CN113269974A - Target loss early warning and control method and device - Google Patents
Target loss early warning and control method and device Download PDFInfo
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- 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
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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Abstract
The application discloses a target loss early warning and control method and a device, which relate to the technical field of automatic driving, wherein the target loss early warning and control method comprises the following steps: acquiring information of a road where a vehicle is located and vehicle state information; when the target in front of the vehicle is judged to be lost, calculating the safe vehicle speed of the vehicle based on the road information and the vehicle state information, controlling the vehicle to run at the safe vehicle speed, setting a mark position of the lost target in front, and timing the duration after setting the mark position; and if the duration time reaches the preset time, reminding the driver that the target is lost. According to the target loss early warning and control method and device, when the front target is abnormally lost, active control can be performed according to road information and vehicle state information, a driver can be prompted after the front target is lost for a certain time, early warning is performed, the risk of collision with the front target is avoided, and safety and comfort of automatic driving of the vehicle are guaranteed.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a target loss early warning and control method and device.
Background
At present, the rapid development and wide application of internet technology, artificial intelligence and high-precision maps have promoted the development of automatic driving technology. The automatic driving system adopts advanced communication, computer, network and control technology to realize real-time and continuous control of vehicles, and can greatly reduce traffic accidents and lower travel cost through the automatic driving technology.
In the related art, the automatic driving technology mainly comprises three major links, namely perception, decision and execution. In the automatic driving process, the vehicle interior information and the environment information are collected and processed through sensor equipment such as a camera, a laser radar or a millimeter wave radar, decision judgment is carried out according to the obtained vehicle interior information and the environment information and the intention of a driver, a corresponding control strategy is formulated, and finally the vehicle is controlled through an execution system so as to execute tasks such as wire-controlled acceleration, wire-controlled braking and wire-controlled steering.
However, since the sensor device has a limited detectable range and a limited accuracy, in some special scenes, such as a turning scene before entering or traveling in a curve, a slope scene traveling on a sloping road, and the like, the sensor device may not detect the preceding vehicle, or there is a time delay phenomenon in detecting the preceding vehicle, so that the vehicle shifts from the following traveling to the cruise mode, in which the vehicle runs the risk of colliding with the preceding vehicle.
Disclosure of Invention
Aiming at one of the defects in the prior art, the application aims to provide a target loss early warning and control method and device so as to solve the problem that in the related art, a sensor device cannot detect a front target or a time delay phenomenon exists when the front target is detected, so that a vehicle has a risk of colliding with the front target.
A first aspect of the present application provides a method for early warning and controlling target loss, which includes the steps of:
acquiring information of a road where a vehicle is located and vehicle state information;
when the object in front of the vehicle is judged to be lost, calculating the safe vehicle speed of the vehicle based on the road information and the vehicle state information, controlling the vehicle to run at the safe vehicle speed, setting a flag bit of the lost object in front, and timing the duration time after the flag bit is set;
and if the duration reaches the preset time, reminding the driver that the target is lost.
In some embodiments, if the duration is timed and the target appears again ahead, the flag is cleared and the vehicle is controlled to exit the control state of target loss.
In some embodiments, the road information includes lane curvature and lane gradient, and the vehicle state information includes vehicle speed; before the above-mentioned road information and vehicle state information that obtains the vehicle place, still include:
a curvature threshold and a gradient threshold are set in advance.
In some embodiments, before the determining that the object ahead of the vehicle is lost, the method further includes:
judging whether the lane curvature is larger than a curvature threshold value or not;
judging whether the absolute value of the lane gradient is larger than a gradient threshold value or not;
and when the curvature of the lane is greater than the curvature threshold value or the absolute value of the lane gradient is greater than the gradient threshold value, acquiring the position and state information of the front target, and judging whether the front target of the vehicle is lost or not in real time.
In some embodiments, calculating the safe vehicle speed of the vehicle based on the road information and the vehicle state information specifically includes:
taking the ratio of the curvature threshold value to the curvature of the lane as a first ratio;
taking the ratio of the gradient threshold value to the absolute value of the lane gradient as a second ratio;
selecting the smaller value of the first ratio and the second ratio as a calculation coefficient;
and taking the product of the driving speed and the calculation coefficient as the safe speed.
