CN113650710B - Motorcycle collision avoidance method and system, electronic equipment and storage medium - Google Patents

Motorcycle collision avoidance method and system, electronic equipment and storage medium Download PDF

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CN113650710B
CN113650710B CN202111010610.6A CN202111010610A CN113650710B CN 113650710 B CN113650710 B CN 113650710B CN 202111010610 A CN202111010610 A CN 202111010610A CN 113650710 B CN113650710 B CN 113650710B
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CN113650710A (en
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徐世平
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Vector Sensing Technology Ningbo Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J3/00Acoustic signal devices; Arrangement of such devices on cycles
    • B62J3/10Electrical devices
    • B62J3/12Buzzers; Horns with electrically driven airflow
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/20Cycle computers as cycle accessories
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40Sensor arrangements; Mounting thereof
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40Sensor arrangements; Mounting thereof
    • B62J45/41Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/412Speed sensors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40Sensor arrangements; Mounting thereof
    • B62J45/41Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/414Acceleration sensors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J6/00Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
    • B62J6/01Electric circuits
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J6/00Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
    • B62J6/22Warning or information lights
    • B62J6/24Warning or information lights warning or informing the rider, e.g. low fuel warning lights
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J6/00Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
    • B62J6/22Warning or information lights
    • B62J6/26Warning or information lights warning or informing other road users, e.g. police flash lights

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a collision avoidance method and system for a motorcycle, electronic equipment and a storage medium, which relate to the field of data processing and comprise the following steps: collecting motorcycle data; calculating a risk coefficient according to the motorcycle data; judging whether the risk coefficient is larger than a preset threshold value or not; if the danger coefficient is larger than the preset threshold value, the driver or surrounding vehicles are warned, the danger coefficient is monitored and calculated through motorcycle data, whether warning is triggered or not is determined according to the danger coefficient, and if the warning is triggered, the system can send the motorcycle positioning data to emergency contacts of motorcycle riders so that the emergency contacts can process the data emergently, and car accidents are remarkably reduced.

Description

一种摩托车避碰方法、系统、电子设备及存储介质A motorcycle collision avoidance method, system, electronic device and storage medium

技术领域technical field

本发明涉及数据处理领域,尤其涉及一种摩托车避碰方法、系统、电子设备及存储介质。The invention relates to the field of data processing, in particular to a motorcycle collision avoidance method, system, electronic device and storage medium.

背景技术Background technique

当前在中国每天通勤使用的摩托车超过一亿辆,且调查资料显示,中国每年有超过四万名司机在摩托车事故中受伤或死亡,而通过数据分析,27%的事故原本能够避免,因为现有技术中缺少能够预测摩托车是否存在危险并对摩托车手进行警报的方法,所以本领域急需一种能够对摩托车遇到的各种危险情况进行预测并对摩托车车手及该摩托车周围车辆进行警报的摩托车避碰方法。At present, more than 100 million motorcycles are used for commuting in China every day, and survey data shows that more than 40,000 drivers in China are injured or killed in motorcycle accidents every year, and through data analysis, 27% of the accidents could have been avoided because There is no method in the prior art that can predict whether a motorcycle is in danger and alert the motorcycle rider, so there is an urgent need in the art for a method that can predict the various dangerous situations encountered by the motorcycle and provide the motorcycle rider and the motorcycle. A motorcycle collision avoidance method that alerts surrounding vehicles.

发明内容SUMMARY OF THE INVENTION

本发明提供一种摩托车避碰方法、系统、电子设备及存储介质,以至少解决现有技术中存在的以上技术问题。The present invention provides a motorcycle collision avoidance method, system, electronic device and storage medium to at least solve the above technical problems existing in the prior art.

本发明一方面提供一种摩托车避碰方法,包括:One aspect of the present invention provides a motorcycle collision avoidance method, comprising:

采集摩托车数据;Collect motorcycle data;

根据所述摩托车数据计算危险系数;Calculate the risk factor according to the motorcycle data;

判断所述危险系数是否大于预设阈值;judging whether the risk factor is greater than a preset threshold;

若所述危险系数大于预设阈值,则对驾驶员或周围车辆进行警报。If the risk factor is greater than a preset threshold, the driver or surrounding vehicles are alerted.

其中,所述采集摩托车数据,包括:Wherein, the collecting motorcycle data includes:

采集车轮转速、侧倾角角度、俯仰角角度、纵向加速度、横向加速度、动力控制数据、前方物体距离、后方物体距离和侧向物体距离,所述动力控制数据包括节气门数据、刹车制动数据和离合器数据;Collect wheel speed, roll angle, pitch angle, longitudinal acceleration, lateral acceleration, power control data, distance to objects in front, distance to rear objects and distance to side objects, the power control data includes throttle data, brake data and clutch data;

根据轮胎尺寸和所述车轮转速计算得到车速。The vehicle speed is calculated from the tire size and the wheel speed.

其中,所述根据所述摩托车数据计算危险系数,包括:Wherein, the calculation of the risk factor according to the motorcycle data includes:

根据所述车速、所述动力控制数据计算得到第一系数;The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

根据所述第一系数和所述侧倾角角度计算得到侧倾危险系数。The roll risk coefficient is calculated and obtained according to the first coefficient and the roll angle.

其中,所述根据所述摩托车数据计算危险系数,包括:Wherein, the calculation of the risk factor according to the motorcycle data includes:

根据所述车速、所述动力控制数据计算得到第一系数;The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

根据所述第一系数和所述侧倾角角度计算得到侧倾危险系数;Calculate the roll risk coefficient according to the first coefficient and the roll angle;

根据所述侧倾危险系数和所述俯仰角角度得到俯仰侧倾危险系数。The pitch roll risk coefficient is obtained according to the roll risk coefficient and the pitch angle.

其中,所述根据所述摩托车数据计算危险系数,包括:Wherein, the calculation of the risk factor according to the motorcycle data includes:

根据所述车速、所述动力控制数据计算得到第一系数;The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

判断所述纵向加速度的绝对值是否在预设时间内超过预设加速度预设次数;judging whether the absolute value of the longitudinal acceleration exceeds the preset acceleration preset times within a preset time;

若是则根据所述纵向加速度和预设纵向加速系数计算得到第二系数,若否则将第二系数确定为0;If so, the second coefficient is calculated according to the longitudinal acceleration and the preset longitudinal acceleration coefficient, otherwise, the second coefficient is determined to be 0;

根据所述第一系数和所述第二系数计算得到超速危险系数。The overspeed risk coefficient is calculated according to the first coefficient and the second coefficient.

其中,所述根据所述摩托车数据计算危险系数,包括:Wherein, the calculation of the risk factor according to the motorcycle data includes:

根据所述横向加速度和预设横向加速系数计算得到第三系数;The third coefficient is obtained by calculating according to the lateral acceleration and the preset lateral acceleration coefficient;

根据所述车速、所述动力控制数据计算得到第一系数;The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

根据所述第一系数和所述第三系数计算得到横向碰撞危险系数。The lateral collision risk coefficient is calculated according to the first coefficient and the third coefficient.

其中,所述根据所述摩托车数据计算危险系数,包括:Wherein, the calculation of the risk factor according to the motorcycle data includes:

根据所述俯仰角角度、所述纵向加速度和所述前方物体距离/所述后方物体距离/所述侧向物体距离计算得到第四系数;The fourth coefficient is obtained by calculating according to the pitch angle, the longitudinal acceleration, and the distance to the front object/the distance to the rear object/the distance to the lateral object;

根据所述车速、所述动力控制数据计算得到第一系数;The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

根据所述第一系数和所述第四系数计算得到距离危险系数。The distance risk coefficient is calculated according to the first coefficient and the fourth coefficient.

其中,所述得到侧倾危险系数后,还包括:Wherein, after the roll hazard coefficient is obtained, it also includes:

若所述侧倾危险系数大于第一预设侧倾危险阈值,则触发一级警报;If the roll risk factor is greater than the first preset roll risk threshold, trigger a first-level alarm;

若所述侧倾危险系数大于第二预设侧倾危险阈值,则触发三级警报。If the roll risk factor is greater than the second preset roll risk threshold, a three-level alarm is triggered.

其中,所述得到俯仰侧倾危险系数后,还包括:Wherein, after the pitch and roll hazard coefficient is obtained, the method further includes:

若所述俯仰侧倾危险系数大于第一预设俯仰侧倾危险阈值,则触发一级警报;If the pitch-roll hazard coefficient is greater than the first preset pitch-roll hazard threshold, a first-level alarm is triggered;

若所述俯仰侧倾危险系数大于第二预设俯仰侧倾危险阈值,则触发三级警报。If the pitch-roll risk factor is greater than the second preset pitch-roll risk threshold, a third-level alarm is triggered.

