of the vehicle can be displayed or screened in the running process; the steering unit comprises a deflection seat, a deflection rod, an angle adjusting member and a deflection driving mechanism, wherein the deflection seat is configured to be in driving connection with the deflection driving mechanism, one end of the deflection rod is connected with the deflection seat, one end of the deflection rod, which is far away from the deflection seat, is connected with the angle adjusting member, and the detection end is arranged on the angle adjusting member; the angle adjusting component is configured to adjust the detection angle of the identification end, so that the identification end can acquire data in real time during the running or running process of the vehicle; the collected data comprises road signs, landmark buildings and the like; in the data interaction process, data interaction is carried out among vehicles around the positions of the waypoints of the route, and the data interaction is used for data interaction; in this embodiment, the data collected by the route sensing mechanism includes personal data and public data, and the personal data includes private information such as a trip destination and a parking position; the public data comprises license plate numbers of vehicles detected by the camera, relations between front and rear vehicles and the like; through the interaction of the data of each vehicle, the vehicles can be positioned mutually, and the problem that the data of each vehicle cannot be exchanged in the past is solved; meanwhile, the camera is preferably a camera of a public video and is used for checking data of the public place; in the embodiment, the positioning device is set by the driver or the vehicle owner according to actual needs;
the network connection component comprises a network unit and a data acquisition unit, the network unit is configured to transmit data of the detection device and the cooperative device, and the network unit and the cloud server are connected through a data link; the data collector is configured to collect data of the positioning device; specifically, the network connection component is used in cooperation with the sensing device to collect data of the vehicle, and upload and download the data based on the collected data; in this embodiment, the data collector is configured to collect data of the locator, and at the same time, in the collection process, private data and public data need to be discriminated, and the data collector is not allowed to collect the private data, and meanwhile, in this embodiment, the data collector collects the public data to generate a storage or access record, the access mechanism is stored in a memory, and the processor encrypts the memory;
the early warning device comprises a display mechanism, a processing mechanism and a guiding mechanism, wherein the display mechanism is configured to obtain a division standard path of a navigation deviation route plan; the processing mechanism is configured to determine one or more transition suitability distributions along the defined path and to determine extrema of the transition suitability distributions, determine a location of a planned road segment boundary, based on the transition preference information; providing on a display device a graphical indication of a segment defined by the road segment boundary determined by the processing unit; the guiding mechanism is configured to convert a standard path from a real distance into a suitability distribution and scale the path of the real-time movement to an effective distance scale based on real-time monitoring of the path of the movement of the encountered vehicles; and identifying a location from a segmented standard path defined by the segmentation criteria over the range of valid distances; an operation of dividing the moving path based on a path of movement of the vehicle; in the process of path planning, when obstacle avoidance or early warning is required, the navigation deviation route is divided into paths which need to be deviated by the vehicle, so that the whole vehicle can perform deviation operation along a certain divided path; meanwhile, displaying the path needing to be deviated on the display device; in the embodiment, the moving path of the vehicle needs to be dynamically displayed in the process of displaying on the display mechanism, and the moving path of the vehicle is displayed on the basis of the moving path of the vehicle and is displayed on the display mechanism in proportion;
the adjustment device includes a primary sensing unit configured to change a period of a second synchronization pulse transmitted to the primary sensing unit in response to receiving the first synchronization pulse from the primary sensing unit at the secondary sensing unit to indicate to the primary sensing unit: the secondary sensing unit is configured to be synchronized to the primary sensing unit and, in response to receiving a second synchronization pulse from the secondary sensing unit at the primary sensing unit, the primary sensing unit changes a period of the first synchronization pulse to the secondary sensing unit to indicate to the secondary sensing unit; the adjusting device is arranged on the vehicle and responds according to the data of the detecting device and the sensing device, and is used for information communication with surrounding vehicles, and the main sensing unit and the auxiliary sensing unit are matched for use, so that the whole device can perform information interaction and communication according to the transmission of signal pulses in the using process; meanwhile, in this embodiment, in the process of two vehicles traveling in the same direction or meeting in opposite directions, the speed and acceleration of the movement of the vehicles need to be determined for detection, that is: the vehicle is set as a main sensing unit when the moving speed or the acceleration of the vehicle is high, and is set as an auxiliary sensing unit when the moving speed or the acceleration is low; in this embodiment, the adjusting devices are both arranged on two meeting vehicles, and transmit the early warning signals of the meeting through the signal transmission between the main sensing unit and the auxiliary sensing unit; in addition, the duration of the information interaction period between the main sensing unit and the auxiliary sensing unit is set by an operator;
