CN112991816A - Vehicle collision early warning method and device, storage medium and vehicle - Google Patents
Vehicle collision early warning method and device, storage medium and vehicle Download PDFInfo
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- CN112991816A CN112991816A CN201911284921.4A CN201911284921A CN112991816A CN 112991816 A CN112991816 A CN 112991816A CN 201911284921 A CN201911284921 A CN 201911284921A CN 112991816 A CN112991816 A CN 112991816A
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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
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
Abstract
The disclosure relates to a vehicle collision early warning method, a device, a storage medium and a vehicle, wherein the method comprises the following steps: acquiring the running direction of a front vehicle in a preset range in front of the vehicle and the vehicle distance between the front vehicle and the vehicle; determining a target preceding vehicle from the preceding vehicles according to the driving direction and the vehicle distance; determining the collision time of the vehicle and the target front vehicle according to the first distance between the vehicle and the target front vehicle; if the collision time is less than or equal to the preset time threshold, collision prompt information is displayed, and the driver can be prompted to collide through the collision prompt information, so that the driver can take safety measures, and the safety of the vehicle is improved.
Description
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a method and an apparatus for vehicle collision warning, a storage medium, and a vehicle.
Background
With more and more vehicles running on the road, traffic accidents such as vehicle rear-end collisions, vehicle collisions and the like also occur frequently. Therefore, when the vehicle has no collision, collision early warning is carried out in advance, traffic accidents such as vehicle rear-end collision and vehicle collision can be avoided to a great extent, and the safety of vehicle running is improved.
Disclosure of Invention
The invention aims to provide a vehicle collision early warning method, a vehicle collision early warning device, a storage medium and a vehicle.
In order to achieve the above object, the present disclosure provides a method for vehicle collision warning, applied to a vehicle, including:
acquiring the running direction of a front vehicle in a preset range in front of the vehicle and the vehicle distance between the front vehicle and the vehicle;
determining a target front vehicle from the front vehicles according to the driving direction and the vehicle distance;
determining the collision time of the vehicle and the target front vehicle according to the first distance between the vehicle and the target front vehicle;
and if the collision time is less than or equal to a preset time threshold, displaying collision prompt information.
Optionally, the acquiring the driving direction of the front vehicle within a preset range in front of the vehicle, and the vehicle distance between the front vehicle and the vehicle includes:
determining the driving direction of each front vehicle in a preset range in front of the vehicle;
acquiring a second distance between the front vehicle and the vehicle;
after the first preset time, acquiring a third distance between the front vehicle and the vehicle;
the determining a target preceding vehicle from the preceding vehicles according to the driving state information includes:
and if the driving direction, the second distance and the third distance meet preset determination conditions, determining the front vehicle as a target front vehicle.
Optionally, the preset determination condition includes:
the running direction of the front vehicle is consistent with that of the vehicle, the front vehicle and the vehicle are located in the same lane, the second distance is smaller than a first preset distance, and the third distance is smaller than the second distance; alternatively, the first and second electrodes may be,
the driving direction of the front vehicle is perpendicular to the vehicle, the second distance between the front vehicle and the vehicle is smaller than a second preset distance, and the third distance is smaller than the second distance.
Optionally, in a case that a driving direction of the preceding vehicle is consistent with the vehicle, the preceding vehicle and the vehicle are located in the same lane, the second distance is smaller than the first preset distance, and the third distance is smaller than the second distance, the determining the collision time between the vehicle and the target preceding vehicle according to the first distance includes:
determining the speed of the vehicle relative to the target front vehicle according to the first preset time length, the second distance and the third distance;
and determining the collision time according to the speed of the vehicle relative to the target front vehicle and the third distance.
Optionally, in a case that a driving direction of the target preceding vehicle is perpendicular to the vehicle, and a second distance between the vehicle and the target preceding vehicle is less than the second preset distance, the determining the collision time between the vehicle and the target preceding vehicle according to the first distance between the vehicle and the target preceding vehicle includes:
determining a first angle of the target leading vehicle to the vehicle centerline;
after the first preset time, determining a third distance between the vehicle and the target front vehicle and a second angle between the target front vehicle and the center line of the vehicle;
determining a first speed of the target front vehicle according to the first preset time length, the second distance, the third distance, the first angle and the second angle;
and determining the collision time according to the third distance, the second angle and the first speed of the target front vehicle.
