CN113119992A - Intelligent front vehicle driving-away reminding method and system - Google Patents
Intelligent front vehicle driving-away reminding method and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18018—Start-stop drive, e.g. in a traffic jam
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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Abstract
The application relates to an intelligent front vehicle driving-away reminding method and system, relating to the field of driving auxiliary systems, wherein the method comprises the following steps: when a front vehicle in the vehicle lane is static, judging whether the vehicle is static; when the self-vehicle is static, judging whether the condition for triggering the starting reminding function is met or not at intervals of a preset time period, and sending out a reminding when the condition is met; the starting reminding function is triggered under the following conditions: the driver is in a distracted state, and the front vehicle is in a driving away state; and the driving-away state of the front vehicle is as follows: the running speed of the front vehicle is not less than the idle speed, or the front vehicle runs a preset route at the speed less than the idle speed. The system comprises a self-vehicle state detection module, a timing module, a starting reminding judgment module and a reminding module. The problem of among the prior art can also remind under the condition that the driver is attentive to driving, and when crossing the highway section that blocks up, the preceding car is stopped and is walked on, and the system frequently reminds, leads to driver's reaction is solved.
Description
Technical Field
The application relates to the field of driving assistance systems, in particular to an intelligent front vehicle driving-away reminding method and system.
Background
In urban roads, frequent starting and stopping of a driver following a front vehicle due to traffic jam often occurs, and when waiting for a traffic light, the traffic light changes from red to green due to distraction of the driver, and when the front vehicle has already driven away, the driver often cannot drive away from the front vehicle in time, and the rear vehicle urges to be short, even a rear-end collision and friction accident is caused, so that the passing efficiency before the traffic light is greatly reduced.
In the related art, a driver is reminded to start a vehicle by a front vehicle driving-away reminding system, and the following two modes are mainly adopted:
firstly, the preceding vehicle driving away reminding system comprises an information processing and analyzing module, a function triggering module and a response decision module: the information processing and analyzing module is used for judging whether a condition for triggering a starting reminding function is met or not according to the motion state information of the front target of the host vehicle and the state information of the host vehicle and outputting triggering information under the condition that the condition is met; the function triggering module is used for outputting a function triggering signal based on the received triggering information; the response decision module comprises a response model and a decision unit, wherein the response model outputs an execution instruction of an actuator for executing a starting function based on the function trigger signal, and the decision unit decides whether to send out a reminding signal based on the execution instruction and according to the state of the actuator for executing the starting function. The vehicle starting reminding device is used for reminding a driver of timely starting a vehicle when the vehicle in front is started, so that the driver does not need to concentrate on observing a front target all the time when the vehicle is blocked, the traffic is congested or the sight line in front is poor, the driving fatigue of the driver is relieved, and the safety is improved.
Secondly, the preceding car drives away from warning system and includes: the processing method comprises the following steps: acquiring an image in front of the head of a current vehicle through a video sensor, and acquiring acceleration information of the current vehicle through a gravity sensor; determining the running state of the current vehicle based on the image characteristics and/or the acceleration information of the image in front of the vehicle head; when the current driving state of the vehicle is a static state, acquiring a motion track of a target object in an image in front of a vehicle head; and judging whether to generate reminding information for reminding the current vehicle to start according to the motion track of the target object. The vehicle starting reminding device is used for reminding a driver of timely starting a vehicle when the vehicle in front is started, so that the driver does not need to concentrate on observing a front target all the time when the vehicle is blocked, the traffic is congested or the sight line in front is poor, the driving fatigue of the driver is relieved, and the safety is improved.
However, the two ways of reminding the driver of the front vehicle driving away have the problems that the driver can remind the driver of driving with great concentration, and when the driver passes through a congested road section, the front vehicle stops and stops, and the system frequently reminds the driver of the driver.
Disclosure of Invention
The embodiment of the application provides an intelligent method and system for reminding a driver of driving away of a preceding vehicle, and aims to solve the problems that in the related art, the driver can be reminded when the driver is attentively driving, and when the driver passes through a congested road section, the preceding vehicle stops and stops, and the system frequently reminds, so that the driver feels dislike.