the state diagnosis device performs route planning on a suggested route based on the cloud server response; and the routing includes determining whether the vehicle has a deviation; associating the particular location having the problem location tag based on determining that the deviation from the proposed route is a problem deviation; after associating the particular location with the problematic location tag, and receiving a request for traffic information from a cloud server; the deviation includes two cases, which are respectively: problem deviations and plan deviations; in this embodiment, the cloud server can also be used for navigating the vehicle part; namely: the cloud server also performs navigation of a required path based on the private data of the driver; meanwhile, in the process of a path needing to be moved, the driver marks the position tag, responds to the problem tag from the server, and downloads the moving path from the network server, and in the process, the positioning device detects the position of the vehicle in real time, so that the position of the vehicle can be fed back in real time;
the early warning device also comprises an early warning signal unit, the early warning signal unit detects the state of the steering wheel of the vehicle in real time, calls the data of the detection device and the sensing device when an early warning signal is triggered, and controls the steering wheel of the vehicle to provide small reverse steering force; vibrating an actuator mounted on a steering wheel; generating a warning message, the warning message being displayed on a display device of the vehicle; and generating a warning sound to be played on a speaker of the vehicle; the early warning device responds to the data of the detection device or the sensing device based on the input of the early warning signal unit, triggers the sound alarm or the display alarm of the driver, and prompts the driver to have a signal of avoiding or colliding.
Example three: this embodiment should be understood to include at least all of the features of any of the foregoing embodiments and further modifications thereon; providing an automobile anti-collision early warning model based on a vehicle-road cooperation technology, wherein the early warning model comprises a driving guiding device, a detection device, a sensing device, a state diagnosis device, an early warning device, an adjusting device and a processor, and the driving guiding device is configured to guide the driving route of a vehicle; the detection device is configured to detect a positional shift of the vehicle; the sensing device is configured to predict driving or transition intent between adjacent ones; the state diagnosing device is configured to diagnose a driving state of the vehicle or a driving state of an adjacent vehicle; the early warning device is configured to respond to a distance of the vehicle and trigger an early warning signal; the adjustment device is configured to adjust a safety distance between the vehicles or between a vehicle and a person; the processor is respectively in control connection with the driving guide device, the detection device, the induction device, the state diagnosis device, the early warning device and the adjusting device, and is used for regulating and controlling the devices under the centralized control of the processor, so that the devices can be cooperatively arranged with the automobile; the early warning model further comprises an interaction device configured to interact with encountered vehicles or vehicles in the same direction; the interactive data comprises telematics data received via a wireless network via a public network connection device, a plurality of road locations of the motor vehicle are determined at respective points in time, and the data are linked based on information of vehicles in the road; interacting data in the adjacent areas based on the positioning data; meanwhile, searching information of vehicles with too close distance between the front vehicle and the rear vehicle at a specific position, marking the vehicles as problem labels, receiving a request for road condition information from a cloud server, and triggering an early warning signal if the road condition information in the area is displayed in a non-congestion state and a signal with too close distance is triggered, so that the condition of collision between the two vehicles cannot occur; the detection device and the induction device are used for detecting the periphery of the vehicle, detecting the state and the running speed of the vehicle based on detected data, and triggering an early warning signal of an early warning device if the distance between the vehicles is too close and the speed is too high;
in this embodiment, the interaction device includes a temporary link and a data progression unit, the establishment of the temporary link is based on pairing operation of the pairing unit, the interaction devices are respectively arranged on vehicles and establish data links within an effective identification range, meanwhile, the data progression unit is configured to rank the priority among the established data links, and the ranking of the priority is performed according to the distance between the two vehicles; the highest priority when there is no blockage between two adjacent vehicles; secondly, the shortest distance between two adjacent vehicles but the existence of other vehicles is a priority set as a second level; during the process of carrying out the temporary link, the interactive data only comprises the distance between two sides, the driving lane or the position of the lane; the interaction device is used for acquiring data between adjacent vehicles and cooperatively interacting the data between the vehicles based on the data, so that the early warning sensitivity of collision is improved;