其中,所述得到超速危险系数后,还包括:Wherein, after obtaining the overspeed risk factor, it also includes:

若所述超速危险系数大于第一预设超速危险阈值,则触发一级警报;If the overspeed risk factor is greater than the first preset overspeed risk threshold, a first-level alarm is triggered;

若所述超速危险系数大于第二预设超速危险阈值,则触发三级警报。If the overspeed risk factor is greater than the second preset overspeed risk threshold, a three-level alarm is triggered.

其中,所述得到横向碰撞危险系数后,还包括:Wherein, after obtaining the lateral collision risk coefficient, the method further includes:

若所述横向碰撞危险系数大于第一预设横向碰撞危险阈值,则触发一级警报;If the lateral collision risk factor is greater than the first preset lateral collision risk threshold, a first-level alarm is triggered;

若所述横向碰撞危险系数大于第二预设横向碰撞危险阈值,则触发三级警报。If the lateral collision risk factor is greater than the second preset lateral collision risk threshold, a three-level alarm is triggered.

其中,所述得到距离危险系数后,还包括:Wherein, after obtaining the distance hazard coefficient, it also includes:

若所述距离危险系数大于第一预设距离危险阈值,则触发一级警报;If the distance risk factor is greater than the first preset distance risk threshold, a first-level alarm is triggered;

若所述距离危险系数大于第二预设距离危险阈值,则触发三级警报。If the distance risk factor is greater than the second preset distance risk threshold, a three-level alarm is triggered.

其中,根据危险系数和对应的预设危险系数权重值计算综合危险系数;Among them, the comprehensive risk coefficient is calculated according to the risk coefficient and the corresponding preset risk coefficient weight value;

若所述综合危险系数大于预设综合危险阈值,则触发二级警报。If the comprehensive risk factor is greater than the preset comprehensive risk threshold, a secondary alarm is triggered.

其中,获取定位数据和地图数据;Among them, obtain positioning data and map data;

根据所述定位数据和地图数据判断该定位数据对应的位置的预设距离内是否存在危险区域;According to the positioning data and the map data, determine whether there is a dangerous area within the preset distance of the position corresponding to the positioning data;

若定位数据对应的位置的预设距离内存在危险区域,则触发一级警报。If there is a dangerous area within the preset distance of the position corresponding to the positioning data, a first-level alarm will be triggered.

其中,所述警报,包括:Wherein, the alarm includes:

一级警报,所述一级警报为触发至少一个扬声器和至少一个光源并保持在第一预设频率以对驾驶员进行警报;A first-level alarm, the first-level alarm is to trigger at least one speaker and at least one light source and maintain at a first preset frequency to alert the driver;

二级警报,所述二级警报为触发至少一个扬声器和至少一个光源并保持在第二预设频率以对驾驶员和周围车辆进行警报,所述第二预设频率比所述第一预设频率高;A second-level alarm, the second-level alarm is to trigger at least one speaker and at least one light source and maintain at a second preset frequency to alert the driver and surrounding vehicles, the second preset frequency is higher than the first preset frequency High frequency;

三级警报,所述三级警报为触发至少一个扬声器和至少一个光源并保持在第三预设频率以对驾驶员和周围车辆进行警报,所述第三预设频率比所述第二预设频率高。A third-level alarm, the third-level alarm is to trigger at least one speaker and at least one light source and maintain at a third preset frequency to alert the driver and surrounding vehicles, the third preset frequency is higher than the second preset frequency High frequency.

其中,所述触发三级警报之后,还包括:Wherein, after the third-level alarm is triggered, it further includes:

获取定位数据;Get positioning data;

通过无线连接的通讯设备向预设求助人发送求助信息和所述定位数据。Send the help information and the positioning data to the preset helper through the wirelessly connected communication device.

本发明另一方面提供一种摩托车避碰系统,包括:Another aspect of the present invention provides a motorcycle collision avoidance system, comprising:

采集模块,用于采集摩托车数据;The acquisition module is used to collect motorcycle data;

计算模块,用于根据所述摩托车数据计算危险系数;a calculation module for calculating the risk factor according to the motorcycle data;

判断模块,用于判断所述危险系数是否大于预设阈值;a judgment module for judging whether the risk factor is greater than a preset threshold;

警报模块,用于若所述危险系数大于预设阈值,则对驾驶员或周围车辆进行警报。An alarm module, configured to alert the driver or surrounding vehicles if the risk factor is greater than a preset threshold.

本发明再一方面提供一种电子设备,包括:处理器、通信接口、存储器和通信总线;Another aspect of the present invention provides an electronic device, comprising: a processor, a communication interface, a memory and a communication bus;

其中,处理器,通信接口,存储器通过通信总线完成相互间的通信;存储器,用于存放计算机程序;Among them, the processor, the communication interface, and the memory complete the mutual communication through the communication bus; the memory is used to store the computer program;

处理器,用于执行存储器上所存放的程序时,实现本发明所述的摩托车避碰方法。The processor is used for implementing the motorcycle collision avoidance method of the present invention when executing the program stored in the memory.

本发明还一方面提供一种计算机可读存储介质,所述计算机可读存储介质内存储有计算机程序,所述计算机程序用于执行本发明所述的摩托车避碰方法。Another aspect of the present invention provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program is used to execute the motorcycle collision avoidance method of the present invention.

在本发明上述方法中,通过对摩托车数据进行监控并计算危险系数,根据危险系数确定是否触发警报和触发警报的级别,使得摩托车车手能够即使得知自身是否处于危险中,以及警告周围车辆摩托车可能出现危险以远离该摩托车,避免对摩托车车手造成二次伤害,显著减少了车祸的发生。In the above method of the present invention, by monitoring the motorcycle data and calculating the risk factor, whether to trigger an alarm and the level of triggering the alarm are determined according to the risk factor, so that the motorcycle rider can even know whether he is in danger and warn the surrounding vehicles. Motorcycles may be dangerous to keep away from the motorcycles, avoid secondary injuries to motorcycle riders, and significantly reduce the occurrence of car accidents.

附图说明Description of drawings

图1示出了本发明一实施例提供的摩托车避碰方法流程示意图;1 shows a schematic flowchart of a motorcycle collision avoidance method provided by an embodiment of the present invention;

图2示出了本发明一实施例提供的侧倾危险系数计算流程示意图;FIG. 2 shows a schematic flow chart of the calculation flow of the roll hazard coefficient provided by an embodiment of the present invention;

图3示出了本发明一实施例提供的俯仰侧倾危险系数计算流程示意图;FIG. 3 shows a schematic flowchart of a calculation flow of a pitch and roll hazard coefficient provided by an embodiment of the present invention;

图4示出了本发明一实施例提供的超速危险系数计算流程示意图;FIG. 4 shows a schematic flowchart of a calculation flow of an overspeed risk factor provided by an embodiment of the present invention;

图5示出了本发明一实施例提供的横向碰撞危险系数计算流程示意图;FIG. 5 shows a schematic flowchart of a calculation flow of a lateral collision risk coefficient provided by an embodiment of the present invention;

图6示出了本发明一实施例提供的距离危险系数计算流程示意图;FIG. 6 shows a schematic flowchart of calculating a distance hazard coefficient provided by an embodiment of the present invention;

图7示出了本发明一实施例提供的一级、二级、三级警报触发流程示意图;FIG. 7 shows a schematic diagram of the triggering flow of the first-level, second-level, and third-level alarms provided by an embodiment of the present invention;

图8示出了本发明一实施例提供的摩托车避碰系统结构示意图。FIG. 8 shows a schematic structural diagram of a motorcycle collision avoidance system provided by an embodiment of the present invention.

具体实施方式Detailed ways

为使本发明的目的、特征、优点能够更加的明显和易懂,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而非全部实施例。基于本发明中的实施例,本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。In order to make the objectives, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

为了对摩托车手可能出现的危险情况进行警报,减少摩托车事故的发生,如图1所示,本发明一实施例提供了一种摩托车避碰方法,该方法包括:In order to alert motorcyclists of possible dangerous situations and reduce the occurrence of motorcycle accidents, as shown in FIG. 1 , an embodiment of the present invention provides a motorcycle collision avoidance method, which includes:

步骤101,采集摩托车数据。Step 101, collecting motorcycle data.

在步骤101中,采集摩托车数据,在一可实施方式中,采集车轮转速、侧倾角角度、俯仰角角度、纵向加速度、横向加速度、动力控制数据、前方物体距离、后方物体距离和侧向物体距离,所述动力控制数据包括节气门数据、刹车制动数据和离合器数据;In step 101, motorcycle data is collected, and in a possible implementation manner, wheel speed, roll angle, pitch angle, longitudinal acceleration, lateral acceleration, power control data, distance to objects in front, distance to rear objects, and lateral objects are collected. distance, the power control data includes throttle data, brake data and clutch data;

根据轮胎尺寸和所述车轮转速计算得到车速。The vehicle speed is calculated from the tire size and the wheel speed.