In a first aspect, an intelligent front vehicle driving away reminding method is provided, which includes:
when a front vehicle in the vehicle lane is static, judging whether the vehicle is static;
when the self-vehicle is static, judging whether the condition for triggering the starting reminding function is met or not at intervals of a preset time period, and sending out a reminding when the condition is met; the starting reminding function is triggered under the following conditions: the driver is in a distracted state, and the front vehicle is in a driving away state; and the driving-away state of the front vehicle is as follows: the running speed of the front vehicle is not less than the idle speed, or the front vehicle runs a preset route at the speed less than the idle speed.
When the car is followed the front truck and is braked and stop going, need the interval to set for the time quantum, go again and judge whether to satisfy the condition that triggers starting warning function, this is because the process of car brake before following, the acquiescence driver is in the state of driving with attentiveness all the time, can not be distracted, this section of time can be reserved out so in this application, even satisfy the condition that triggers starting warning function in this section of time, the system can not send the warning yet, can avoid like this that the driver sends when being in the state of state driving and remind, also can cause driver's dislike and discomfort.
After the time period, judging whether the condition for triggering the starting reminding function is met, and sending out the reminding when the condition is met. The conditions for triggering the starting reminding function are as follows: the driver is in a distracted state, and the front vehicle is in a driving away state; the starting reminding function can be triggered only when the two conditions are met, otherwise, before the vehicle is not started, whether the conditions for triggering the starting reminding function are met or not can be continuously judged, and reminding is sent out until the conditions are met. And the driver can be prevented from giving a prompt when the driver is in the driving state.
That is, the front vehicle of this application is in and drives away the state and does: 1. and the running speed of the front vehicle is not less than the idle speed, or 2, the front vehicle runs a preset distance at the speed less than the idle speed. Under the first condition, the running speed of the front vehicle is not less than the idle speed, which indicates that the front vehicle has a tendency of accelerating to leave, and indicates that a green light is in front or a road is smooth, a prompt needs to be sent out in time to warn a driver of the front vehicle to rapidly leave with the vehicle. The method comprises the following steps that a vehicle runs a preset distance at a speed less than an idling speed under a second condition, the vehicle runs slowly when the vehicle steps on a brake, if a road is congested, the vehicle is likely to stop quickly, in order to prevent the vehicle from only stopping when the vehicle runs, and the vehicle is not pulled away from the vehicle at a large distance, whether the vehicle needs to follow or not is judged according to the running distance of the vehicle, if the vehicle exceeds the preset distance, the distance between the vehicle and the vehicle is indicated to reach a following distance, and a system can send a prompt to tell a vehicle driver to follow the vehicle; if the distance does not exceed the preset distance, the distance between the self vehicle and the front vehicle does not reach the vehicle following distance, so that frequent alarming is avoided, and the system does not give out a prompt. Therefore, the judgment of the motion trend of the front vehicle can be flexibly made, accurate vehicle following reminding can be sent for the driver of the self vehicle, and the system can only remind the driver once before the self vehicle is started, so that frequent reminding is avoided, and the driver does not feel dislike and feel uncomfortable.
In some embodiments:
and if the speed of the front vehicle is not less than the idle speed before the front vehicle runs to the preset distance, immediately sending out a prompt.
In some embodiments, the predetermined time period is 3-4 s.
In some embodiments, the idle speed is 5-7 km/h.
In some embodiments, the predetermined distance is 5-6 m.
In some embodiments, the method further comprises the step of determining whether the leading vehicle is within the lane of the subject vehicle, comprising:
acquiring the transverse distance between a front vehicle and a self vehicle;
if the transverse distance is not larger than a preset value, the front vehicle is considered to be in the lane of the self vehicle;
and if the transverse distance is larger than a preset value, the front vehicle is not in the lane of the self vehicle.
In some embodiments, the preset value is half of the lane width.
In some embodiments, the condition for determining that the vehicle is stationary is:
the whole vehicle controller is in a standby state, the gear position of the vehicle is in a D gear, the vehicle speed of the vehicle is less than 1km/h and lasts for 2-3 s.
In a second aspect, an intelligent front vehicle departure reminding system is provided, which includes:
the system comprises a self-vehicle state detection module, a vehicle driving state detection module and a vehicle driving state detection module, wherein the self-vehicle state detection module is used for detecting whether a self vehicle is static or not when a front vehicle positioned in a self vehicle lane is static;
the timing module is used for triggering the starting reminding judging module when the self-vehicle is static and triggering the starting reminding judging module after a preset time period; the starting reminding judging module comprises a driver state detecting submodule and a front vehicle state detecting submodule; and the number of the first and second groups,
the driver state detection submodule is used for detecting whether a driver is in a distraction state;
the front vehicle state detection submodule is used for detecting whether the front vehicle is in a driving-away state or not; wherein, the driving-off state of the front vehicle is as follows: the running speed of the front vehicle is not less than the idle speed, or the front vehicle runs a preset route at the speed less than the idle speed;
and the reminding module is used for sending out a reminding when the driver is in a distracted state and the front vehicle is in a driving-away state.