the early warning model comprises a cooperative device, the cooperative device is configured to cooperate with the vehicle and a road, predict conditions occurring in the driving process of the vehicle, and trigger an early warning signal based on the prediction so as to ensure the running safety of the vehicle; the coordination device comprises an electronic control unit and a camera, the electronic control unit being configured to implement a neural network; wherein the camera generates road field data and wherein the electronic control unit is configured to receive road condition data from the camera; predicting the occurrence of dangerous events in the road field data from the camera by using a neural network; additionally, the electronic control unit is further configured to generate a risk weighted vehicle trajectory map based on the road site data using a neural network;
the electronic control unit is further configured to: generating an alert in response to the electronic control unit predicting the occurrence of a hazardous event in the road site data; wherein the alert is a graded alert corresponding to a degree of the predicted hazardous event;
wherein the neural network is trained to identify a plurality of patterns prior to the hazardous event;
wherein the neural network is trained by: a) inputting data of the camera, the detection device, the sensing device or the interaction device to a neural network; b) identifying, with a neural network, a plurality of event patterns present in at least one sequence of example hazard events within the road scene training data; c) updating a plurality of parameters of the neural network in response to identifying the plurality of patterns of events; d) repeating steps a-c a plurality of times, wherein road field training data input during a first iteration of training of the neural network is different from a second iteration of training of the neural network;
the coordinating device further comprises a number of physiological sensors, each configured to monitor and capture the presence of or any device causing a dangerous event by the human body; each of the physiological sensors includes a sensor configured to measure a physical event such as heart rate variation, electrodermal activity, muscle tone, and cardiac output; in other words, the one or more physiological sensors may monitor brain waves through electroencephalography, through skin conductance responses, galvanic skin responses, cardiovascular measurements such as heart rate, galvanic skin responses; beats per minute, heart rate variability, vasomotor activity, muscle activity checked by electromyography, pupillometry data changing pupil diameter by thought and emotion by pupillometry, eye movements recorded by eye potentiometers, gaze direction, and by impedance cardiography or other physiological indicators; one or more physiological sensors may capture the rate of change, degree of change, or intensity of the resulting physiological condition, such as the rate or amount of pupil dilation or an increase in heart rate; when the data detected by the physiological sensor can be converted into a risk weight value, the risk weight value indicates the severity or risk level of an event occurring at a road scene; the gaze tracking data and the physiological response data can be used together for generating the evaluation of the risk weight of the road site, so that the whole early warning model is more complete and accurate;
the detection device includes a distance detection member, a detection probe, and a capturing unit configured to detect in real time with a vehicle in an identification range; the detection unit is configured to detect the speed and distance parameters of other vehicles within a distance range for collection; the distance detection means is configured to estimate distances of other vehicles and collect the distances per unit time; the distance detection component is used for detecting substances and conditions around the vehicles and recording the distance between the vehicles based on the detection of the distance detection component; the distance detection means includes, but is not limited to, the following listed ones: common devices for detecting the distance, such as detection radars, distance sensors, photoelectric sensors, and the like; the detection probe preferably adopts a detection camera and captures an image of the vehicle; the capture unit is configured to capture images with the inspection probe; and storing the captured image or video in a memory;
the embodiment also provides a method for detecting an object, which is applied to the detection probe, and applied to the capture unit,
taking a reference target P (x1, y1, z1) of the inspection probe visual field as an arbitrary, the focus coordinates of the inspection probe are calculated according to equations (1) and (2):
f is a focal length, Q is an initial reference target, and the value of Q is determined according to the initial reference coordinate and tracks the moving object in real time; the value of this embodiment is Q (1, 1, 0)
After the focusing coordinates are determined, the range function is determined according to the formula (3), but the movement parameters of the passing vehicle need to be determined to obtain the maximum detection range;
U(x，y)＝logS(x,y)-log[D(x,y)*S(x,y)] (3)
d (x, y) is a focusing coordinate, and can be obtained by formulas (1) and (2), D (x, y) × S (x, y) is a convolution operation, and S (x, y) is an adjusting parameter value; u (x, y) is the position of the reference target;