Optionally, the acquiring the driving direction of the front vehicle within a preset range in front of the vehicle, and the vehicle distance between the front vehicle and the vehicle includes:
receiving a second state message of the vehicle to be determined broadcasted by the front vehicle, wherein the second state message comprises the driving direction of the vehicle to be determined and a fourth distance between the front vehicle and the vehicle to be determined;
after a second preset time, receiving a third state message of the vehicle to be determined, which is broadcasted by the front vehicle, wherein the third state message comprises the driving direction of the vehicle to be determined and a fifth distance between the front vehicle and the vehicle to be determined;
the determining a target preceding vehicle from the preceding vehicles according to the driving direction and the distance includes:
and if the driving direction of the vehicle to be determined is vertical to the vehicle and the fifth distance is smaller than the fourth distance, determining that the vehicle to be determined is a target front vehicle.
Optionally, the third status message further includes: a third angle between the vehicle to be determined and the front vehicle centerline and a second speed of the vehicle to be determined;
the determining the collision time of the vehicle and the target preceding vehicle according to the first distance comprises:
determining a sixth distance of the leading vehicle and the vehicle and a first angle of the leading vehicle to the vehicle centerline;
and determining the collision time of the vehicle and the target front vehicle according to the fifth distance, the third angle, the sixth distance, the first angle and the second speed.
In a second aspect of the present disclosure, there is provided a vehicle collision warning device, applied to a vehicle, including:
the driving direction obtaining module is used for obtaining the driving direction of a front vehicle in a preset range in front of the vehicle and the vehicle distance between the front vehicle and the vehicle;
the target front vehicle determining module is used for determining a target front vehicle from the front vehicles according to the driving direction and the vehicle distance;
the collision time determining module is used for determining the collision time of the vehicle and the target front vehicle according to the first distance between the vehicle and the target front vehicle;
and the collision prompt information display module is used for displaying the collision prompt information if the collision time is less than or equal to a preset time threshold.
Optionally, the target preceding vehicle determining module is configured to:
determining the driving direction of each front vehicle in a preset range in front of the vehicle;
acquiring a second distance between the front vehicle and the vehicle;
after the first preset time, acquiring a third distance between the front vehicle and the vehicle;
and if the driving direction, the second distance and the third distance meet preset determination conditions, determining the front vehicle as a target front vehicle.
Optionally, the preset determination condition includes:
the running direction of the front vehicle is consistent with that of the vehicle, the front vehicle and the vehicle are located in the same lane, the second distance is smaller than a first preset distance, and the third distance is smaller than the second distance; alternatively, the first and second electrodes may be,
the driving direction of the front vehicle is perpendicular to the vehicle, the second distance between the front vehicle and the vehicle is smaller than a second preset distance, and the third distance is smaller than the second distance.
Optionally, when the driving direction of the preceding vehicle is consistent with the vehicle, the preceding vehicle and the vehicle are located in the same lane, the second distance is smaller than the first preset distance, and the third distance is smaller than the second distance, the collision time determination module is configured to:
determining the speed of the vehicle relative to the target front vehicle according to the first preset time length, the second distance and the third distance;
and determining the collision time according to the speed of the vehicle relative to the target front vehicle and the third distance.
Optionally, in a case that a driving direction of the vehicle ahead of the target is perpendicular to the vehicle, and a second distance between the vehicle and the target is smaller than the second preset distance, the collision time determination module is configured to:
determining a first angle of the target leading vehicle to the vehicle centerline;
after the first preset time, determining a third distance between the vehicle and the target front vehicle and a second angle between the target front vehicle and the center line of the vehicle;
determining a first speed of the target front vehicle according to the first preset time length, the second distance, the third distance, the first angle and the second angle;
and determining the collision time according to the third distance, the second angle and the first speed of the target front vehicle.
Optionally, the target preceding vehicle determining module is further configured to:
receiving a second state message of a vehicle to be determined broadcasted by the front vehicle, wherein the broadcast message comprises the driving direction of the vehicle to be determined and a fourth distance between the front vehicle and the vehicle to be determined;
receiving a third state message of the vehicle to be determined, which is broadcasted by the front vehicle, after a second preset time, wherein the third state message comprises the driving direction of the vehicle to be determined and a fifth distance between the front vehicle and the vehicle to be determined;
and if the driving direction of the vehicle to be determined is vertical to the vehicle and the fifth distance is smaller than the fourth distance, determining that the vehicle to be determined is a target front vehicle.
Optionally, the third status message further includes: a third angle between the vehicle to be determined and the front vehicle centerline and a second speed of the vehicle to be determined;
the time-to-collision determination module is to:
determining a sixth distance of the leading vehicle and the vehicle and a first angle of the leading vehicle to the vehicle centerline;
and determining the collision time of the vehicle and the target front vehicle according to the fifth distance, the third angle, the sixth distance, the first angle and the second speed.
In a third aspect of the disclosure, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of the first aspect.
In a fourth aspect of the present disclosure, a vehicle is provided, which includes the vehicle collision warning apparatus in any one of the second aspects.