可通过给摩托车添加IMU/AHRS传感器(惯性传感器/航姿参考系统)来采集摩托车的侧倾角角度、俯仰角角度、纵向加速度和横向加速度,纵向加速度为摩托车向前的加速度,横向加速度为摩托车侧向的加速度;The roll angle, pitch angle, longitudinal acceleration and lateral acceleration of the motorcycle can be collected by adding an IMU/AHRS sensor (inertial sensor/heading attitude reference system) to the motorcycle. The longitudinal acceleration is the forward acceleration of the motorcycle and the lateral acceleration. is the lateral acceleration of the motorcycle;

给摩托车添加中程雷达、激光雷达或毫米波车用雷达来采集前方物体距离、后方物体距离和侧向物体距离;Add mid-range radar, lidar, or millimeter-wave vehicle radar to motorcycles to collect distances to objects ahead, distances behind, and distances to lateral objects;

而摩托车本身能够提供车轮转速和动力控制数据,动力控制数据包括节气门数据、刹车制动数据和离合器数据,节气门数据是指油门当前的用量与油门最大的用量的占比,刹车制动数据是指刹车制动当前的用量与刹车制动最大的用量的占比,离合器数据是指离合器当前的用量与离合器最大的用量的占比;The motorcycle itself can provide wheel speed and power control data. Power control data includes throttle data, brake data and clutch data. Throttle data refers to the ratio of the current usage of the accelerator to the maximum usage of the accelerator. The data refers to the ratio of the current amount of braking to the maximum amount of braking, and the clutch data refers to the ratio of the current amount of the clutch to the maximum amount of the clutch;

将获取到的车轮转速与摩托车所用的轮胎的轮胎尺寸相乘,就可以得到摩托车当前的车速。The current speed of the motorcycle can be obtained by multiplying the obtained wheel speed by the tire size of the tire used by the motorcycle.

步骤102,根据所述摩托车数据计算危险系数。Step 102: Calculate the risk factor according to the motorcycle data.

在本实施例中,可以根据摩托车数据计算多种危险系数:In this embodiment, various risk factors can be calculated according to motorcycle data:

第一种:根据所述车速、所述动力控制数据计算得到第一系数;The first type: calculating the first coefficient according to the vehicle speed and the power control data;

根据所述第一系数和所述侧倾角角度计算得到侧倾危险系数。The roll risk coefficient is calculated and obtained according to the first coefficient and the roll angle.

如图2所示,预先根据摩托车轮胎尺寸和道路情况计算得到多张第一系数数据表(即图2中的(a)表),根据车速和动力控制数据中的节气门位置从对应的第一系数数据表中得到第一系数,再根据第一系数和侧倾角角度从预设的侧倾危险数据表(即图2中的(b)表)中得到侧倾危险系数;As shown in Figure 2, a plurality of first coefficient data tables (ie, (a) table in Figure 2) are calculated in advance according to the motorcycle tire size and road conditions. The first coefficient is obtained from the first coefficient data table, and then the roll risk coefficient is obtained from the preset roll risk data table (ie, the (b) table in FIG. 2 ) according to the first coefficient and the roll angle;

例如,某辆摩托车的车速为50km/h,节气门位置为40%,则得出第一系数为0.8,该摩托车的侧倾角角度为25度,则最终得出的侧倾危险系数为1;For example, if the speed of a motorcycle is 50km/h and the throttle position is 40%, the first coefficient is 0.8, and the roll angle of the motorcycle is 25 degrees, then the final roll hazard coefficient is 1;

再例如,某辆摩托车的车速为30km/h,节气门位置为20%,则得出第一系数为0.6,该摩托车的侧倾角角度为5度,则最终得出的侧倾危险系数为0.2;For another example, if the speed of a motorcycle is 30km/h and the throttle position is 20%, the first coefficient is 0.6, and the roll angle of the motorcycle is 5 degrees, then the final roll hazard coefficient is obtained. is 0.2;

当摩托车车速较低或接近零时,即使节气门位置较高,加速摩托车所需的时间也会较长,因此,其对应的第一系数就相对较低,然而当车速增加到中等速度范围时,如50km/h时,摩托车转弯时节气门位置位置对于车速的影响就非常大,其对应的第一系数就相对较高,而当侧倾角较大,第一系数也较高时,摩托车侧倾的可能性大大提升,所以侧倾危险系数随着侧倾角角度和第一系数的增加而提高。When the speed of the motorcycle is low or close to zero, even if the throttle position is high, the time required to accelerate the motorcycle will be longer, so its corresponding first coefficient is relatively low, but when the speed increases to a medium speed In the range, such as 50km/h, the influence of the position of the throttle valve on the vehicle speed when the motorcycle turns is very large, and the corresponding first coefficient is relatively high, and when the roll angle is large, the first coefficient is also high. The possibility of motorcycle roll is greatly improved, so the roll risk factor increases with the increase of the roll angle and the first coefficient.

第二种:根据所述车速、所述动力控制数据计算得到第一系数;The second type: calculating the first coefficient according to the vehicle speed and the power control data;

根据所述第一系数和所述侧倾角角度计算得到侧倾危险系数;Calculate the roll risk coefficient according to the first coefficient and the roll angle;

根据所述侧倾危险系数和所述俯仰角角度得到俯仰侧倾危险系数。The pitch roll risk coefficient is obtained according to the roll risk coefficient and the pitch angle.

第一种计算方法中的预设的侧倾危险数据表为摩托车在水平路面上(即俯仰角角度为0)行驶时的预设数据表,而第二种需要根据俯仰角角度对预设的侧倾危险数据表进行调整,预先根据多个俯仰角角度对预设的侧倾危险数据表进行调整以获得对应多个俯仰角角度的预设的俯仰侧倾危险数据表;The preset roll risk data table in the first calculation method is the preset data table when the motorcycle is running on a level road (that is, the pitch angle is 0), while the second one needs to be preset according to the pitch angle. The roll hazard data table is adjusted, and the preset roll hazard data table is adjusted in advance according to a plurality of pitch angles to obtain a preset pitch and roll hazard data table corresponding to the plurality of pitch angles;

如图3所示,图3是俯仰角角度为10度时的计算方法,根据车速和动力控制数据中的节气门位置从对应的第一系数数据表中得到第一系数,再根据第一系数和侧倾角角度从预设的俯仰侧倾危险数据表中得到俯仰侧倾危险系数,预设的俯仰侧倾危险数据表是根据俯仰角角度对预设的侧倾危险数据表进行调整后得到的;As shown in Figure 3, Figure 3 shows the calculation method when the pitch angle is 10 degrees. According to the vehicle speed and the throttle position in the power control data, the first coefficient is obtained from the corresponding first coefficient data table, and then the first coefficient is obtained according to the first coefficient. The pitch and roll hazard coefficients are obtained from the preset pitch and roll hazard data table. The preset pitch and roll hazard data table is obtained by adjusting the preset roll hazard data table according to the pitch angle. ;

例如,某辆摩托车的车速为50km/h,节气门位置为40%,则得出第一系数为0.8,该摩托车的侧倾角角度为25度、俯仰角角度为10度,则需要根据侧倾角角度从对应俯仰角为10度的预设的俯仰侧倾危险数据表中得出俯仰侧倾危险系数(即图3中的(b)表),最终得出的俯仰侧倾危险系数为1;For example, if the speed of a motorcycle is 50km/h and the throttle position is 40%, the first coefficient is 0.8, the roll angle of the motorcycle is 25 degrees, and the pitch angle is 10 degrees. The roll angle is obtained from the preset pitch and roll hazard data table corresponding to a pitch angle of 10 degrees (ie, the (b) table in Figure 3), and the final pitch and roll hazard coefficient is 1;

再例如,某辆摩托车的车速为30km/h,节气门位置为20%,则得出第一系数为0.6,该摩托车的侧倾角角度为5度、俯仰角角度为10度,则需要根据侧倾角角度从对应俯仰角为10度的预设的俯仰侧倾危险数据表(即图3中的(b)表)中得出俯仰侧倾危险系数,最终得出的俯仰侧倾危险系数为0.4;For another example, if the speed of a motorcycle is 30km/h and the throttle position is 20%, the first coefficient is 0.6, the roll angle of the motorcycle is 5 degrees, and the pitch angle is 10 degrees. According to the roll angle, the pitch and roll risk coefficient is obtained from the preset pitch and roll risk data table with a corresponding pitch angle of 10 degrees (ie, the (b) table in Figure 3), and the final pitch and roll risk coefficient is obtained. is 0.4;

摩托车在上坡转弯时会造成摩托车侧倾角度过大,使摩托车向道路中心靠近,其他从上坡下来的车辆可能会超速转弯,并且由于超速行驶,对面的车辆很有可能会越过道路中心,一旦摩托车和其他车辆同时越过道路中心,就会发生相互碰撞,这种情况下的碰撞是致命的;When the motorcycle turns uphill, the roll angle of the motorcycle will be too large, making the motorcycle close to the center of the road, other vehicles coming down the uphill may turn over speeding, and due to overspeeding, the opposite vehicle is likely to pass The center of the road, once motorcycles and other vehicles cross the center of the road at the same time, they will collide with each other, and the collision in this case is fatal;