In a third aspect, an automobile is provided, which includes a controller, and the controller is configured to execute any one of the above-mentioned intelligent preceding vehicle driving-away reminding methods.
The beneficial effect that technical scheme that this application provided brought includes:
when the car is followed the front truck and is braked and stop going, need the interval to set for the time quantum, go again and judge whether to satisfy the condition that triggers starting warning function, this is because the process of car brake before following, the acquiescence driver is in the state of driving with attentiveness all the time, can not be distracted, this section of time can be reserved out so in this application, even satisfy the condition that triggers starting warning function in this section of time, the system can not send the warning yet, can avoid like this that the driver sends when being in the state of state driving and remind, also can cause driver's dislike and discomfort.
After the time period, judging whether the condition for triggering the starting reminding function is met, and sending out the reminding when the condition is met. The conditions for triggering the starting reminding function are as follows: the driver is in a distracted state, and the front vehicle is in a driving away state; the starting reminding function can be triggered only when the two conditions are met, otherwise, before the vehicle is not started, whether the conditions for triggering the starting reminding function are met or not can be continuously judged, and reminding is sent out until the conditions are met. And the driver can be prevented from giving a prompt when the driver is in the driving state.
That is, the front vehicle of this application is in and drives away the state and does: 1. and the running speed of the front vehicle is not less than the idle speed, or 2, the front vehicle runs a preset distance at the speed less than the idle speed. Under the first condition, the running speed of the front vehicle is not less than the idle speed, which indicates that the front vehicle has a tendency of accelerating to leave, and indicates that a green light is in front or a road is smooth, a prompt needs to be sent out in time to warn a driver of the front vehicle to rapidly leave with the vehicle. The method comprises the following steps that a vehicle runs a preset distance at a speed less than an idling speed under a second condition, the vehicle runs slowly when the vehicle steps on a brake, if a road is congested, the vehicle is likely to stop quickly, in order to prevent the vehicle from only stopping when the vehicle runs, and the vehicle is not pulled away from the vehicle at a large distance, whether the vehicle needs to follow or not is judged according to the running distance of the vehicle, if the vehicle exceeds the preset distance, the distance between the vehicle and the vehicle is indicated to reach a following distance, and a system can send a prompt to tell a vehicle driver to follow the vehicle; if the distance does not exceed the preset distance, the distance between the self vehicle and the front vehicle does not reach the vehicle following distance, so that frequent alarming is avoided, and the system does not give out a prompt. Therefore, the judgment of the motion trend of the front vehicle can be flexibly made, accurate vehicle following reminding can be sent for the driver of the self vehicle, and the system can only remind the driver once before the self vehicle is started, so that frequent reminding is avoided, and the driver does not feel dislike and feel uncomfortable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of an intelligent preceding vehicle driving-away reminding method provided in an embodiment of the present application;
fig. 2 is a schematic diagram of determining whether a preceding vehicle is in a lane of the vehicle according to the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example 1:
referring to fig. 1, embodiment 1 of the present application provides an intelligent front vehicle driving away reminding method, which includes:
s1: when a front vehicle in the vehicle lane is static, judging whether the vehicle is static;
s2: when the self-vehicle is static, judging whether the condition for triggering the starting reminding function is met or not at intervals of a preset time period, and sending out a reminding when the condition is met; the starting reminding function is triggered under the following conditions: the driver is in a distracted state, and the front vehicle is in a driving away state; and the driving-off state of the front vehicle is as follows: the running speed of the front vehicle is not less than the idling speed, or the front vehicle runs a preset distance at a vehicle speed less than the idling speed.
The vehicle in embodiment 1 of the present application refers to the host vehicle, and the preceding vehicle refers to the first vehicle located in the lane of the vehicle and in front of the vehicle. The self-vehicle runs along with the front vehicle, when the traffic lights are equal or in a congestion road section, the front vehicle decelerates and stops, under the normal condition, a driver of the self-vehicle can decelerate along with the front vehicle to stop, and the self-vehicle stops in a safe vehicle distance range, wherein the safe vehicle distance is generally larger than 2m and smaller than 5m, and the vehicle can be prevented from being inserted between the two vehicles.