By the technical scheme, the driving direction of the front vehicle in the preset range in front of the vehicle and the vehicle distance between the front vehicle and the vehicle can be acquired; determining a target preceding vehicle from the preceding vehicles according to the driving direction and the vehicle distance; determining the collision time of the vehicle and the target front vehicle according to the first distance between the vehicle and the target front vehicle; if the collision time is less than or equal to the preset time threshold, collision prompt information is displayed, and the driver can be prompted to collide through the collision prompt information, so that the driver can take safety measures, and the safety of the vehicle is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic block diagram of a vehicle collision warning system according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating a method of vehicle collision warning according to an exemplary embodiment;
FIG. 3 is a schematic illustration of a vehicle being driven according to an exemplary embodiment;
FIG. 4 is a flow chart illustrating another method of vehicle collision warning according to an exemplary embodiment
FIG. 5 is a second vehicle travel schematic shown in accordance with an exemplary embodiment;
FIG. 6 is a flow chart illustrating a third method of vehicle collision warning according to an exemplary embodiment;
FIG. 7 is a third vehicle travel schematic shown in accordance with an exemplary embodiment;
fig. 8 is a block diagram illustrating an apparatus for vehicle collision warning according to an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a schematic structural diagram illustrating a vehicle collision warning system according to an exemplary embodiment, and as shown in fig. 1, the system includes:
the device comprises a detection unit 11, a communication unit 12 and a control unit 13, wherein the control unit 13 is respectively connected with the detection unit 11 and the communication unit 12.
The detection unit 11 is configured to detect a target preceding vehicle within a preset range in front of the vehicle. Further, the detection unit 11 includes a video sensor 111 and a radar module 112, the video sensor 111 is used for collecting image data in front of the vehicle, and the radar module 112 is used for detecting position information of a target vehicle in front of the vehicle.
The control unit 13 is configured to receive an image of a target vehicle ahead of the vehicle within a preset range, which is acquired by the video sensor 111, perform recognition processing on the image, and control the radar module 112 to detect position information of the target vehicle ahead, such as a distance between the target vehicle ahead and the vehicle, after recognizing the target vehicle ahead of the vehicle within the preset range.
Illustratively, the control unit 13 includes an image processing unit 131 and a main control unit 132. The image processing unit 131 includes an ARM a53 processor, a Double Data Rate (DDR) memory, a Universal Serial Bus (USB), a Secure Digital (SD) card, and other memory interfaces, and an ethernet interface. The image processing unit 131 is configured to perform recognition processing on the image data acquired by the vision sensor 111, recognize a target preceding vehicle within a preset range in front of the vehicle, and send recognition result information to the main control unit 132. For example, the recognition result may be transmitted to the main control unit 132 through a Serial Peripheral Interface (SPI) bus.
The main control unit 132 is configured to receive the recognition result of the target vehicle ahead sent by the image processing unit, and after receiving the recognition result, control the radar module 112 to detect the position information of the target vehicle ahead, and receive the position information of the target vehicle ahead detected by the radar module. In this embodiment, the radar module 112 may employ millimeter wave radar. The main control unit 132 includes a 32-bit ST SPC58NG multi-core processor and a power management module, and the main control unit 132 is in communication connection with the detection unit 11 and the communication unit 12 through a Controller Area Network (CAN) bus.
Further, the main control unit determines that the target front vehicle is about to collide with the vehicle according to the position information of the target front vehicle, and when the collision time is smaller than a preset time threshold, the main control unit controls the communication module to broadcast the state information of the target front vehicle so as to facilitate early warning of other vehicles around the vehicle, and displays collision prompt information so that a driver of the vehicle can take safety measures according to the collision prompt information and control braking of the vehicle. Illustratively, the communication unit may broadcast the status information of the target preceding vehicle through Wireless Fidelity (wifi).
How the vehicle collision early warning system provided by the embodiment achieves early warning of vehicle collision will be described below with reference to specific embodiments.
FIG. 2 is a flow chart illustrating a method of vehicle collision warning, as applied to a vehicle, according to an exemplary embodiment. As shown in fig. 2, the method includes:
s201, acquiring the running direction of a front vehicle in a preset range in front of the vehicle and the vehicle distance between the front vehicle and the vehicle;
s202, determining a target front vehicle from the front vehicles according to the driving direction and the vehicle distance;
for example, whether a preceding vehicle exists within a preset range in front of the vehicle is detected. After the front vehicle is detected in the preset range in front of the vehicle, whether a target front vehicle exists in the front vehicles detected in the preset range in front is determined.
Specifically, for each preceding vehicle in a preset range in front of the vehicle, the driving direction of the preceding vehicle is determined through a Kalman filtering algorithm and a target tracking algorithm. The predetermined range may be a region of 0.5-1.5Km from the vehicle, for example the predetermined range may be a region of 1Km from the vehicle.