the running speed V of the vehicle is collected, the distance between the vehicle A and the vehicle B is set to be evaluated through a formula (4),
if the distance between the points A and B is detected, obtaining an accurate reference position between reference targets between the points A and B;
wherein the content of the first and second substances,
the delta is a vector product between x and y in a two-dimensional plane, delta is a theoretical standard deviation coefficient between x and y, the value is determined by the environment, and the value range is 0.265-12.36;
wherein C is the current capture position of the vehicle, epsilon is a correction parameter, and the correction parameter meets the following conditions: : (x, y) dxdy ═ 1;
in addition, the capture position parameter of the vehicle is determined by (5) and equation (6) based on the relationship between each measured value and the true value and the deviation value:
wherein in formula (7) and formula (8),
the difference value between the ith measurement value and the true value is taken as a natural number;
the difference value between the ith real value and the deviation value is a natural number; j is the number of measurements, and takes the value of 6 times as an example in this embodiment; v. ofijIs an element value in the weighting matrix of the vehicle speed;
the weighting matrix is determined by a detection value B1(j1, p1, q1), B2(j2, p2, q2), B3(j3, p3, q3) in the driving process of any three groups of vehicles and real values h (w1, e1, f1), j (w2, e2, f2) and k (w3, e3, f3) in the driving process of the three groups of vehicles; weighting matrices are well known to those skilled in the art and are not described in detail;
calculating a proximity coefficient C to the ideal for each measurement, C being determined by equation (9):
wherein
As a result of the formula (7),
obtained from the formula (8), δiThe value is any positive number, i is any integer from 1 to 6, and the value in the embodiment is 4.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
In summary, according to the automobile anti-collision early warning model based on the vehicle-road cooperation technology, information of a vehicle with a short distance between a front vehicle and a rear vehicle is searched at a specific position, the vehicle is marked as a problem label, a request for road condition information is received from a cloud server, and if the road condition information in the area is displayed in a non-congestion state and a signal with a short distance is triggered, an early warning signal is triggered, so that the two vehicles cannot collide; the early warning sensitivity of collision is improved by adopting the acquisition of data between adjacent vehicles through the interaction device and carrying out cooperative interaction on the data between the vehicles based on the data; prompting through a data link established by an interactive device, and reminding a rear vehicle through a warning signal, and responding to the rear vehicle to steer or deviate from a target lane where a front vehicle is located; data interaction is carried out among vehicles around the positions of all waypoints passing through the air route, so that data interaction is carried out, cooperative work can be carried out among the vehicles or road conditions, and the whole collision early warning can be more accurate and reliable; the early warning sensitivity of collision is improved by adopting the acquisition of data between adjacent vehicles through the interaction device and carrying out cooperative interaction on the data between the vehicles based on the data; the cooperation device is adopted to cooperate the vehicle and the road, predict the condition of the vehicle in the running process, and trigger the early warning signal based on the prediction to ensure the running safety of the vehicle.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
In conclusion, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that these examples are illustrative only and are not intended to limit the scope of the invention. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (9)
1. An automobile anti-collision early warning model based on a vehicle-road cooperation technology is characterized by comprising a driving guiding device, a detection device, a sensing device, a state diagnosis device, an early warning device, an adjusting device and a processor, wherein the driving guiding device is configured to guide a driving route of a vehicle; the detection device is configured to detect a positional shift of the vehicle; the sensing device is configured to predict driving or transition intent between adjacent ones; the state diagnosing device is configured to diagnose a driving state of the vehicle or a driving state of an adjacent vehicle; the early warning device is configured to respond to a distance of the vehicle and trigger an early warning signal; the adjustment device is configured to adjust a safety distance between the vehicles or between a vehicle and a person.
2. The automobile anti-collision early warning model based on the vehicle-road cooperation technology as claimed in claim 1, wherein the driving guiding device comprises a navigation unit and a prejudgment unit, the navigation unit is configured to navigate a running route of a vehicle, and the navigation unit is configured to guide based on a local map or real-time online map data; the pre-determination unit is configured to determine whether the vehicle changes lanes to a target lane at a target time; determining that the vehicle changes lanes to a target lane at about a target time; estimating that the vehicle and the remote vehicle will collide on the target lane at the target time; the operation of the vehicle component is modified such that the vehicle does not change lanes to the target lane at the target time.