摩托车下坡行驶本身就已经被认为是非常危险的,而如果超速行驶并在下坡道路上转弯时,如果摩托车驾驶员没有正确操纵车辆和控制摩托车速度,摩托车很有可能会越过道路中心,甚至可能驶出道路与护栏相撞;Driving downhill on a motorcycle is already considered very dangerous, and if the motorcyclist does not properly maneuver the vehicle and control the speed of the motorcycle when speeding and turning on a downhill road, the motorcycle is likely to cross the road. center, and may even drive out of the road and collide with the guardrail;

通过俯仰角角度对预设的侧倾危险数据表进行调整得到的对应多个俯仰角角度的预设的俯仰侧倾危险数据表,可以应对多种上坡下坡的情况,从而预测摩托车在上坡下坡时因为侧倾角和车速导致发生碰撞或侧倾的危险系数。The preset pitch and roll hazard data table corresponding to multiple pitch angles obtained by adjusting the preset roll hazard data table through the pitch angle angle can cope with a variety of uphill and downhill situations, so as to predict the motorcycle Hazard factor of collision or roll due to roll angle and vehicle speed when going uphill or downhill.

第三种:根据所述车速、所述动力控制数据计算得到第一系数;The third type: calculating and obtaining the first coefficient according to the vehicle speed and the power control data;

判断所述纵向加速度的绝对值是否在预设时间内超过预设加速度预设次数;judging whether the absolute value of the longitudinal acceleration exceeds the preset acceleration preset times within a preset time;

若是则根据所述纵向加速度和预设纵向加速系数计算得到第二系数,若否则将第二系数确定为0;If so, the second coefficient is calculated according to the longitudinal acceleration and the preset longitudinal acceleration coefficient, otherwise, the second coefficient is determined to be 0;

根据所述第一系数和所述第二系数计算得到超速危险系数。The overspeed risk coefficient is calculated according to the first coefficient and the second coefficient.

如图4所示,根据车速和动力控制数据中的节气门位置从对应的第一系数数据表中得到第一系数,同时判断纵向加速度是否在预设时间内超过预设加速度预设次数,如果是则根据纵向加速度从预设纵向加速系数表(即图4中的(b)表)中得到对应的预设纵向加速系数,然后根据纵向加速度和对应的预设纵向加速系数计算得到第二系数,如果否则将第二系数确定为0,在得到第二系数后将第二系数与第一系数相乘计算得到超速危险系数,在本实施例中,将预设时间设置为1S,预设加速度设置为5M/S2,预设次数设置为5次;As shown in FIG. 4 , the first coefficient is obtained from the corresponding first coefficient data table according to the vehicle speed and the throttle position in the power control data, and at the same time, it is determined whether the longitudinal acceleration exceeds the preset acceleration preset times within the preset time, if If yes, the corresponding preset longitudinal acceleration coefficient is obtained from the preset longitudinal acceleration coefficient table (ie, the (b) table in FIG. 4 ) according to the longitudinal acceleration, and then the second coefficient is calculated according to the longitudinal acceleration and the corresponding preset longitudinal acceleration coefficient. , if otherwise, the second coefficient is determined to be 0, after the second coefficient is obtained, the second coefficient is multiplied by the first coefficient to calculate the overspeed risk coefficient. In this embodiment, the preset time is set to 1S, and the preset acceleration Set to 5M/S 2 , the preset number of times is set to 5;

例如,某辆摩托车的车速为30km/h,节气门位置为20%,则得出第一系数为0.6,该摩托车的纵向加速度为0M/S2,并且该摩托车未在预设时间内超过预设加速度预设次数,则确定第二系数为0,最后将第一系数与第二系数相乘得到超速危险系数为0;For example, if the speed of a motorcycle is 30km/h and the throttle position is 20%, the first coefficient is 0.6, the longitudinal acceleration of the motorcycle is 0M/S 2 , and the motorcycle is not in the preset time If the preset acceleration exceeds the preset number of times, the second coefficient is determined to be 0, and finally the first coefficient and the second coefficient are multiplied to obtain an overspeed risk coefficient of 0;

再例如,某辆摩托车的车速为30km/h,节气门位置为20%,则得出第一系数为0.6,该摩托车的纵向加速度为8M/S2,并且该摩托车在预设时间内超过了预设加速度预设次数,则确定第二系数为8乘0.02等于0.16,最后将第一系数与第二系数相乘得到超速危险系数为0.096;For another example, if the speed of a motorcycle is 30km/h and the throttle position is 20%, the first coefficient is 0.6, the longitudinal acceleration of the motorcycle is 8M/S 2 , and the motorcycle is in the preset time If the preset acceleration exceeds the preset number of times, the second coefficient is determined to be 8 times 0.02 equal to 0.16, and finally the first coefficient and the second coefficient are multiplied to obtain an overspeed risk coefficient of 0.096;

再例如,某辆摩托车的车速为50km/h,节气门位置为40%,则得出第一系数为0.8,该摩托车的纵向加速度为-12M/S2,并且该摩托车在预设时间内超过了预设加速度预设次数,则确定第二系数为12乘0.03等于0.36,最后将第一系数与第二系数相乘得到超速危险系数为0.288;For another example, if the speed of a motorcycle is 50km/h and the throttle position is 40%, then the first coefficient is 0.8, the longitudinal acceleration of the motorcycle is -12M/S 2 , and the motorcycle is in the preset If the preset number of accelerations exceeds the preset number of times within the time, the second coefficient is determined to be 12 times 0.03 equal to 0.36, and finally the first coefficient and the second coefficient are multiplied to obtain an overspeed risk coefficient of 0.288;

如果摩托车处于正常行驶状态,纵向加速度突然快速增长或在预设时间内持续增长,在这种情况下,摩托车可能超速,而当摩托车的纵向加速度在预设时间内保持巨大的负增长,则表面摩托车驾驶员突然刹车以避免碰撞或者摩托车已经和前方物体碰撞了;If the motorcycle is in a normal driving state, the longitudinal acceleration suddenly increases rapidly or continues to increase within a preset time, in this case, the motorcycle may overspeed, and when the longitudinal acceleration of the motorcycle maintains a huge negative increase within the preset time, On the surface, the motorcycle driver brakes suddenly to avoid a collision or the motorcycle has collided with an object in front;

通过对加速度进行监测计算并获得超速危险系数,可以有效地判断摩托车是否具有超速的危险。By monitoring and calculating the acceleration and obtaining the overspeed risk factor, it can be effectively judged whether the motorcycle is in danger of overspeeding.

第四种:根据所述横向加速度和预设横向加速系数计算得到第三系数;The fourth type: the third coefficient is calculated and obtained according to the lateral acceleration and the preset lateral acceleration coefficient;

根据所述车速、所述动力控制数据计算得到第一系数;The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

根据所述第一系数和所述第三系数计算得到横向碰撞危险系数。The lateral collision risk coefficient is calculated according to the first coefficient and the third coefficient.

如图5所示,根据车速和动力控制数据中的节气门位置从对应的第一系数数据表中得到第一系数,同时根据横向加速度从预设横向加速系数表(即图5中的(b)表)中得到对应的预设横向加速系数,然后根据横向加速度和对应的预设横向加速系数计算得到第三系数,在得到第三系数后将第三系数与第一系数相乘计算得到横向碰撞危险系数;As shown in FIG. 5 , the first coefficient is obtained from the corresponding first coefficient data table according to the vehicle speed and the throttle position in the power control data, and the first coefficient is obtained from the preset lateral acceleration coefficient table according to the lateral acceleration (ie (b in FIG. 5 ). ) table) to obtain the corresponding preset lateral acceleration coefficient, then calculate and obtain the third coefficient according to the lateral acceleration and the corresponding preset lateral acceleration coefficient, after obtaining the third coefficient, multiply the third coefficient and the first coefficient to calculate the lateral acceleration coefficient Collision hazard factor;

例如,某辆摩托车的车速为30km/h,节气门位置为20%,则得出第一系数为0.6,该摩托车的横向加速度为1M/S2,对应的预设横向加速系数为0.01,将横向加速度的绝对值和对应的预设横向加速系数相乘计算得到第三系数为0.01,最后将第一系数与第二系数相乘得到横向碰撞危险系数为0.006;For example, if the speed of a motorcycle is 30km/h and the throttle position is 20%, the first coefficient is 0.6, the lateral acceleration of the motorcycle is 1M/S 2 , and the corresponding preset lateral acceleration coefficient is 0.01 , multiplying the absolute value of the lateral acceleration and the corresponding preset lateral acceleration coefficient to obtain a third coefficient of 0.01, and finally multiplying the first coefficient and the second coefficient to obtain a lateral collision risk coefficient of 0.006;