Here, a description will be given taking an example in which a front vehicle travels directly in front of the vehicle. If it is determined that the traveling direction of the preceding vehicle is consistent with the traveling direction of the vehicle and the preceding vehicle and the vehicle are located in the same lane, the preceding vehicle travels right ahead of the vehicle. And acquiring a second distance between the front vehicle and the vehicle, and determining whether the second distance is smaller than a first preset distance threshold value. If the second distance is smaller than the first preset distance threshold, it is indicated that the distance between the front vehicle and the vehicle is relatively short, and the front vehicle is the target front vehicle to be determined. Further, after the first preset time period, a third distance between the front vehicle and the vehicle is obtained, and if the third distance is smaller than the second distance, the front vehicle is determined to be the target front vehicle. And if the second distance is greater than or equal to a first preset distance threshold value, determining that the front vehicle is not the target front vehicle.
This is explained below with reference to fig. 3. FIG. 3 is a schematic diagram illustrating a vehicle trip, according to an exemplary embodiment. As shown in fig. 3, the vehicle a and the preceding vehicle B are on the same lane, and the traveling direction of the vehicle a in the preceding vehicle B is L1.
At this time, the vehicle a detects that the second distance between the vehicle a and the preceding vehicle B is m1, and if m1 is smaller than the first preset distance, it indicates that the distance between the preceding vehicle B and the vehicle a is short, and the preceding vehicle B is the target preceding vehicle to be determined. The first preset distance may be 0.2km to 1km, for example, may be 0.5 km.
Further, the third distance between the vehicle a and the preceding vehicle B is detected as m2 after the first preset time period. If m2 is less than or equal to m1, it indicates that the vehicle a may be approaching the preceding vehicle B, and the vehicle a may collide with the preceding vehicle B, thereby determining the preceding vehicle B as the target preceding vehicle. If m2 is greater than m1, it indicates that the vehicle a may be far from the preceding vehicle B, and the vehicle a does not collide with the preceding vehicle B, and the preceding vehicle B is not the target preceding vehicle.
S203, determining the collision time of the vehicle and the target front vehicle according to the first distance between the vehicle and the target front vehicle.
Further, a first speed v1 of the vehicle A relative to the target preceding vehicle B is determined according to the determined second distance m1 and the third distance m2 of the vehicle A and the target preceding vehicle B and the first preset time length.
For example, when m1 is 0.301km, m2 is 0.300km, and the first preset time period t1 is 0.01s, the first speed v1 calculation formula is that v1 is (m1-m2)/t1, and v1 is calculated to be 0.1 km/s.
Further, after the first speed v1 of the vehicle a relative to the target preceding vehicle B is determined, the collision time ttc is determined based on the third distance m2 and the first speed v 1. The formula for calculating the time ttc of collision is ttc — m2/v1, and the time ttc of collision is calculated to be 3 s.
And S204, if the collision time is less than or equal to a preset time threshold, displaying collision prompt information.
Illustratively, the preset time threshold may be 5s-20s, for example, the preset time threshold may be 10 s. Further, if the calculated collision time ttc is 3s smaller than the preset time threshold 10s, displaying collision prompt information, for example, controlling a buzzer to send out an alarm prompt message to prompt the driver of the impending collision, so that the driver can take safety measures.
Optionally, besides displaying the collision prompt information, the vehicle can be controlled to brake, the vehicle speed is reduced, and the rear-end collision accident is prevented.
By adopting the scheme, the driving direction of the front vehicle in the preset range in front of the vehicle and the vehicle distance between the front vehicle and the vehicle can be acquired; determining a target preceding vehicle from the preceding vehicles according to the driving direction and the vehicle distance; determining the collision time of the vehicle and the target front vehicle according to the first distance between the vehicle and the target front vehicle; if the collision time is less than or equal to the preset time threshold, collision prompt information is displayed so that a driver can take safety measures, and the safety of the vehicle is improved.
In the following, how to perform collision warning when detecting that the front vehicle is perpendicular to the driving direction of the vehicle within a preset range in front of the vehicle is described with reference to specific embodiments.
FIG. 4 is a flow chart illustrating a method of vehicle collision warning according to an exemplary embodiment.
As shown in fig. 4, the method includes:
s401, determining the running direction of each front vehicle in a preset range in front of the vehicle;
s402, acquiring a second distance between the front vehicle and the vehicle;
s403, after the first preset time, acquiring a third distance between the front vehicle and the vehicle;
s404, if the driving direction, the second distance and the third distance meet preset determination conditions, determining the front vehicle as a target front vehicle.