In some embodiments, if the duration reaches a first time threshold, the driver is alerted by the meter device that the target is missing;
if the duration reaches a second time threshold, reminding the driver of the target loss through loudspeaker equipment;
the second time threshold is greater than the first time threshold.
The second aspect of the present application provides a target loss early warning and control device, which includes:
the information acquisition module is used for acquiring information of a road where the vehicle is located and vehicle state information;
the judging module is used for judging whether a target in front of the vehicle is lost or not;
the processing module is used for calculating the safe speed of the vehicle based on the road information and the vehicle state information when judging that the target in front of the vehicle is lost, controlling the vehicle to run at the safe speed, setting a mark position of the lost front target, and timing the duration after setting the mark position;
and the early warning module is used for reminding the driver of target loss when the duration reaches the preset time.
In some embodiments, the processing module is further configured to clear the flag bit and control the vehicle to exit from the control state in which the target is lost when the target appears again at the front side after the duration is counted.
In some embodiments, the road information includes lane curvature and lane gradient, and the vehicle state information includes vehicle speed; the judging module includes:
the turning scene judging module is stored with a preset curvature threshold value and used for judging whether the lane curvature is larger than the curvature threshold value or not;
the device comprises a ramp scene judging module, a slope scene judging module and a slope judging module, wherein the ramp scene judging module stores a preset gradient threshold and is used for judging whether the absolute value of the lane gradient is greater than the gradient threshold or not;
and the abnormal loss judging module is used for acquiring the position and the state information of the front target when the curvature of the lane is greater than the curvature threshold or the absolute value of the slope of the lane is greater than the slope threshold, and judging whether the front target of the vehicle is lost or not in real time.
In some embodiments, the early warning module includes:
the instrument early warning module is used for reminding a driver of target loss through instrument equipment when the duration reaches a first time threshold;
the voice early warning module is used for reminding the driver of target loss through loudspeaker equipment when the duration reaches a second time threshold;
the second time threshold is greater than the first time threshold.
The beneficial effect that technical scheme that this application provided brought includes:
according to the target loss early warning and control method and device, when the target in front of the vehicle is judged to be lost, the safe speed of the vehicle can be calculated in real time based on the acquired road information and vehicle state information, the vehicle is controlled to run at the safe speed, meanwhile, the mark position of the lost target in front is set, the duration time after the mark position is set is timed, and if the duration time reaches the preset time, namely the time of the mark position is up to the preset time, the target in front is not yet appeared, a driver is reminded of the target loss; therefore, when the front target is abnormally lost, the control can be actively carried out according to the road information and the vehicle state information, and the driver can be prompted after the front target is lost for a certain time so as to carry out early warning, avoid the risk of collision with the front target and ensure the safety and the comfort of automatic driving of the vehicle.
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 first flowchart of a target loss warning and control method in an embodiment of the present application;
fig. 2 is a second flowchart of a target loss warning and control method in an embodiment of the present application;
fig. 3 is a schematic diagram of a target loss warning and controlling device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment of the application provides a target loss early warning and control method and device, and the method and device can solve the problem that in the related art, a sensor device cannot detect a front target, or a time delay phenomenon exists during detection of the front target, so that a vehicle has a risk of colliding with the front target.
As shown in fig. 1, the method for early warning and controlling object loss in the embodiment of the present application includes the following steps:
s1, acquiring information of a road where a vehicle is located and vehicle state information;
s2, when the target in front of the vehicle is judged to be lost, calculating the safe vehicle speed of the vehicle based on the road information and the vehicle state information, controlling the vehicle to run at the safe vehicle speed, setting a flag bit of the lost front target, and timing the duration after the flag bit is set;
and S3, if the duration reaches the preset time, namely the flag bit exists all the time in the duration, reminding the driver of target loss.
According to the target loss early warning and control method, when the target in front of the vehicle is judged to be lost, the safe speed of the vehicle can be calculated in real time based on the acquired road information and vehicle state information, the vehicle is controlled to run at the safe speed, meanwhile, the mark position of the lost target in front is set, the duration time after the mark position is set is timed, and if the duration time reaches the preset time, namely the time of the mark position is up to the preset time, the target in front is not yet appeared, a driver is reminded of the target loss; therefore, when the front target is abnormally lost, the control can be actively carried out according to the road information and the vehicle state information, and the driver can be prompted after the front target is lost for a certain time so as to carry out early warning, avoid the risk of collision with the front target and ensure the safety and the comfort of automatic driving of the vehicle.