3. An automobile anti-collision early warning model based on the vehicle-road cooperation technology, as claimed in one of the preceding claims, wherein the detection device comprises a distance detection member, a detection probe and a capture unit, the capture unit is configured to perform real-time detection with vehicles in the identification range; the detection unit is configured to detect the speed and distance parameters of other vehicles within a distance range for collection; the distance detection means is configured to estimate the distance of the other vehicle and collect the distance per unit time.
4. The model of one of the preceding claims, wherein the sensing device comprises a sensing element, a steering unit and a data acquisition unit, the sensing element is configured to detect the position of the vehicle, and the steering unit is configured to adjust the angle of the sensing element; the data acquisition unit is configured to summarize data of the sensing element and data of the detection device and transmit the summarized data and the data of the detection device with the processor through a communication device; the steering unit includes a steering base, a steering angle detecting member, and a steering driving mechanism, the sensing element is configured to be connected to one end of the steering base, and the steering angle detecting member is configured to detect an angle by which the sensing element is rotated; the other end of the steering seat is in driving connection with the steering driving mechanism.
5. The model of one of the preceding claims, wherein the state diagnosing apparatus comprises a route sensing mechanism, a geographic database and a vehicle recognition mechanism; the route sensing mechanism is configured to identify and sense the geographic database; the vehicle identification mechanism is configured to upload to a cloud server through a network connection component, the geographic database comprises a monitoring camera of a vehicle moving path and is matched with positioning data of the vehicle identification mechanism based on data parameters of the camera; if the positioning data are matched, marking a navigation point by touching the route sensing mechanism; and if the positioning data are not matched, uploading the positioning data to a cloud server, and performing data interaction.
6. An automobile anti-collision early warning model based on the vehicle-road cooperation technology, as claimed in one of the preceding claims, wherein the early warning device comprises a display mechanism, a processing mechanism and a guiding mechanism, the display mechanism is configured to obtain a split standard path of a navigation deviation route plan; the processing mechanism is configured to determine one or more transition suitability distributions along the defined path and to determine extrema of the transition suitability distributions, determine a location of a planned road segment boundary, based on the transition preference information; providing on a display device a graphical indication of a segment defined by the road segment boundary determined by the processing unit; the guiding mechanism is configured to convert a standard path from a real distance into a suitability distribution and scale the path of the real-time movement to an effective distance scale based on real-time monitoring of the path of the movement of the encountered vehicles; and identifies a location from the segmented canonical path defined by the segmentation criteria over the range of valid distances.
7. The model of one of the preceding claims, wherein the adjusting device comprises a primary sensing unit and a secondary sensing unit, the primary sensing unit is configured to respond to receiving a first synchronization pulse from the primary sensing unit at the secondary sensing unit, and the secondary sensing unit changes a period of a second synchronization pulse transmitted to the primary sensing unit to indicate to the primary sensing unit: the secondary sensing unit is configured to synchronize to the primary sensing unit and, in response to receiving a second synchronization pulse from the secondary sensing unit at the primary sensing unit, the primary sensing unit changes a period of the first synchronization pulse to the secondary sensing unit to indicate to the secondary sensing unit.
8. The vehicle-road coordination-technology-based automobile anti-collision early warning model as claimed in any one of the preceding claims, wherein said state diagnosing device performs route planning on a proposed route based on said cloud server response; and the routing includes determining whether the vehicle has a deviation; associating the particular location having the problem location tag based on determining that the deviation from the proposed route is a problem deviation; after associating the particular location with the problematic location tag, and receiving a request for traffic information from the cloud server.
9. The automobile anti-collision early warning model based on the vehicle-road cooperation technology is characterized in that the early warning device further comprises an early warning signal unit, the early warning signal unit detects the state of the steering wheel of the automobile in real time, and when the early warning signal is triggered, the early warning signal unit calls the data of the detection device and the sensing device and controls the steering wheel of the automobile to provide small reverse steering force; vibrating an actuator mounted on a steering wheel; generating a warning message, the warning message being displayed on a display device of the vehicle; and generates a warning sound that is played on a speaker of the vehicle.
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