再例如,某辆摩托车的车速为50km/h,节气门位置为40%,则得出第一系数为0.8,该摩托车的横向加速度为-3M/S2,对应的预设横向加速系数为0.1,将横向加速度的绝对值和对应的预设横向加速系数相乘计算得到第三系数为0.3,最后将第一系数与第三系数相乘得到横向碰撞危险系数为0.24;For another example, if the speed of a motorcycle is 50km/h and the throttle position is 40%, the first coefficient is 0.8, the lateral acceleration of the motorcycle is -3M/S 2 , and the corresponding preset lateral acceleration coefficient is 0.1, the absolute value of the lateral acceleration and the corresponding preset lateral acceleration coefficient are multiplied to obtain a third coefficient of 0.3, and finally the first coefficient and the third coefficient are multiplied to obtain a lateral collision risk coefficient of 0.24;

通常情况下,摩托车的横向加速度保持在0左右,而当摩托车的横向加速度突然增长时,则该摩托车可能被从侧向行驶来的车辆或物体撞击了,或者该摩托车方向失控了,无论是哪种情况,都是非常危险的,所以通过监测横向加速度来计算横向碰撞危险系数,可以有效地判断摩托车是否具有被横向碰撞的危险。Normally, the lateral acceleration of the motorcycle is kept at about 0, but when the lateral acceleration of the motorcycle suddenly increases, the motorcycle may be hit by a vehicle or object traveling from the side, or the motorcycle may lose its direction. , no matter what the situation is, it is very dangerous, so by monitoring the lateral acceleration to calculate the lateral collision risk coefficient, it can effectively judge whether the motorcycle is in danger of being laterally collided.

第五种:根据所述俯仰角角度、所述纵向加速度和所述前方物体距离/所述后方物体距离/所述侧向物体距离计算得到第四系数;The fifth type: the fourth coefficient is calculated according to the pitch angle, the longitudinal acceleration and the distance to the front object/the distance to the rear object/the distance to the side object;

根据所述车速、所述动力控制数据计算得到第一系数;The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

根据所述第一系数和所述第四系数计算得到距离危险系数。The distance risk coefficient is calculated according to the first coefficient and the fourth coefficient.

如图6所示,根据车速和动力控制数据中的节气门位置从对应的第一系数数据表中得到第一系数,同时根据俯仰角角度和前方物体距离从预设的前方距离关系表(即图6中的(b)表)中计算得到第四系数,或者根据俯仰角角度和后方物体距离从预设的后方距离关系表中计算得到第四系数,又或者根据俯仰角角度和侧向物体距离从预设的侧向距离关系表中计算得到第四系数,在得到第四系数后将第四系数与第一系数相乘计算得到距离危险系数;As shown in FIG. 6 , the first coefficient is obtained from the corresponding first coefficient data table according to the vehicle speed and the throttle position in the power control data, and at the same time according to the pitch angle and the distance of the object in front from the preset front distance relationship table (ie The fourth coefficient is calculated in (b) table in Figure 6, or the fourth coefficient is calculated from the preset rear distance relationship table according to the pitch angle and the distance of the rear object, or the fourth coefficient is calculated according to the pitch angle and the side object The distance is calculated from the preset lateral distance relationship table to obtain the fourth coefficient, and after the fourth coefficient is obtained, the fourth coefficient and the first coefficient are multiplied to calculate the distance risk coefficient;

其中,预设的前方距离关系表是先根据以下公式计算安全时间Tf:Among them, the preset forward distance relationship table is to first calculate the safety time Tf according to the following formula:

Tf=+KdΔθ2 (1)T f =+K d Δθ 2 (1)

Tf=-KuΔθ2 (2)T f = -K u Δθ 2 (2)

其中Kd为根据摩托车在上坡时的纵向加速度和前方物体距离得到的上坡前方物体距离系数,Ku为根据摩托车在下坡时的纵向加速度和前方物体距离得到的下坡前方物体距离系数,Δθ为俯仰角角度,在根据俯仰角判断摩托车在上坡时则使用公式(1)来计算安全时间Tf,在下坡时则使用公式(2)来计算安全时间Tf,在计算得到安全时间Tf后,根据该安全时间Tf和车速得到前方距离关系表;where K d is the distance coefficient of the object in front of the uphill obtained according to the longitudinal acceleration of the motorcycle when going uphill and the distance of the object in front, and K u is the distance of the object in front of the downhill obtained according to the longitudinal acceleration of the motorcycle when going downhill and the distance of the object in front coefficient, Δθ is the pitch angle. When judging from the pitch angle, formula (1) is used to calculate the safety time T f when the motorcycle is uphill, and formula (2) is used to calculate the safety time T f when the motorcycle is downhill. After obtaining the safety time Tf , obtain the front distance relationship table according to the safety time Tf and the vehicle speed;

预设的后方距离关系表是先根据以下公式计算安全时间TfThe preset rear distance relationship table is to first calculate the safety time T f according to the following formula:

Tf=+LdΔθ2 (3)T f =+L d Δθ 2 (3)

Tf=-LuΔθ2 (4)T f = -L u Δθ 2 (4)

其中Ld为根据摩托车在上坡时的后方物体距离得到的上坡后方物体距离系数,Lu为根据摩托车在下坡时的后方物体距离得到的下坡后方物体距离系数,Δθ为俯仰角角度,在根据俯仰角判断摩托车在上坡时则使用公式(3)来计算安全时间Tf,在下坡时则使用公式(4)来计算安全时间Tf,在计算得到安全时间Tf后,根据该安全时间Tf和车速得到后方距离关系表;Where L d is the distance coefficient of the object behind the uphill obtained according to the distance of the object behind the motorcycle when going uphill, Lu is the distance coefficient of the object behind the downhill obtained according to the distance of the object behind the motorcycle when going downhill, Δθ is the pitch angle angle, use formula (3) to calculate the safety time T f when judging that the motorcycle is uphill according to the pitch angle, and use formula (4) to calculate the safety time T f when going downhill. After calculating the safety time T f , according to the safety time T f and the vehicle speed, the rear distance relationship table is obtained;

预设的侧向距离关系表是先根据以下公式计算安全时间TfThe preset lateral distance relationship table is to first calculate the safety time T f according to the following formula:

Tf=+TdΔθ2 (5)T f =+T d Δθ 2 (5)

Tf=-TuΔθ2 (6)T f = -T u Δθ 2 (6)

其中Td为根据摩托车在上坡时的侧向物体距离得到的上坡侧向物体距离系数,Tu为根据摩托车在下坡时的侧向物体距离得到的下坡侧向物体距离,Δθ为俯仰角角度,在根据俯仰角判断摩托车在上坡时则使用公式(5)来计算安全时间Tf,在下坡时则使用公式(6)来计算安全时间Tf,在计算得到安全时间Tf后,根据该安全时间Tf和车速得到侧向距离关系表;Among them, T d is the uphill side object distance coefficient obtained according to the side object distance of the motorcycle when going uphill, T u is the downhill side object distance obtained according to the motorcycle’s side object distance when going downhill, Δθ is the pitch angle. When judging from the pitch angle, formula (5) is used to calculate the safety time T f when the motorcycle is uphill, and formula (6) is used to calculate the safety time T f when it is downhill. After T f , obtain the lateral distance relation table according to the safety time T f and the vehicle speed;

例如,某辆摩托车的车速为30km/h,节气门位置为20%,则得出第一系数为0.6,该摩托车的俯仰角角度为3度,检测到前方物体距离为20米,则从对应的预设的前方距离关系表中得出第四系数为0.6,最后将第四系数与第一系数相乘得到距离危险系数为0.36;For example, if the speed of a motorcycle is 30km/h and the throttle position is 20%, the first coefficient is 0.6, the pitch angle of the motorcycle is 3 degrees, and the distance of the detected object in front is 20 meters, then The fourth coefficient is obtained from the corresponding preset forward distance relationship table to be 0.6, and finally the fourth coefficient is multiplied by the first coefficient to obtain a distance risk coefficient of 0.36;

再例如,某辆摩托车的车速为50km/h,节气门位置为40%,则得出第一系数为0.8,该摩托车的俯仰角角度为-10度,检测到前方物体距离为20米,则从对应的预设的前方距离关系表中得出第四系数为0.9,最后将第四系数与第一系数相乘得到距离危险系数为0.72;For another example, if the speed of a motorcycle is 50km/h and the throttle position is 40%, the first coefficient is 0.8, the pitch angle of the motorcycle is -10 degrees, and the distance of the detected object in front is 20 meters. , then the fourth coefficient is obtained from the corresponding preset front distance relationship table to be 0.9, and finally the fourth coefficient is multiplied by the first coefficient to obtain a distance risk coefficient of 0.72;