For example, whether a preceding vehicle exists within a preset range in front of the vehicle is detected. And if the fact that the front vehicle exists in the preset range of the vehicle is detected, aiming at each front vehicle in the preset range in front of the vehicle, determining the running direction of the front vehicle through a Kalman filtering algorithm and a target tracking algorithm. And if the driving direction of the front vehicle is determined to be vertical to the driving direction of the vehicle, acquiring a second distance between the front vehicle and the vehicle, and determining whether the second distance is smaller than a second preset distance threshold value. If the second distance is smaller than a second preset distance threshold value, it is indicated that the distance between the front vehicle and the vehicle is relatively short, and the front vehicle is the target front vehicle to be determined.
Further, after the first preset time period, a third distance between the front vehicle and the vehicle is acquired. If the third distance between the preceding vehicle and the vehicle is less than the second distance, the preceding vehicle and the vehicle approach to each other, and a collision may occur, and the preceding vehicle is determined as the target preceding vehicle.
S405, determining a first angle between the target front vehicle and the center line of the vehicle;
s406, after the first preset time, determining a third distance between the vehicle and the target front vehicle and a second angle between the target front vehicle and the center line of the vehicle;
s407, determining a first speed of the target front vehicle according to the first preset time length, the second distance, the third distance, the first angle and the second angle;
and S408, determining the collision time according to the third distance, the second angle and the first speed of the target front vehicle.
This is explained below with reference to fig. 5. FIG. 5 is a second vehicle travel schematic shown in accordance with an exemplary embodiment. As shown in fig. 5, the vehicle a travels in the L1 direction, the target preceding vehicle B travels in the L2 direction, and L1 and L2 are perpendicular.
A second distance m1 of the vehicle a from the target preceding vehicle B is acquired, and a first angle θ 1 of the target preceding vehicle B from the center line of the vehicle a is acquired. Further, after the first preset time period t1, a third distance m2 between the vehicle a and the target preceding vehicle B is acquired, and a second angle θ 2 between the vehicle B and the center line of the vehicle a is acquired. The first speed of the target preceding vehicle is v1 ═ (m1 × sin (θ 1) -m2 × sin (θ 2))/t 1.
As shown in fig. 5, the collision point of the vehicle a with the target preceding vehicle B is point Q. The target preceding vehicle B travels to the point Q at time tb — m2 × sin (θ 2)/v 1. When the second speed of the vehicle a is acquired as v2, the time ta until the vehicle a travels to the point Q is m2 × cos (θ 2)/v 2.
And if the difference value between the ta and the tb is smaller than a preset difference value threshold value, determining that the vehicle A collides with the target front vehicle, wherein the collision time is tb.
And S409, if the collision time is less than or equal to a preset time threshold, displaying collision prompt information.
Further, if the collision time is less than or equal to the preset time threshold, displaying collision prompt information, for example, controlling a buzzer to send out an alarm prompt message to prompt the driver of the impending collision, so that the driver can take safety measures.
Illustratively, different collision prompt messages can be presented according to the size of the collision time. For example, if the collision time is less than or equal to the first preset time threshold, a first collision prompt message is displayed, for example, a buzzer is controlled to send out a first alarm prompt. If the collision time is greater than the first preset time threshold and less than the second preset time threshold, displaying a second collision prompt message, for example, controlling a buzzer to send a second alarm prompt message, where the sound and/or frequency of the second alarm prompt message may be greater than that of the first alarm prompt message. And if the collision time is greater than the second preset time threshold and less than or equal to a third preset time threshold, displaying third collision prompt information, for example, controlling a buzzer to send out a third alarm prompt message, wherein the sound and/or frequency of the third alarm prompt message may be greater than that of the second alarm prompt message. The third preset time threshold is greater than the second preset time threshold, and the second preset time threshold is greater than the first preset time threshold.
And S410, controlling the vehicle to brake.
And further, after the collision prompt information is displayed, controlling the vehicle to brake according to the collision time. For example, if the collision time is less than or equal to a first preset time threshold, the vehicle is controlled to brake 100%. And if the collision time is greater than a first preset time threshold and less than a second preset time threshold, controlling the vehicle to brake by 60 percent. And if the collision time is greater than the second preset time threshold and less than or equal to the third preset time threshold, controlling the vehicle to brake by 25%.
S411, broadcasting a first status message of the target preceding vehicle, wherein the first status message comprises the driving direction of the target preceding vehicle, the third distance, the second angle and the first speed.
In this embodiment, after it is determined that the collision time between the vehicle a and the target preceding vehicle B is less than the preset time threshold, the vehicle a may further broadcast the first state message, so that the vehicles around the vehicle a can timely acquire the traveling direction of the target preceding vehicle B, the first speed, the third distance between the target preceding vehicle B and the vehicle a, and the second angle between the target preceding vehicle B and the center line of the vehicle a, so that after receiving the first state message of the target preceding vehicle B broadcast by the vehicle a, the vehicles around the vehicle a can timely determine the specific position of the target preceding vehicle B, and take safety measures in advance.