When the car is followed the front truck and is braked and stop going, need the interval to set for the time quantum, go again and judge whether to satisfy the condition that triggers the start and remind the function, this is because the process of the car brake is followed to the car, the acquiescence driver is in the state of driving with attentiveness all the time, can not be distracted, this application embodiment 1 can reserve this period of time so, even satisfy the condition that triggers the start and remind the function in this period of time, the system can not send the warning yet, send the warning when avoiding the driver to be in the state of state driving like this, also can cause driver's reaction and discomfort.
After the time period, judging whether the condition for triggering the starting reminding function is met, and sending out the reminding when the condition is met. The conditions for triggering the starting reminding function set in embodiment 1 of the application are as follows: the driver is in a distracted state, and the front vehicle is in a driving away state; the starting reminding function can be triggered only when the two conditions are met, otherwise, before the vehicle is not started, whether the conditions for triggering the starting reminding function are met or not can be continuously judged, and reminding is sent out until the conditions are met. And the driver can be prevented from giving a prompt when the driver is in the driving state.
That is, the front vehicle in the driving-away state in embodiment 1 of the present application is: 1. and the running speed of the front vehicle is not less than the idle speed, or 2, the front vehicle runs a preset distance at the speed less than the idle speed. Under the first condition, the running speed of the front vehicle is not less than the idle speed, which indicates that the front vehicle has a tendency of accelerating to leave, and indicates that a green light is in front or a road is smooth, a prompt needs to be sent out in time to warn a driver of the front vehicle to rapidly leave with the vehicle. The method comprises the following steps that a vehicle runs a preset distance at a speed less than an idling speed under a second condition, the vehicle runs slowly when the vehicle steps on a brake, if a road is congested, the vehicle is likely to stop quickly, in order to prevent the vehicle from only stopping when the vehicle runs, and the vehicle is not pulled away from the vehicle at a large distance, whether the vehicle needs to follow or not is judged according to the running distance of the vehicle, if the vehicle exceeds the preset distance, the distance between the vehicle and the vehicle is indicated to reach a following distance, and a system can send a prompt to tell a vehicle driver to follow the vehicle; if the distance does not exceed the preset distance, the distance between the self vehicle and the front vehicle does not reach the vehicle following distance, so that frequent alarming is avoided, and the system does not give out a prompt. Therefore, the judgment of the motion trend of the front vehicle can be flexibly made, accurate vehicle following reminding can be sent for the driver of the self vehicle, and the system can only remind the driver once before the self vehicle is started, so that frequent reminding is avoided, and the driver does not feel dislike and feel uncomfortable.
It should be noted that once the self-vehicle is started (whether the driver is not distracted to automatically follow the vehicle or follows the vehicle because of reminding), the starting reminding function can automatically quit until the next previous vehicle is static, and the next round of judgment and reminding can be performed after the self-vehicle is static.
Optionally, if the speed of the preceding vehicle is not less than the idle speed before the preceding vehicle travels to the preset distance, a prompt is sent immediately.
And under the second condition, the front vehicle runs a preset distance at a speed less than the idle speed, which indicates that the front vehicle slowly runs by stepping on the brake, in the process, the speed and the running distance of the front vehicle are continuously acquired, if the front vehicle starts to run at a speed not less than the idle speed before reaching the running distance, which indicates that the road is smooth, and the front vehicle has a tendency of stepping on the accelerator to accelerate, the distance between the two vehicles can be quickly opened, so that the system can immediately give a prompt and timely prompt a driver of the front vehicle to follow the front vehicle to prevent the occurrence of vehicle jam even if the preset running distance is not reached. If the front vehicle continuously runs to reach the preset running distance at the speed less than the idling speed, even if the front vehicle stops, the distance between the two vehicles which can follow the vehicle is opened, and the system can also send out a prompt to prompt a driver of the front vehicle to follow the vehicle.
Further, the preset time period is 3-4 s.