为了避免摩托车撞到前方物体或被后方、侧向车辆撞到,需要对前方、后方或侧向物体距离进行监测,该方法考虑俯仰角角度、节气门位置、车速和纵向加速度的原因是为了确定摩托车处于机动模式,而通过摩托车的俯仰角角度会影响安全时间,所以需要先确定当前俯仰角角度下摩托车相对于前方、后方或侧向物体的距离,根据安全时间和摩托车车速数据,可以相应的计算出安全距离,安全距离与车速的关系如表(1)所示:In order to avoid the motorcycle hitting the front object or being hit by the rear or side vehicle, it is necessary to monitor the distance of the front, rear or side object. The reason why this method considers the pitch angle, throttle position, vehicle speed and longitudinal acceleration is to It is determined that the motorcycle is in maneuvering mode, and the safety time will be affected by the pitch angle of the motorcycle, so it is necessary to first determine the distance of the motorcycle relative to the front, rear or side objects at the current pitch angle, according to the safety time and the speed of the motorcycle. According to the data, the safety distance can be calculated accordingly. The relationship between the safety distance and the vehicle speed is shown in Table (1):

车速speed 最小安全距离Minimum safe distance 安全距离safe distance 48Km/H48Km/H 9M9M 14M14M 80Km/H80Km/H 15M15M 38M38M 112Km/H112Km/H 21M21M 75M75M

表(1)Table 1)

表(1)中安全距离与车速的关系是用于水平地面上的关系,水平地面是指俯仰角角度在-2度到3度范围内,俯仰角角度对摩托车停车距离的影响呈抛物线,当俯仰角角度正增长或负增长时,摩托车相对于地面坡度的距离呈抛物线减小或增大,所以根据俯仰角角度的变化,计算出的关系表也会随之变化。The relationship between the safety distance and the vehicle speed in Table (1) is for the relationship on the level ground. The level ground means that the pitch angle is within the range of -2 degrees to 3 degrees, and the influence of the pitch angle on the parking distance of the motorcycle is parabolic. When the pitch angle increases positively or negatively, the distance of the motorcycle relative to the ground slope decreases or increases parabolically, so according to the change of the pitch angle, the calculated relation table will also change accordingly.

步骤103,判断所述危险系数是否大于预设阈值。Step 103, judging whether the risk factor is greater than a preset threshold.

步骤104,若所述危险系数大于预设阈值,则对驾驶员或周围车辆进行警报。Step 104, if the risk factor is greater than a preset threshold, alert the driver or surrounding vehicles.

在得到侧倾危险系数后,在一可实施方式中,若所述侧倾危险系数大于第一预设侧倾危险阈值,则触发一级警报;After the roll hazard coefficient is obtained, in an optional implementation manner, if the roll hazard coefficient is greater than the first preset roll hazard threshold, a first-level alarm is triggered;

若所述侧倾危险系数大于第二预设侧倾危险阈值,则触发三级警报。If the roll risk factor is greater than the second preset roll risk threshold, a three-level alarm is triggered.

侧倾危险系数大于第一预设侧倾危险阈值但未超过第二预设侧倾危险阈值时,表明摩托车有轻度的侧倾危险,则触发一级警报提示摩托车车手作出相应的操作,而当侧倾危险系数大于第二预设侧倾危险阈值时,表明摩托车的侧倾危险非常高,直接触发三级警报,警告摩托车车手以使摩托车车手作出相应的操作,同时警告周围车辆远离该摩托车,防止摩托车在侧倾后被周围车辆二次伤害;When the roll hazard coefficient is greater than the first preset roll hazard threshold but does not exceed the second preset roll hazard threshold, it indicates that the motorcycle is in slight roll danger, and a first-level alarm is triggered to prompt the motorcycle driver to take corresponding actions , and when the roll hazard coefficient is greater than the second preset roll hazard threshold, it indicates that the roll hazard of the motorcycle is very high, and the third-level alarm is directly triggered to warn the motorcycle driver so that the motorcycle driver can make a corresponding operation. Keep the surrounding vehicles away from the motorcycle to prevent the motorcycle from being injured twice by the surrounding vehicles after it rolls;

例如,某摩托车的侧倾危险系数为0.1,第一预设侧倾危险阈值为0.2,该摩托车的侧倾危险系数未超过第一预设侧倾危险阈值,则不触发警报;For example, if the roll hazard coefficient of a motorcycle is 0.1, the first preset roll hazard threshold is 0.2, and the roll hazard coefficient of the motorcycle does not exceed the first preset roll hazard threshold, the alarm will not be triggered;

再例如,某摩托车的侧倾危险系数为0.3,第一预设侧倾危险阈值为0.2,第二预设侧倾危险阈值为0.5,该摩托车的侧倾危险系数超过第一预设侧倾危险阈值但未超过第二预设侧倾危险阈值,则触发一级警报提示摩托车车手作出相应的操作;For another example, the roll hazard coefficient of a motorcycle is 0.3, the first preset roll hazard threshold is 0.2, and the second preset roll hazard threshold is 0.5, and the roll hazard coefficient of the motorcycle exceeds the first preset side. If the tipping danger threshold is reached but does not exceed the second preset rolling danger threshold, a first-level alarm is triggered to prompt the motorcycle rider to make corresponding operations;

再例如,某摩托车的侧倾危险系数为0.6,第二预设侧倾危险阈值为0.5,该摩托车的侧倾危险系数已经超过第二预设侧倾危险阈值,则直接触发三级警报警告摩托车车手以使摩托车车手作出相应的操作,同时警告周围车辆远离该摩托车,防止摩托车在侧倾后被周围车辆二次伤害。For another example, if the roll hazard coefficient of a motorcycle is 0.6, the second preset roll hazard threshold is 0.5, and the roll hazard coefficient of the motorcycle has exceeded the second preset roll hazard threshold, the third-level alarm is directly triggered. Warn the motorcycle driver to make the motorcycle driver make corresponding operations, and at the same time warn the surrounding vehicles to stay away from the motorcycle, so as to prevent the motorcycle from being injured twice by the surrounding vehicles after the motorcycle rolls.

在得到俯仰侧倾危险系数后,在一可实施方式中,若所述俯仰侧倾危险系数大于第一预设俯仰侧倾危险阈值,则触发一级警报;After the pitch-roll hazard coefficient is obtained, in one possible implementation manner, if the pitch-roll hazard coefficient is greater than the first preset pitch-roll hazard threshold, a first-level alarm is triggered;

若所述俯仰侧倾危险系数大于第二预设俯仰侧倾危险阈值,则触发三级警报。If the pitch-roll risk factor is greater than the second preset pitch-roll risk threshold, a third-level alarm is triggered.

俯仰侧倾危险系数大于第一预设俯仰侧倾危险阈值但未超过第二预设俯仰侧倾危险阈值时,表明摩托车在上坡或下坡时有轻度的侧倾或者碰撞危险,则触发一级警报提示摩托车车手作出相应的操作,而当俯仰侧倾危险系数大于第二预设俯仰侧倾危险阈值时,表明摩托车在上坡或下坡时的侧倾或者碰撞危险非常高,直接触发三级警报,警告摩托车车手以使摩托车车手作出相应的操作,同时警告周围车辆远离该摩托车,防止摩托车在侧倾或碰撞后被周围车辆二次伤害;When the pitch-roll hazard coefficient is greater than the first preset pitch-roll hazard threshold but not greater than the second preset pitch-roll hazard threshold, it indicates that the motorcycle is slightly rolled or in danger of collision when going uphill or downhill, then Trigger the first-level alarm to prompt the motorcycle rider to make corresponding operations, and when the pitch-roll risk factor is greater than the second preset pitch-roll risk threshold, it indicates that the motorcycle is at a very high risk of rolling or collision when going uphill or downhill , directly trigger the three-level alarm, warn the motorcycle driver to make the motorcycle driver make the corresponding operation, and at the same time warn the surrounding vehicles to stay away from the motorcycle to prevent the motorcycle from being injured by the surrounding vehicles after the motorcycle rolls or collides;

例如,某摩托车的俯仰侧倾危险系数为0.1,第一预设俯仰侧倾危险阈值为0.2,该摩托车的俯仰侧倾危险系数未超过第一预设俯仰侧倾危险阈值,则不触发警报;For example, if the pitch-roll hazard coefficient of a motorcycle is 0.1, the first preset pitch-roll hazard threshold is 0.2, and the pitch-roll hazard coefficient of the motorcycle does not exceed the first preset pitch-roll hazard threshold, the trigger will not be triggered. alarm;

再例如,某摩托车的俯仰侧倾危险系数为0.3,第一预设俯仰侧倾危险阈值为0.2,第二预设俯仰侧倾危险阈值为0.5,该摩托车的俯仰侧倾危险系数超过第一预设俯仰侧倾危险阈值但未超过第二预设俯仰侧倾危险阈值,则触发一级警报提示摩托车车手作出相应的操作;For another example, the pitch-roll hazard coefficient of a motorcycle is 0.3, the first preset pitch-roll hazard threshold is 0.2, and the second preset pitch-roll hazard threshold is 0.5, and the pitch-roll hazard coefficient of the motorcycle exceeds the th A preset pitching and rolling hazard threshold but not exceeding the second preset pitching and rolling hazard threshold will trigger a first-level alarm to prompt the motorcycle rider to make a corresponding operation;

再例如,某摩托车的俯仰侧倾危险系数为0.6,第二预设俯仰侧倾危险阈值为0.5,该摩托车的俯仰侧倾危险系数已经超过第二预设俯仰侧倾危险阈值,则直接触发三级警报,警告摩托车车手以使摩托车车手作出相应的操作,同时警告周围车辆远离该摩托车,防止摩托车在侧倾或碰撞后被周围车辆二次伤害。For another example, the pitch-roll hazard coefficient of a motorcycle is 0.6, the second preset pitch-roll hazard threshold is 0.5, and the pitch-roll hazard coefficient of the motorcycle has exceeded the second preset pitch-roll hazard threshold. Trigger a three-level alarm, warn the motorcycle riders to make the motorcycle riders make corresponding operations, and at the same time warn the surrounding vehicles to stay away from the motorcycle, so as to prevent the motorcycle from being injured twice by the surrounding vehicles after the motorcycle rolls or collides.