Through the scheme, when the collision time is determined to be smaller than or equal to the preset time threshold, the collision prompt information is displayed, the driver can be prompted to collide by the collision prompt information, so that the driver can take safety measures, and the vehicle can be controlled to brake when the collision time is smaller than or equal to the preset time threshold, so that the safety of the vehicle is further improved. And when the collision time is less than or equal to the preset time threshold, the first state message of the target front vehicle can be broadcasted, so that the specific position of the target front vehicle can be determined in time after the vehicles around the vehicle receive the broadcasted first state message of the target front vehicle, and safety measures can be taken in advance.
In addition, after the vehicle determines that the target front vehicle does not exist in the detected front vehicles within the preset range, the target front vehicle can be determined by receiving the state information broadcasted by the front vehicle. This will be explained with reference to fig. 6. FIG. 6 is a flow chart illustrating a third method of vehicle collision warning according to an exemplary embodiment. As shown in fig. 6, the method includes:
s601, receiving a second state message of the vehicle to be determined broadcasted by the front vehicle, wherein the second state message comprises the driving direction of the vehicle to be determined and a fourth distance between the front vehicle and the vehicle to be determined.
In this embodiment, when it is determined that there is no target preceding vehicle in the detected preceding vehicles within the preset range, the target preceding vehicle may be determined by receiving the second status message of the vehicle to be determined broadcast by the preceding vehicle.
This will be explained with reference to fig. 7. FIG. 7 is a third vehicle travel schematic shown in accordance with an exemplary embodiment. As shown in fig. 7, the vehicle a travels in the direction L1, the traveling directions of the preceding vehicle B and the vehicle a coincide, and the preceding vehicle B travels in the lane adjacent to the vehicle a. If the vehicle a receives the second status message of the vehicle C to be determined sent by the preceding vehicle B, the broadcast message includes the driving direction of the vehicle C to be determined, and the fourth distance n1 between the preceding vehicle and the vehicle to be determined.
And S602, receiving a third state message of the vehicle to be determined broadcasted by the front vehicle after a second preset time period, wherein the third state message comprises the driving direction of the vehicle to be determined and a fifth distance between the front vehicle and the vehicle to be determined.
And receiving a third status message of the vehicle C to be determined, which is broadcasted by the front vehicle B after a second preset time period t2, wherein the third status message comprises the driving direction L2 of the vehicle C to be determined and a fifth distance n2 between the front vehicle B and the vehicle C to be determined.
And S603, if the running direction of the vehicle to be determined is vertical to the vehicle and the fifth distance is smaller than the fourth distance, determining that the vehicle to be determined is a target front vehicle.
If the driving direction of the vehicle to be determined is L2, and L2 is perpendicular to L1, the driving direction of the vehicle to be determined C is determined to be perpendicular to the vehicle A. Further, when it is determined that n2 is smaller than n1, it is determined that the vehicle C to be determined is the target preceding vehicle.
S604, determining a sixth distance between the front vehicle and the vehicle and a first angle between the front vehicle and the center line of the vehicle;
and S605, determining the collision time of the vehicle and the target front vehicle according to the fifth distance, the third angle, the sixth distance, the first angle and the second speed.
And determining that the vehicle C to be determined is behind the target front vehicle, and determining a sixth distance m between the front vehicle B and the vehicle A and a first angle beta between the front vehicle B and the center line of the vehicle A. And it is determined that the centerline distance of the vehicle a is w1 and the centerline distance of the vehicle B is w 2.
In the present embodiment, the third status message further includes a third angle θ between the center lines of the vehicle C to be determined and the preceding vehicle B, and a second speed v2 of the vehicle C to be determined.
As shown in fig. 7, the collision point of the vehicle a with the target preceding vehicle C is point Q. The distance from the target leading vehicle C to the point Q is Pc ═ m × sin (β) + n2 × sin (θ 1) + w 2-w 1, and the time tc taken for the target leading vehicle C to travel to the point Q is Pc/v 2.
Similarly, when the first speed at which the vehicle a is acquired is v1, the time at which the vehicle a travels to the point Q is ta Pa/v 1.
If the difference value between the ta and the tc is smaller than a preset difference value threshold value, the fact that the vehicle A collides with the target front vehicle C is determined, and the collision time is tc.
And S606, if the collision time is less than or equal to the preset time threshold, displaying collision prompt information.
And S607, controlling the vehicle brake.
S606 and S607 provided in this embodiment are similar to S409 and S410 provided in the embodiment of fig. 4, and this embodiment is not described herein again.