When the self vehicle brakes and stops driving along with the front vehicle, the interval is required to be 3-4s, and whether the condition for triggering the starting reminding function is met is judged, because the default driver is always in a state of paying attention to driving and is not distracted in the process that the self vehicle brakes along with the front vehicle, the state of the driver is collected after 3-4s, and the condition for triggering the starting reminding function can be triggered only in the distracted state. By reserving the buffer time of 3-4s, the embodiment 1 can avoid that the self-vehicle is just static, the front vehicle starts to run, and the driver is in the state of driving and gives a prompt, so that the driver feels dislike and discomfort.
Further, the idle speed is 5-7 km/h.
The idling speed of a general vehicle is set to be 5-7km/h, and when the idling speed is exceeded, the driver steps on an accelerator pedal to accelerate, so that the road condition in front is good, and smooth running can be realized; if the speed is lower than the idle speed, the driver steps on the brake to drive, the driving speed is very slow, 1s drives about 1m approximately, and then the condition is that no reminding is needed so as to avoid the brake of the front vehicle and the brake of the two vehicle pitches do not reach the following vehicle pitch. (for example, in the initial state, when two vehicles are static, the distance between the two vehicles is 2m, the front vehicle drives at the speed of 3km/h for 2s, the driving distance is 1.6m, the distance between the two vehicles is 3.6m, and the driver of the own vehicle does not need to be reminded to follow the vehicle.)
Further, the preset distance is 5-6 m.
When two vehicles are static, a certain distance between the two vehicles is about 2-5m, the length of the vehicle body is 5m, after the front vehicle runs for 5-6m, the distance between the two vehicles is about 10-11m, and two vehicle distances are separated, so that the vehicles can completely follow, and the vehicle can be prevented from being inserted between the two vehicles.
Optionally, referring to fig. 2, the method further includes a step of determining whether the leading vehicle is in the lane of the self vehicle, and the step includes:
s10: acquiring the transverse distance between a front vehicle and a self vehicle;
s11: if the transverse distance is not greater than the preset value, the front vehicle is considered to be in the vehicle lane;
s12: and if the transverse distance is larger than the preset value, the front vehicle is not in the lane of the self vehicle.
The transverse distance between the front vehicle and the self vehicle in embodiment 1 of the application refers to: and the transverse distance dx between the center of the front vehicle tail and the center of the vehicle head, wherein dx is dy multiplied by tan alpha.
If the first vehicle from the front of the vehicle is judged not to be in the lane of the vehicle, the system cannot be started to work; if the first vehicle in front of the vehicle is judged not to be in the vehicle lane, the system starts to work, and the subsequent judgment processes of vehicle stillness and the like are carried out.
Preferably, the preset value is half of the lane width.
The width of a common lane is 3.5 meters, the width of the vehicle is 1.4-1.8m, the preset value in embodiment 1 of the application is 1.75m, under the limit condition, the self vehicle is infinitely close to one lane, the front vehicle is infinitely close to the other lane, and as long as the transverse distance between the two vehicles is not more than 1.75m, the front vehicle is always in the lane of the self vehicle. And no matter the front vehicle needs to go straight or turn, the front vehicle can automatically move for a certain distance, and the straight distance is enough for judging whether the starting reminding function is triggered.
Further, the condition for judging the self-vehicle is as follows:
the whole vehicle controller is in a standby state, the gear position of the vehicle is in a D gear, the vehicle speed of the vehicle is less than 1km/h and lasts for 2-3 s.
The speed of the vehicle is less than 1km/h and lasts for 2-3s, which indicates that a driver of the vehicle stops when stepping on the brake; the whole vehicle controller is in a standby state, and the gear of the vehicle is in a D gear, which indicates that the vehicle can directly run as long as a driver releases a brake or lightly steps on an accelerator; in this case, although the vehicle is stationary, the driver does not need to stop and get off the vehicle, but stops the vehicle for a short time to wait for driving again, so that the situation that the driver stops the vehicle in a parking lot and gets off the vehicle along with the previous vehicle is avoided.
Example 2:
the embodiment 2 of the application provides an intelligent front vehicle driving away reminding system which comprises a self vehicle state detection module, a timing module, a starting reminding judgment module and a reminding module; the vehicle state detection module is used for detecting whether a vehicle is static or not when a front vehicle in the vehicle lane is static; the timing module is used for triggering when the self-vehicle is static and triggering the starting reminding judging module after a preset time period; the starting reminding judging module comprises a driver state detecting submodule and a front vehicle state detecting submodule; the driver state detection submodule is used for detecting whether the driver is in a distraction state or not; the front vehicle state detection submodule is used for detecting whether the front vehicle is in a driving-away state or not; wherein, the front vehicle is in a driving-off state as follows: the running speed of the front vehicle is not less than the idle speed, or the front vehicle runs a preset route at the speed less than the idle speed; the reminding module is used for sending out a reminding when a driver is in a distracted state and the front vehicle is in a driving-away state.