In the above embodiment, if the target appears again in front when the duration is counted, the flag is cleared, and the vehicle is controlled to exit from the control state in which the target is lost. After exiting the control state of the target loss, the automatic driving state before the target loss may be restored to control the vehicle to travel.
In this embodiment, before it is determined that the target in front of the vehicle is lost, the vehicle is in a following driving state. When the state of the vehicle with the target vehicle in front is changed into the state of the vehicle without the target vehicle in front, marking the position 1, and calculating the safe vehicle speed to control the vehicle to run at the safe vehicle speed; if the state of the front non-target vehicle is changed into the state of the front target vehicle, namely the front target vehicle is identified again, the zone bit is cleared, and the control state of target loss is immediately exited to recover the following vehicle running.
In this embodiment, if the duration of the flag bit is before the preset time, the target appears again in front of the vehicle, and at this time, the flag bit is cleared, and the driver does not need to be reminded.
Alternatively, the object appearing again in front may be an object that was lost before, or an object that newly appeared in front of the vehicle.
In the second embodiment, the road information includes lane curvature and lane gradient, and the vehicle state information includes vehicle speed.
In this embodiment, the lane curvature is calculated according to the lane line information detected by the vehicle sensing device, and then whether the vehicle is in a special turning scene before entering the curve or driving in the curve can be determined by judging whether the lane curvature is greater than a curvature threshold.
Specifically, the lane line information is mainly acquired by means of recognition of a vehicle-mounted camera, and the coefficient C of a lane center track curve equation can be output when the lane line is recognized through the camera0、C1、C2、C3。
In this embodiment, the lane center trajectory curve equation is:
f(X)＝C3×X3+C2×X2+C1X+C0
Cur(X)＝f＂(X)＝6×C3×X+2×C2
wherein X is the longitudinal distance from a point on the advancing direction of the vehicle to the camera;
(X) is the offset distance of the lane line relative to the camera which varies with X;
C0the lane line position, i.e., the displacement from the camera to the lane line, where f (0) ═ C0The unit m;
C1is the vehicle heading angle, f' (0) ═ C1Unit rad;
C2cur (0) ═ 2C for lane line curvature2Unit m of-1；
C3Is the rate of change of curvature of the lane line with X, f(3)(0)＝6C3Unit m of-2；
Wherein, a lane is provided with a left lane line and a right lane line as a standard, and when no lane line or the lane line has poor quality (the lane line cannot be identified by a camera), C0、C1、C2、C3Are all 0; when only one lane line (the camera can only identify the lane line on one side), the C of the lane line is taken1、C2、C3As a parameter of the lane center trajectory curve equation, C0Set to 0, i.e., assume that the vehicle is located on the lane center line at this time; when the lane line quality on both sidesWhen the quantity is good (the camera can only identify the lane lines at two sides), the lane lines C at two sides are taken1、C2、C3As a parameter of the lane center trajectory curve equation, C0The value is set to 0, i.e., assuming that the vehicle is located on the lane center line at this time, the magnitude of the displacement from the camera to the left lane line is the same as the magnitude of the displacement from the camera to the right lane line, but the directions are opposite.
In particular, with C0 LThe displacement of the camera to the lane line on the left side is represented by C0 RDisplacement from the camera to the lane line on the right side;
with C1 LThe course angle of the head of the vehicle relative to the left lane line is represented by C1 RThe course angle of the vehicle head relative to the right lane line;
with C2 LLeft lane line curvature, denoted by C2 RRight lane line curvature;
with C3 LThe rate of change of the curvature of the left lane line with X is represented by C3 RThe rate of change of the curvature of the right lane line with X.
When the camera only recognizes the lane line on the left side, C0Taking 0; c1Is C1 L；C2Is C2 L；C3Is C3 L。
When the camera only recognizes the right lane line, C0Taking 0; c1Is C1 R；C2Is C2 R；C3Is C3 R。
When the camera can identify the lane lines on two sides, C0Take 0, i.e. C0 LAnd C0 RIs 0; c1Is C1 LAnd C1 RAverage value of (d); c2Is C2 LAnd C2 RAverage value of (d); c3Is C3 LAnd C3 RAverage value of (a).