在得到超速危险系数后,在一可实施方式中,若所述超速危险系数大于第一预设超速危险阈值,则触发一级警报;After obtaining the overspeed risk factor, in an embodiment, if the overspeed risk factor is greater than the first preset overspeed risk threshold, a first-level alarm is triggered;

若所述超速危险系数大于第二预设超速危险阈值,则触发三级警报。If the overspeed risk factor is greater than the second preset overspeed risk threshold, a three-level alarm is triggered.

超速危险系数大于第一预设超速危险阈值但未超过第二预设超速危险阈值时,表明摩托车有轻度的超速碰撞危险,则触发一级警报提示摩托车车手作出相应的操作,而当超速危险系数大于第二预设超速危险阈值时,表明摩托车的超速碰撞危险非常高,直接触发三级警报,警告摩托车车手以使摩托车车手作出相应的操作,同时警告周围车辆远离该摩托车,防止摩托车在碰撞后被周围车辆二次伤害;When the speeding risk factor is greater than the first preset speeding risk threshold but does not exceed the second preset speeding risk threshold, it indicates that the motorcycle is in a slight speeding collision risk, and a first-level alarm is triggered to prompt the motorcycle driver to make corresponding operations. When the speeding risk factor is greater than the second preset speeding risk threshold, it indicates that the speeding collision risk of the motorcycle is very high, and the third-level alarm is directly triggered to warn the motorcycle driver so that the motorcycle driver can make corresponding operations, and at the same time warn the surrounding vehicles to stay away from the motorcycle to prevent the motorcycle from being injured twice by the surrounding vehicles after the collision;

例如,某摩托车的超速危险系数为0.1,第一预设超速危险阈值为0.2,该摩托车的超速危险系数未超过第一预设超速危险阈值,则不触发警报;For example, if the speeding risk factor of a motorcycle is 0.1, the first preset speeding risk threshold is 0.2, and the motorcycle's speeding risk factor does not exceed the first preset speeding risk threshold, the alarm will not be triggered;

再例如,某摩托车的超速危险系数为0.3,第一预设超速危险阈值为0.2,第二预设超速危险阈值为0.5,该摩托车的超速危险系数超过第一预设超速危险阈值但未超过第二预设超速危险阈值,则触发一级警报提示摩托车车手作出相应的操作;For another example, if the speeding risk factor of a motorcycle is 0.3, the first preset speeding risk threshold is 0.2, and the second preset speeding risk threshold is 0.5, the speeding risk factor of the motorcycle exceeds the first preset speeding risk threshold but does not If the second preset speeding danger threshold is exceeded, a first-level alarm is triggered to prompt the motorcycle driver to make corresponding operations;

再例如,某摩托车的超速危险系数为0.6,第二预设超速危险阈值为0.5,该摩托车的超速危险系数已经超过第二预设超速危险阈值,则直接触发三级警报,警告摩托车车手以使摩托车车手作出相应的操作,同时警告周围车辆远离该摩托车,防止摩托车在碰撞后被周围车辆二次伤害。For another example, if the speeding risk factor of a motorcycle is 0.6, the second preset speeding risk threshold is 0.5, and the motorcycle's speeding risk factor has exceeded the second preset speeding risk threshold, the third-level alarm is directly triggered to warn the motorcycle. The driver makes the motorcycle driver make corresponding operations, and at the same time warns the surrounding vehicles to stay away from the motorcycle, so as to prevent the motorcycle from being injured twice by the surrounding vehicles after the collision.

在得到横向碰撞危险系数后,在一可实施方式中,若所述横向碰撞危险系数大于第一预设横向碰撞危险阈值,则触发一级警报;After the lateral collision risk coefficient is obtained, in an optional implementation manner, if the lateral collision risk coefficient is greater than the first preset lateral collision risk threshold, a first-level alarm is triggered;

若所述横向碰撞危险系数大于第二预设横向碰撞危险阈值,则触发三级警报。If the lateral collision risk factor is greater than the second preset lateral collision risk threshold, a three-level alarm is triggered.

横向碰撞危险系数大于第一预设横向碰撞危险阈值但未超过第二预设横向碰撞危险阈值时,表明摩托车有轻度的横向碰撞危险,则触发一级警报提示摩托车车手作出相应的操作,而当横向碰撞危险系数大于第二预设横向碰撞危险阈值时,表明摩托车的横向碰撞危险非常高,直接触发三级警报,警告摩托车车手以使摩托车车手作出相应的操作,同时警告周围车辆远离该摩托车,防止摩托车在碰撞后被周围车辆二次伤害;When the lateral collision risk factor is greater than the first preset lateral collision risk threshold but does not exceed the second preset lateral collision risk threshold, it indicates that the motorcycle has a slight lateral collision risk, and a first-level alarm is triggered to prompt the motorcycle driver to take corresponding actions , and when the lateral collision risk coefficient is greater than the second preset lateral collision risk threshold, it indicates that the lateral collision risk of the motorcycle is very high, and the third-level alarm is directly triggered to warn the motorcycle driver so that the motorcycle driver can make corresponding operations, and at the same time warn the motorcycle driver. Keep the surrounding vehicles away from the motorcycle to prevent the motorcycle from being injured twice by the surrounding vehicles after the collision;

例如,某摩托车的横向碰撞危险系数为0.1,第一预设横向碰撞危险阈值为0.2,该摩托车的横向碰撞危险系数未超过第一预设横向碰撞危险阈值,则不触发警报;For example, if the lateral collision risk coefficient of a motorcycle is 0.1, the first preset lateral collision risk threshold is 0.2, and the lateral collision risk coefficient of the motorcycle does not exceed the first preset lateral collision risk threshold, the alarm will not be triggered;

再例如,某摩托车的横向碰撞危险系数为0.3,第一预设横向碰撞危险阈值为0.2,第二预设横向碰撞危险阈值为0.5,该摩托车的横向碰撞危险系数超过第一预设横向碰撞危险阈值但未超过第二预设横向碰撞危险阈值,则触发一级警报提示摩托车车手作出相应的操作;For another example, the lateral collision risk coefficient of a motorcycle is 0.3, the first preset lateral collision risk threshold is 0.2, and the second preset lateral collision risk threshold is 0.5, and the lateral collision risk coefficient of the motorcycle exceeds the first preset lateral collision risk coefficient. If the collision risk threshold value does not exceed the second preset lateral collision risk threshold value, a first-level alarm is triggered to prompt the motorcycle driver to make corresponding operations;

再例如,某摩托车的横向碰撞危险系数为0.6,第二预设横向碰撞危险阈值为0.5,该摩托车的横向碰撞危险系数已经超过第二预设横向碰撞危险阈值,则直接触发三级警报,警告摩托车车手以使摩托车车手作出相应的操作,同时警告周围车辆远离该摩托车,防止摩托车在碰撞后被周围车辆二次伤害。For another example, if the lateral collision risk coefficient of a motorcycle is 0.6, the second preset lateral collision risk threshold is 0.5, and the lateral collision risk coefficient of the motorcycle has exceeded the second preset lateral collision risk threshold, the third-level alarm is directly triggered. , to warn the motorcycle driver so that the motorcycle driver can make the corresponding operation, and at the same time warn the surrounding vehicles to stay away from the motorcycle, so as to prevent the motorcycle from being injured twice by the surrounding vehicles after the collision.

在得到距离危险系数后,在一可实施方式中,若所述距离危险系数大于第一预设距离危险阈值,则触发一级警报;After the distance risk factor is obtained, in an embodiment, if the distance risk factor is greater than the first preset distance risk threshold, a first-level alarm is triggered;

若所述距离危险系数大于第二预设距离危险阈值,则触发三级警报。If the distance risk factor is greater than the second preset distance risk threshold, a three-level alarm is triggered.