In the embodiment 2 of the application, the speed of the front vehicle is measured in real time through the millimeter wave radar and the camera, so that whether the front vehicle is static or not is judged; and the transverse distance between the front vehicle and the self vehicle is measured in real time through the millimeter wave radar and the camera, and whether the front vehicle is in the lane of the self vehicle is judged according to the transverse distance.
In embodiment 2 of the present application, a speed of a vehicle is obtained through a wheel speed signal, a state and a gear of a vehicle controller of the vehicle are obtained according to the state and the gear signal of the vehicle controller, and when the vehicle controller is in a standby state, the gear of the vehicle is in a D gear, and the speed of the vehicle is less than 1km/h and lasts for 2-3s, it is determined that the vehicle is stationary.
This application embodiment 2 reserves a section buffer time through the timing module, when the car is followed the front truck and is stopped traveling, need the interval to set the time quantum in advance, go to judge whether to satisfy the condition that triggers the start and remind the function again, this is because the process of the car braking of following the front truck, acquiesce driver and be in the state of driving with special attention all the time, can not be distracted, this application embodiment 2 reserves this section of time through the timer timing so, even satisfy the condition that triggers the start and remind the function in this section of time, remind the module and can not send the warning yet, send the warning when avoiding the driver to be in the state of state driving like this, also can cause driver's counter-feeling and discomfort.
After the timer finishes timing, the starting reminding judging module is triggered again to judge whether the condition for triggering the starting reminding function is met or not, and reminding is sent out when the condition is met. After the starting reminding judging module is triggered, whether the driver is in a distracted state or not is detected through the driver state detecting submodule, and whether the front vehicle is in a driving-off state or not is detected through the front vehicle state detecting submodule. The starting reminding function can be triggered only when a driver is in a distracted state and a front vehicle is in a driving-away state, otherwise, the starting reminding judging module can be continuously triggered before the self vehicle is not started, and reminding is sent out through the reminding module until the conditions are met. And the driver can be prevented from giving a prompt when the driver is in the driving state.
That is, the front vehicle in the driving-away state in embodiment 2 of the present application is: 1. and the running speed of the front vehicle is not less than the idle speed, or 2, the front vehicle runs a preset distance at the speed less than the idle speed. Under the first condition, the running speed of the front vehicle is not less than the idle speed, which indicates that the front vehicle has a tendency of accelerating to leave, and indicates that a green light is in front or a road is smooth, a prompt needs to be sent out in time to warn a driver of the front vehicle to rapidly leave with the vehicle. The method comprises the following steps that a vehicle ahead runs a preset distance at a speed less than an idle speed under a second condition, the vehicle ahead is indicated to be stepped on a brake to run slowly, the running speed is low, if a road is congested, the vehicle ahead is likely to stop quickly, in order to prevent the vehicle ahead from only stopping when the vehicle is stopped, and a large distance is not pulled away from the vehicle ahead, whether the vehicle is required to be followed or not is judged according to the running distance of the vehicle ahead under the condition, if the vehicle ahead exceeds the preset distance, the distance between the vehicle and the vehicle ahead is indicated to reach a vehicle following distance, and a reminding module can give out a reminder to tell a vehicle driver to follow the vehicle; if the distance does not exceed the preset distance, the distance between the self vehicle and the front vehicle does not reach the vehicle following distance, frequent alarming is avoided, and the reminding module does not send out reminding. The judgment of the motion trend of the front vehicle can be flexibly made, accurate vehicle following reminding can be sent for a driver of the self vehicle, and before the self vehicle is started, the reminding module can only remind the driver once, so that frequent reminding is avoided, and the driver does not feel dislike and discomfort is avoided.
It should be noted that once the self-vehicle is started (whether the driver is not distracted to automatically follow the vehicle or follows the vehicle because of reminding), the starting reminding function can automatically quit until the next previous vehicle is static, and the next round of judgment and reminding can be performed after the self-vehicle is static.
Example 3:
the embodiment 3 of the application provides an automobile which comprises a controller, wherein the controller is used for executing the intelligent front automobile driving-away reminding method.