Further, according to the mathematical curvature formula,
substituting f (X) into the mathematical curvature formula to obtain a lane curvature equation, wherein the lane curvature rho is obtained as follows:
alternatively, the lane curvature value information may also be obtained by means of V2R (Vehicle to Road), V2I (Vehicle to Infrastructure), and high-precision maps.
In this embodiment, the vehicle sensing device processes the detected information of the lane, the motion state of the vehicle, and the like, outputs the dynamic lane gradient, and determines whether the vehicle is in a special slope scene in which the vehicle is traveling on a sloping road by determining whether the absolute value of the dynamic lane gradient (the upward gradient is a positive gradient value, and the downward gradient is a negative gradient value) is greater than a gradient threshold value.
Alternatively, the lane gradient may be obtained by means of an ESC (Electronic Stability Controller), V2N (Vehicle to Network), or the like.
Further, before the step S1, the method further includes the following steps before the information of the road on which the vehicle is located and the information of the vehicle state are acquired:
a curvature threshold and a gradient threshold of the road are set in advance.
Optionally, the curvature threshold and the gradient threshold are calibration values, the curvature threshold may be obtained based on analysis of a large amount of public road test data, and the gradient threshold may be calibrated based on national highway design specifications and considering actual road scenes as appropriate.
In this embodiment, the calibrated gradient threshold is 0.2%.
Further, before determining that the object ahead of the vehicle is lost in step S2, the method further includes:
first, it is determined whether the lane curvature is greater than a curvature threshold.
If the curvature of the current lane is judged to be larger than the curvature threshold value, a special turning scene that the vehicle is in front of driving into the curve or runs in the curve is decided; and if the curvature of the current lane is judged to be smaller than or equal to the curvature threshold, deciding that the vehicle is not in a special turning scene before driving into the curve or driving in the curve.
Then, it is determined whether the absolute value of the lane gradient is greater than a gradient threshold.
If the absolute value of the current lane gradient is judged to be larger than the gradient threshold value, determining that the vehicle is in a special slope scene running on a road with the gradient; and if the absolute value of the current lane gradient is judged to be smaller than or equal to the gradient threshold value, determining that the vehicle is not in a special slope scene running on the road with the gradient.
And finally, when the lane curvature is larger than a curvature threshold value or the absolute value of the lane gradient is larger than a gradient threshold value, namely the vehicle is in a special turning scene or a special ramp scene, acquiring the position and state information of the front target, and judging whether the front target of the vehicle is lost or not in real time.
In this embodiment, the information such as the position and the motion state of the target vehicle can be tracked according to the information of the front target vehicle detected by the sensing device, and whether the front target vehicle is abnormally and temporarily lost or not can be evaluated in an all-around manner, and the judgment principle is mainly based on the vehicle kinematics and the common knowledge that things cannot disappear without reason. If the target vehicle in front can not be detected suddenly or tracked within the detectable range of the target vehicle in front, the target vehicle in front of the vehicle is judged to be lost.
Alternatively, a frame image in front of the vehicle may be acquired by a camera. If the front target appears in the previous frame image only, and the target should appear in the current frame image but does not appear according to the predicted track of the front target, and no other target vehicle exists in front of the vehicle, it can be judged that the front target of the vehicle is abnormally lost.
In another embodiment, when a target vehicle ahead of the vehicle is suddenly lost, if another target vehicle is cut into the vehicle in an emergency and the vehicle recognizes the target vehicle cut into the vehicle in an emergency, the vehicle dynamically controls the target vehicle of the target vehicle cut into the vehicle in an emergency, and does not enter a control state in which the target is lost.
On the basis of the above embodiment, in this embodiment, calculating the safe vehicle speed of the vehicle based on the road information and the vehicle state information specifically includes the following steps:
firstly, calculating the ratio of the curvature threshold value to the lane curvature, and taking the ratio as a first ratio;
secondly, calculating the ratio of the gradient threshold value to the absolute value of the lane gradient, and taking the ratio as a second ratio;
then, selecting the smaller value of the first ratio and the second ratio as a calculation coefficient;
and finally, taking the product of the driving speed and the calculation coefficient as the safe speed.