By adopting the scheme, the target front vehicle can be determined by receiving the second state message of the vehicle to be determined broadcasted by the front vehicle, the collision time with the target front vehicle is determined by the second state message of the vehicle to be determined broadcasted by the front vehicle, the collision prompt information is displayed according to the collision time, the vehicle brake is controlled, the danger countermeasure can be made in advance for the target front vehicle in the vehicle detection blind area, and the safety of the vehicle is improved.
Fig. 8 is a block diagram illustrating an apparatus for vehicle collision warning according to an exemplary embodiment. As shown in fig. 8, the apparatus 80 includes:
a driving direction obtaining module 801, configured to obtain a driving direction of a preceding vehicle within a preset range in front of the vehicle and a vehicle distance between the preceding vehicle and the vehicle;
a target preceding vehicle determining module 802, configured to determine a target preceding vehicle from the preceding vehicles according to the driving direction and the vehicle distance;
a collision time determination module 803, configured to determine a collision time between the vehicle and the target vehicle according to a first distance between the vehicle and the target vehicle;
a collision prompt information display module 804, configured to display the collision prompt information if the collision time is less than or equal to a preset time threshold.
Optionally, the target preceding vehicle determining module 802 is configured to:
determining the driving direction of each front vehicle in a preset range in front of the vehicle;
acquiring a second distance between the front vehicle and the vehicle;
after the first preset time, acquiring a third distance between the front vehicle and the vehicle;
and if the driving direction, the second distance and the third distance meet preset determination conditions, determining the front vehicle as a target front vehicle.
Optionally, the preset determination condition includes:
the running direction of the front vehicle is consistent with that of the vehicle, the front vehicle and the vehicle are positioned on the same lane, the second distance is smaller than a first preset distance, and the third distance is smaller than the second distance; alternatively, the first and second electrodes may be,
the driving direction of the front vehicle is perpendicular to the vehicle, the second distance between the front vehicle and the vehicle is smaller than a second preset distance, and the third distance is smaller than the second distance.
Optionally, in a case that the driving direction of the preceding vehicle is consistent with the vehicle, the preceding vehicle and the vehicle are located in the same lane, the second distance is smaller than the first preset distance, and the third distance is smaller than the second distance, the collision time determination module 803 is configured to:
determining the speed of the vehicle relative to the target front vehicle according to the first preset time length, the second distance and the third distance;
and determining the collision time according to the speed of the vehicle relative to the target front vehicle and the third distance.
Optionally, in a case that the driving direction of the vehicle ahead of the target is perpendicular to the vehicle, and a second distance between the vehicle and the target is smaller than the second preset distance, the collision time determination module 803 is configured to:
determining a first angle of the target leading vehicle to the vehicle centerline;
after the first preset time, determining a third distance between the vehicle and the target front vehicle and a second angle between the target front vehicle and the center line of the vehicle;
determining a first speed of the target front vehicle according to the first preset time length, the second distance, the third distance, the first angle and the second angle;
and determining the collision time according to the third distance, the second angle and the first speed of the target front vehicle.
Optionally, the target preceding vehicle determining module 802 is further configured to:
receiving a second state message of the vehicle to be determined broadcasted by the front vehicle, wherein the broadcast message comprises the driving direction of the vehicle to be determined and a fourth distance between the front vehicle and the vehicle to be determined;
receiving a third state message of the vehicle to be determined, which is broadcasted by the front vehicle, after a second preset time period, wherein the third state message comprises the driving direction of the vehicle to be determined and a fifth distance between the front vehicle and the vehicle to be determined;
and if the driving direction of the vehicle to be determined is vertical to the vehicle and the fifth distance is smaller than the fourth distance, determining that the vehicle to be determined is the target front vehicle.
Optionally, the third status message further includes: a third angle between the vehicle to be determined and the centerline of the leading vehicle and a second speed of the vehicle to be determined;
the collision time determination module 803 is configured to:
determining a sixth distance between the leading vehicle and the vehicle and a first angle between the leading vehicle and the centerline of the vehicle;
and determining the collision time of the vehicle and the target front vehicle according to the fifth distance, the third angle, the sixth distance, the first angle and the second speed.
By adopting the device, the running direction of the front vehicle in a preset range in front of the vehicle and the vehicle distance between the front vehicle and the vehicle can be acquired; determining a target preceding vehicle from the preceding vehicles according to the driving direction and the vehicle distance; determining the collision time of the vehicle and the target front vehicle according to the first distance between the vehicle and the target front vehicle; if the collision time is less than or equal to the preset time threshold, collision prompt information is displayed so that a driver can take safety measures, and the safety of the vehicle is improved.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of vehicle collision warning provided by the embodiments of fig. 2-7.