The controller in embodiment 3 of the application is connected with the vehicle state detection module, the timing module, the starting reminding judgment module and the reminding module; the vehicle state detection module is used for detecting whether a vehicle is static or not when a front vehicle in the vehicle lane is static; the controller is used for receiving the data detected by the vehicle state detection module and judging whether the vehicle is static; the timing module is used for triggering when the self-vehicle is static and triggering the starting reminding judging module after a preset time period; the controller is used for controlling the timer to time, and controlling the starting reminding judging module to start working after the timer is finished; the starting reminding judging module comprises a driver state detecting submodule and a front vehicle state detecting submodule; the driver state detection submodule is used for detecting whether the driver is in a distraction state or not; the front vehicle state detection submodule is used for detecting whether the front vehicle is in a driving-away state or not; the controller is used for receiving data detected by the driver state detection submodule and the previous vehicle state detection submodule, judging whether starting reminding conditions are met or not, and controlling the reminding module to send out reminding if the starting reminding conditions are met. Wherein, the front vehicle is in a driving-off state as follows: the running speed of the front vehicle is not less than the idle speed, or the front vehicle runs a preset route at the speed less than the idle speed; the reminding module is used for sending out a reminding when a driver is in a distracted state and the front vehicle is in a driving-away state.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An intelligent front vehicle driving away reminding method is characterized by comprising the following steps:
when a front vehicle in the vehicle lane is static, judging whether the vehicle is static;
when the self-vehicle is static, judging whether the condition for triggering the starting reminding function is met or not at intervals of a preset time period, and sending out a reminding when the condition is met; the starting reminding function is triggered under the following conditions: the driver is in a distracted state, and the front vehicle is in a driving away state; and the driving-away state of the front vehicle is as follows: the running speed of the front vehicle is not less than the idle speed, or the front vehicle runs a preset route at the speed less than the idle speed.
2. The intelligent vehicle-ahead driving away reminding method as claimed in claim 1, wherein:
and if the speed of the front vehicle is not less than the idle speed before the front vehicle runs to the preset distance, immediately sending out a prompt.
3. The intelligent front vehicle departure warning method according to claim 1, wherein the preset time period is 3-4 s.
4. The intelligent vehicle-ahead driving-away reminding method according to claim 1, wherein the idling speed is 5-7 km/h.
5. The intelligent front vehicle departure warning method according to claim 1, wherein said predetermined distance is 5 to 6 m.
6. The intelligent front vehicle departure warning method according to claim 1, further comprising the step of determining whether the front vehicle is in the vehicle lane, comprising:
acquiring the transverse distance between a front vehicle and a self vehicle;
if the transverse distance is not larger than a preset value, the front vehicle is considered to be in the lane of the self vehicle;
and if the transverse distance is larger than a preset value, the front vehicle is not in the lane of the self vehicle.
7. The intelligent front vehicle departure warning method according to claim 6, wherein the preset value is half of the lane width.
8. The intelligent driving-away reminding method for the front vehicle as claimed in claim 1, wherein the condition for judging that the self vehicle is still is as follows:
the whole vehicle controller is in a standby state, the gear position of the vehicle is in a D gear, the vehicle speed of the vehicle is less than 1km/h and lasts for 2-3 s.
9. The utility model provides an intelligence front truck drives away warning system which characterized in that, it includes:
the system comprises a self-vehicle state detection module, a vehicle driving state detection module and a vehicle driving state detection module, wherein the self-vehicle state detection module is used for detecting whether a self vehicle is static or not when a front vehicle positioned in a self vehicle lane is static;
the timing module is used for triggering the starting reminding judging module when the self-vehicle is static and triggering the starting reminding judging module after a preset time period; the starting reminding judging module comprises a driver state detecting submodule and a front vehicle state detecting submodule; and the number of the first and second groups,
the driver state detection submodule is used for detecting whether a driver is in a distraction state;
the front vehicle state detection submodule is used for detecting whether the front vehicle is in a driving-away state or not; wherein, the driving-off state of the front vehicle is as follows: the running speed of the front vehicle is not less than the idle speed, or the front vehicle runs a preset route at the speed less than the idle speed;
and the reminding module is used for sending out a reminding when the driver is in a distracted state and the front vehicle is in a driving-away state.
10. An automobile, characterized in that it comprises a controller for executing the intelligent front vehicle drive-off reminding method according to any one of claims 1 to 8.
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