In this embodiment, the safe vehicle speed is the determined expected vehicle speed, and the safe vehicle speed Vsafe is calculated as follows:
vcurrent is the current driving speed of the vehicle, rho0Is a curvature threshold, ρ is a lane curvature, DP0Is the slope threshold, DP is the lane slope.
On the basis of the above embodiment, in this embodiment, two preset times may be set, including the first time threshold and the second time threshold.
And if the duration reaches a first time threshold value, namely the time for losing the target in front of the vehicle reaches the first time threshold value, reminding the driver of the target loss through the instrument equipment.
If the duration reaches the second time threshold, namely the time for losing the target in front of the vehicle reaches the second time threshold, the target loss of the driver is reminded through the loudspeaker device, so that the driver can know the driving condition in time and drive and control according to the concrete conditions.
In this embodiment, the second time threshold is greater than the first time threshold, and both the first time threshold and the second time threshold may be set according to actual road test data.
As shown in fig. 2, the early warning and control method of the present embodiment specifically includes the following steps:
A1. acquiring the driving speed of the vehicle, and the lane curvature and the lane gradient of the road where the vehicle is located;
A2. and judging whether the vehicle is in a special turning scene or a special ramp scene or not based on the driving speed, the lane curvature and the lane gradient, if so, turning to A3, and otherwise, turning to A1.
A3. And judging whether the target vehicle in front of the vehicle is lost, if so, turning to A4, otherwise, turning to A1, and keeping the following vehicle running.
A4. Setting a flag bit of a front target lost and starting timing;
A5. calculating a safe vehicle speed, and controlling the vehicle to run at the safe vehicle speed;
A6. and judging whether the front target is identified again or not, taking the time of judging completion as a timing point, if so, turning to A9, and otherwise, turning to A7.
A7. And (4) judging whether the time from the beginning of timing to the timing point is greater than the preset time, if so, turning to A8, and otherwise, turning to A5.
A8. Alerting the driver that the target is missing.
A9. And clearing the zone bit and recovering the following running.
According to the early warning and control method, after the front target is lost, active control can be performed according to the road information and the vehicle state information so as to avoid the risk of collision between the vehicle and the front target, the driver can be prompted after the front target is lost for a certain time so as to perform early warning, and the safety and the comfort of automatic driving of the vehicle are further guaranteed.
As shown in fig. 3, the target loss early warning and control device according to the embodiment of the present application includes an information acquisition module, a judgment module, a processing module, and an early warning module.
The information acquisition module is used for acquiring information of a road where the vehicle is located and vehicle state information, and is also used for sending the information of the road where the vehicle is located and the vehicle state information to the judgment module.
The judging module is used for judging whether the target in front of the vehicle is lost or not based on the information sent by the information collecting module, and the judging module is also used for sending the judging result of the target in front of the vehicle lost to the processing module.
The processing module is used for calculating the safe speed of the vehicle based on the road information and the vehicle state information when judging that the object in front of the vehicle is lost, controlling the vehicle to run at the safe speed, setting a mark position of the lost object in front, and timing the duration after setting the mark position.
The processing module can enable the vehicle to continuously pass through a special scene with a lost target at a safe and comfortable speed through a driving system or a braking system according to the calculated safe vehicle speed.
The early warning module is used for reminding the driver of target loss when the duration reaches the preset time.
In the embodiment, the information acquisition module can acquire information of a road where a vehicle is located and vehicle state information, and the judgment module can judge whether a target in front of the vehicle is lost; when the judgment module judges that the front target of the vehicle is lost, the processing module can calculate the safe speed of the vehicle based on the road information and the vehicle state information, control the vehicle to run at the safe speed, set a mark position at which the front target is lost, time the duration after the mark position is set, and remind the driver of target loss when the duration reaches the preset time. Therefore, the early warning and control device of the embodiment can effectively solve the problem of target abnormal loss caused by inherent defects of the sensing equipment, optimize the vehicle running performance in the aspect of control strategies, and cannot increase the hardware cost.