The present disclosure also provides a vehicle including the vehicle collision warning apparatus provided in the embodiment of fig. 8.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure. It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A vehicle collision early warning method is applied to a vehicle and comprises the following steps:
acquiring the running direction of a front vehicle in a preset range in front of the vehicle and the vehicle distance between the front vehicle and the vehicle;
determining a target front vehicle from the front vehicles according to the driving direction and the vehicle distance;
determining the collision time of the vehicle and the target front vehicle according to the first distance between the vehicle and the target front vehicle;
and if the collision time is less than or equal to a preset time threshold, displaying collision prompt information.
2. The method according to claim 1, wherein the acquiring of the traveling direction of the preceding vehicle within a preset range in front of the vehicle and the vehicle distance of the preceding vehicle from the vehicle comprises:
determining the driving direction of each front vehicle in a preset range in front of the vehicle;
acquiring a second distance between the front vehicle and the vehicle;
after the first preset time, acquiring a third distance between the front vehicle and the vehicle;
the determining a target preceding vehicle from the preceding vehicles according to the driving state information includes:
and if the driving direction, the second distance and the third distance meet preset determination conditions, determining the front vehicle as a target front vehicle.
3. The method according to claim 2, wherein the preset determination condition comprises:
the running direction of the front vehicle is consistent with that of the vehicle, the front vehicle and the vehicle are located in the same lane, the second distance is smaller than a first preset distance, and the third distance is smaller than the second distance; alternatively, the first and second electrodes may be,
the driving direction of the front vehicle is perpendicular to the vehicle, the second distance between the front vehicle and the vehicle is smaller than a second preset distance, and the third distance is smaller than the second distance.
4. The method of claim 3, wherein in the case that the driving direction of the preceding vehicle is consistent with the vehicle, the preceding vehicle and the vehicle are in the same lane, the second distance is smaller than the first preset distance, and the third distance is smaller than the second distance, the determining the collision time of the vehicle and the target preceding vehicle according to the first distance of the vehicle and the target preceding vehicle comprises:
determining the speed of the vehicle relative to the target front vehicle according to the first preset time length, the second distance and the third distance;
and determining the collision time according to the speed of the vehicle relative to the target front vehicle and the third distance.
5. The method according to claim 3, wherein in a case where a traveling direction of the target preceding vehicle is perpendicular to the vehicle and a second distance between the vehicle and the target preceding vehicle is less than the second preset distance, the determining the collision time of the vehicle and the target preceding vehicle according to the first distance between the vehicle and the target preceding vehicle comprises:
determining a first angle of the target leading vehicle to the vehicle centerline;
after the first preset time, determining a third distance between the vehicle and the target front vehicle and a second angle between the target front vehicle and the center line of the vehicle;
determining a first speed of the target front vehicle according to the first preset time length, the second distance, the third distance, the first angle and the second angle;
and determining the collision time according to the third distance, the second angle and the first speed of the target front vehicle.
6. The method according to claim 1, wherein the acquiring of the traveling direction of the preceding vehicle within a preset range in front of the vehicle and the vehicle distance of the preceding vehicle from the vehicle comprises:
receiving a second state message of the vehicle to be determined broadcasted by the front vehicle, wherein the second state message comprises the driving direction of the vehicle to be determined and a fourth distance between the front vehicle and the vehicle to be determined;
after a second preset time, receiving a third state message of the vehicle to be determined, which is broadcasted by the front vehicle, wherein the third state message comprises the driving direction of the vehicle to be determined and a fifth distance between the front vehicle and the vehicle to be determined;
the determining a target preceding vehicle from the preceding vehicles according to the driving direction and the distance includes:
and if the driving direction of the vehicle to be determined is vertical to the vehicle and the fifth distance is smaller than the fourth distance, determining that the vehicle to be determined is a target front vehicle.
7. The method of claim 6, wherein the third status message further comprises: a third angle between the vehicle to be determined and the front vehicle centerline and a second speed of the vehicle to be determined;
the determining the collision time of the vehicle and the target preceding vehicle according to the first distance comprises:
determining a sixth distance of the leading vehicle and the vehicle and a first angle of the leading vehicle to the vehicle centerline;
and determining the collision time of the vehicle and the target front vehicle according to the fifth distance, the third angle, the sixth distance, the first angle and the second speed.
8. The vehicle collision early warning device is characterized by being applied to a vehicle and comprising:
the driving direction obtaining module is used for obtaining the driving direction of a front vehicle in a preset range in front of the vehicle and the vehicle distance between the front vehicle and the vehicle;
the target front vehicle determining module is used for determining a target front vehicle from the front vehicles according to the driving direction and the vehicle distance;
the collision time determining module is used for determining the collision time of the vehicle and the target front vehicle according to the first distance between the vehicle and the target front vehicle;
and the collision prompt information display module is used for displaying the collision prompt information if the collision time is less than or equal to a preset time threshold.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
10. A vehicle characterized by comprising the vehicle collision warning apparatus of claim 8.
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