In this embodiment, the duration time is counted, and the processing module is further configured to clear the flag bit and control the vehicle to exit from the control state where the target is lost when the target appears again at the front side.
Further, if the duration of the flag bit is before the preset time, the target appears in front of the vehicle again, at this time, the processing module is further configured to clear the flag bit and control the vehicle to exit from the control state in which the target is lost, and the early warning module may not need to remind the driver.
In addition to the above embodiments, in the present embodiment, the road information includes a lane curvature and a lane gradient, and the vehicle state information includes a driving speed.
In this embodiment, the information acquisition module includes a camera device, a gradient sensor, and a vehicle speed sensor.
The camera equipment is used for acquiring lane line information so as to obtain lane curvature; the gradient sensor is used for acquiring the gradient of a lane of the lane where the vehicle is located; the vehicle speed sensor is used for acquiring the driving speed of the vehicle.
The judging module comprises a turning scene judging module, a ramp scene judging module and an abnormal loss judging module.
The turning scene judging module is used for judging whether the lane curvature is larger than the curvature threshold value or not.
If the turning scene judging module judges that the curvature of the current lane is larger than the curvature threshold, the turning special scene that the vehicle is in before driving into the curve or runs in the curve is decided, and the decision result is sent to the abnormal loss judging module; if the turning scene judging module judges that the curvature of the current lane is smaller than or equal to the curvature threshold, the turning special scene that the vehicle does not drive into the curve or drive in the curve is decided, and the decision result is sent to the abnormal loss judging module.
The ramp scene judging module is used for judging whether the absolute value of the lane gradient is greater than the gradient threshold value.
If the slope scene judging module judges that the absolute value of the current lane slope is larger than the slope threshold value, the special slope scene that the vehicle runs on the road with the slope is determined, and the decision result is sent to the abnormal loss judging module; and if the slope scene judging module judges that the absolute value of the current lane slope is smaller than or equal to the slope threshold, deciding that the vehicle is not in a slope special scene running on the road with the slope, and sending a decision result to the abnormal loss judging module.
And when the curvature of the lane is greater than the curvature threshold value or the absolute value of the slope of the lane is greater than the slope threshold value, the abnormal loss judgment module is used for acquiring the position and the state information of the front target and judging whether the front target of the vehicle is lost or not in real time.
Optionally, the processing module includes a calculating module and a setting module.
When the object in front of the vehicle is judged to be lost, the calculation module is used for calculating the safe speed of the vehicle based on the road information and the vehicle state information;
the setting module is used for controlling the vehicle to run at a safe speed, setting a mark position where a front target is lost, and timing the duration after the mark position is set.
In this embodiment, the calculation module includes a first calculation unit, a second calculation unit, a third calculation unit, and a fourth calculation unit. The first calculating unit is used for calculating a ratio of the curvature threshold value to the lane curvature, and taking the ratio as a first ratio; the second calculating unit is used for calculating the ratio of the gradient threshold value to the absolute value of the lane gradient and taking the ratio as a second ratio; the third calculating unit is used for selecting the smaller value of the first ratio and the second ratio as a calculating coefficient; the fourth calculating unit is used for calculating the product of the driving speed and the calculating coefficient and outputting the product to the setting module as the safe speed.
Further, the early warning module comprises an instrument early warning module and a sound early warning module. The preset time can be two, including a first time threshold and a second time threshold.
When the duration reaches a first time threshold value, namely the time for losing the target in front of the vehicle reaches the first time threshold value, the instrument early warning module is used for reminding the driver of the target loss through instrument equipment.
When the duration reaches the second time threshold, namely the time that the target in front of the vehicle is lost reaches the first time threshold, the sound early warning module is used for reminding the driver of the target loss through the loudspeaker device, so that the driver can know the driving condition in time and drive and control according to concrete.
In this embodiment, the second time threshold is greater than the first time threshold.
When the target in front of the vehicle is judged to be lost, the control state of the target loss is activated, namely the safe vehicle speed of the vehicle is calculated based on the road information and the vehicle state information, and the vehicle is controlled to run at the safe vehicle speed until the front target appears again, namely the control state of the target loss can be quitted, so that the risk of collision with the front target is avoided, and the driving safety is ensured; the problem of target abnormal loss caused by inherent defects of the sensing equipment is effectively solved, the vehicle running performance is optimized in the aspect of control strategies, and the hardware cost is not increased.
The present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements are also considered to be within the scope of the present invention.
Claims (10)
1. A target loss early warning and control method is characterized by comprising the following steps:
acquiring information of a road where a vehicle is located and vehicle state information;
when the target in front of the vehicle is judged to be lost, calculating the safe vehicle speed of the vehicle based on the road information and the vehicle state information, controlling the vehicle to run at the safe vehicle speed, setting a flag bit of the lost target in front, and timing the duration time after the flag bit is set;
and if the duration reaches the preset time, reminding the driver that the target is lost.
2. The target loss warning and control method of claim 1, wherein:
and if the duration time is counted and the target appears in front again, clearing the zone bit and controlling the vehicle to exit from the control state of target loss.
3. The target loss warning and control method of claim 1, wherein the road information includes lane curvature and lane gradient, and the vehicle status information includes vehicle speed; before the information of the road where the vehicle is located and the state information of the vehicle are obtained, the method further comprises the following steps:
a curvature threshold and a gradient threshold are set in advance.
4. The method for early warning and controlling target loss according to claim 3, wherein before the target in front of the vehicle is judged to be lost, the method further comprises the following steps:
judging whether the lane curvature is larger than a curvature threshold value or not;
judging whether the absolute value of the lane gradient is larger than a gradient threshold value or not;
and when the lane curvature is greater than the curvature threshold value or the absolute value of the lane gradient is greater than the gradient threshold value, acquiring the position and state information of the front target, and judging whether the front target of the vehicle is lost or not in real time.
5. The method according to claim 3, wherein calculating the safe speed of the vehicle based on the road information and the vehicle state information specifically comprises:
taking the ratio of the curvature threshold value to the curvature of the lane as a first ratio;
taking the ratio of the gradient threshold value to the absolute value of the lane gradient as a second ratio;
selecting the smaller value of the first ratio and the second ratio as a calculation coefficient;
and taking the product of the driving speed and the calculation coefficient as the safe speed.
6. The target loss warning and control method of claim 1, wherein:
if the duration reaches a first time threshold, reminding the driver of the target loss through instrument equipment;
if the duration reaches a second time threshold, reminding the driver of the target loss through loudspeaker equipment;
the second time threshold is greater than the first time threshold.
7. The utility model provides a target loses early warning and controlling means which characterized in that, it includes:
the information acquisition module is used for acquiring information of a road where the vehicle is located and vehicle state information;
the judging module is used for judging whether a target in front of the vehicle is lost or not;
the processing module is used for calculating the safe speed of the vehicle based on the road information and the vehicle state information when the object in front of the vehicle is judged to be lost, controlling the vehicle to run at the safe speed, setting a mark position where the object in front is lost, and timing the duration after the mark position is set;
and the early warning module is used for reminding the driver of target loss when the duration reaches the preset time.
8. The target loss warning and control apparatus of claim 7, wherein:
and the processing module is also used for clearing the zone bit and controlling the vehicle to exit the control state of target loss when the target appears again at the current party during the duration time counting.
9. The target loss warning and control apparatus of claim 7, wherein the road information includes lane curvature and lane gradient, and the vehicle status information includes vehicle speed; the judging module comprises:
the turning scene judging module is stored with a preset curvature threshold and used for judging whether the lane curvature is larger than the curvature threshold or not;
the system comprises a ramp scene judging module, a slope scene judging module and a slope scene judging module, wherein the ramp scene judging module stores a preset gradient threshold and is used for judging whether the absolute value of the lane gradient is greater than the gradient threshold or not;
and the abnormal loss judging module is used for acquiring the position and state information of the front target and judging whether the front target of the vehicle is lost or not in real time when the curvature of the lane is greater than a curvature threshold value or the absolute value of the slope of the lane is greater than a slope threshold value.
10. The target loss warning and control apparatus of claim 7, wherein the warning module comprises:
the instrument early warning module is used for reminding a driver of target loss through instrument equipment when the duration reaches a first time threshold;
the voice early warning module is used for reminding the driver of target loss through loudspeaker equipment when the duration reaches a second time threshold;
the second time threshold is greater than the first time threshold.
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Application publication date: 20210817 |