距离危险系数大于第一预设距离危险阈值但未超过第二预设距离危险阈值时,表明摩托车有轻度的与前方、后方或侧向物体碰撞的危险,则触发一级警报提示摩托车车手作出相应的操作,而当距离危险系数大于第二预设距离危险阈值时,表明摩托车与前方、后方或侧向物体碰撞的危险非常高,直接触发三级警报,警告摩托车车手以使摩托车车手作出相应的操作,同时警告周围车辆远离该摩托车,防止摩托车在碰撞后被周围车辆二次伤害;When the distance hazard factor is greater than the first preset distance hazard threshold but not greater than the second preset distance hazard threshold, it indicates that the motorcycle is in a slight danger of colliding with the front, rear or side objects, and a first-level alarm is triggered to prompt the motorcycle The driver makes corresponding operations, and when the distance hazard factor is greater than the second preset distance hazard threshold, it indicates that the danger of collision between the motorcycle and the front, rear or side objects is very high, and the third-level alarm is directly triggered to warn the motorcycle driver to make the Motorcycle riders make corresponding operations, and at the same time warn surrounding vehicles to stay away from the motorcycle to prevent the motorcycle from being injured twice by surrounding vehicles after the collision;

例如,某摩托车的距离危险系数为0.1,第一预设距离危险阈值为0.2,该摩托车的距离危险系数未超过第一预设距离危险阈值,则不触发警报;For example, if the distance hazard factor of a motorcycle is 0.1, the first preset distance hazard threshold is 0.2, and the distance hazard factor of the motorcycle does not exceed the first preset distance hazard threshold, the alarm will not be triggered;

再例如,某摩托车的距离危险系数为0.3,第一预设距离危险阈值为0.2,第二预设距离危险阈值为0.5,该摩托车的距离危险系数超过第一预设距离危险阈值但未超过第二预设距离危险阈值,则触发一级警报提示摩托车车手作出相应的操作;For another example, the distance hazard factor of a motorcycle is 0.3, the first preset distance hazard threshold is 0.2, and the second preset distance hazard threshold is 0.5, and the distance hazard factor of the motorcycle exceeds the first preset distance hazard threshold but does not If the second preset distance danger threshold is exceeded, a first-level alarm is triggered to prompt the motorcycle rider to make corresponding operations;

再例如,某摩托车的距离危险系数为0.6,第二预设距离危险阈值为0.5,该摩托车的距离危险系数已经超过第二预设距离危险阈值,则直接触发三级警报,警告摩托车车手以使摩托车车手作出相应的操作,同时警告周围车辆远离该摩托车,防止摩托车在碰撞后被周围车辆二次伤害。For another example, if the distance hazard factor of a motorcycle is 0.6, the second preset distance hazard threshold is 0.5, and the distance hazard factor of the motorcycle has exceeded the second preset distance hazard threshold, a level 3 alarm will be directly triggered to warn the motorcycle. The driver makes the motorcycle driver make corresponding operations, and at the same time warns the surrounding vehicles to stay away from the motorcycle, so as to prevent the motorcycle from being injured twice by the surrounding vehicles after the collision.

在本实施例中,通过上述五种方法计算得到的危险系数,可能会同时触发警报,则根据公式(7)获取危险系数中最高的危险系数γmaxIn this embodiment, the risk factor calculated by the above five methods may trigger an alarm at the same time, and the highest risk factor γ max among the risk factors is obtained according to formula (7):

Figure BDA0003238810360000171
Figure BDA0003238810360000171

其中,γroll为侧倾危险系数,γpitch为俯仰侧倾危险系数,γR_P为距离危险系数,

Figure BDA0003238810360000181
为超速危险系数,
Figure BDA0003238810360000182
为横向碰撞危险系数;Among them, γ roll is the roll hazard coefficient, γ pitch is the pitch roll hazard coefficient, γ R_P is the distance hazard coefficient,
Figure BDA0003238810360000181
is the speeding risk factor,
Figure BDA0003238810360000182
is the lateral collision risk factor;

在获取危险系数中最高的危险系数γmax后,则通过对危险系数γmax以及该危险系数γmax对应的危险系数类型来对其进行判断以确定是否触发警报以及触发哪种警报。After obtaining the highest risk coefficient γ max among the risk coefficients, the risk coefficient γ max and the risk coefficient type corresponding to the risk coefficient γ max are judged to determine whether to trigger an alarm and what kind of alarm to trigger.

在得到危险系数后,在一可实施方式中,还可以根据危险系数和对应的预设危险系数权重值计算综合危险系数;After the risk coefficient is obtained, in an embodiment, the comprehensive risk coefficient may also be calculated according to the risk coefficient and the corresponding preset risk coefficient weight value;

若所述综合危险系数大于预设综合危险阈值,则触发二级警报。If the comprehensive risk factor is greater than the preset comprehensive risk threshold, a secondary alarm is triggered.

在得到2个以上的危险系数后,根据公式(8)计算综合危险系数γ:After more than two risk coefficients are obtained, the comprehensive risk coefficient γ is calculated according to formula (8):

Figure BDA0003238810360000183
Figure BDA0003238810360000183

其中,Kroll为侧倾危险系数对应的预设危险系数权重值,Kpitch为俯仰侧倾危险系数对应的预设危险系数权重值,KR_P为距离危险系数对应的预设危险系数权重值,

Figure BDA0003238810360000184
为超速危险系数对应的预设危险系数权重值,
Figure BDA0003238810360000185
为横向碰撞危险系数对应的预设危险系数权重值;Wherein, K roll is the preset risk coefficient weight value corresponding to the roll risk coefficient, K pitch is the preset risk coefficient weight value corresponding to the pitch roll risk coefficient, and K R_P is the preset risk coefficient weight value corresponding to the distance risk coefficient,
Figure BDA0003238810360000184
is the preset risk factor weight value corresponding to the overspeed risk factor,
Figure BDA0003238810360000185
is the preset risk coefficient weight value corresponding to the lateral collision risk coefficient;

根据得到的危险系数和对应的预设危险系数权重值计算得到综合危险系数γ,如果综合危险系数γ大于预设综合危险阈值,则意味着摩托车车手的综合风险较高,触发二级警报以提醒摩托车车手作出相应的操作,同时警告周围车辆远离该摩托车,防止摩托车在发生危险后被周围车辆二次伤害。The comprehensive risk coefficient γ is calculated according to the obtained risk coefficient and the corresponding preset risk coefficient weight value. If the comprehensive risk coefficient γ is greater than the preset comprehensive risk threshold, it means that the comprehensive risk of the motorcycle rider is high, and a secondary alarm is triggered to Remind the motorcycle driver to make corresponding operations, and at the same time warn the surrounding vehicles to stay away from the motorcycle, so as to prevent the motorcycle from being injured twice by the surrounding vehicles after the danger occurs.

在本实施例中,还可以根据公式(7)和公式(8)同时计算出危险系数γmax和综合危险系数γ,而后根据触发警报的级别进行警报,先触发三级警报,如果未触发三级警报则触发二级警报,如果未触发三级警报和二级警报,则触发一级警报,通过结合这两个公式,可以使触发时间和触发方式更灵活、准确。In this embodiment, the risk coefficient γ max and the comprehensive risk coefficient γ can also be calculated according to formula (7) and formula (8) at the same time, and then the alarm is triggered according to the level of the triggering alarm, and the third-level alarm is triggered first. The first-level alarm triggers the second-level alarm. If the third-level alarm and the second-level alarm are not triggered, the first-level alarm is triggered. By combining these two formulas, the trigger time and trigger method can be made more flexible and accurate.

在一可实施方式中,获取定位数据和地图数据;In a possible embodiment, obtaining positioning data and map data;

根据所述定位数据和地图数据判断该定位数据对应的位置的预设距离内是否存在危险区域;According to the positioning data and the map data, determine whether there is a dangerous area within the preset distance of the position corresponding to the positioning data;

若定位数据对应的位置的预设距离内存在危险区域,则触发一级警报。If there is a dangerous area within the preset distance of the position corresponding to the positioning data, a first-level alarm will be triggered.

在本实施例中,摩托车还可以根据GPS系统获取摩托车的定位数据和地图数据,并根据定位数据和地图数据判断摩托车所在位置周围是否存在危险区域,若周围存在危险区域,则触发一级警报以提醒摩托车车手避开该危险区域。In this embodiment, the motorcycle can also obtain the positioning data and map data of the motorcycle according to the GPS system, and judge whether there is a dangerous area around the location of the motorcycle according to the positioning data and the map data, and if there is a dangerous area around, trigger a level alerts to remind motorcycle riders to avoid the danger zone.

在一可实施方式中,警报包括,一级警报,所述一级警报为触发至少一个扬声器和至少一个光源并保持在第一预设频率以对驾驶员进行警报;In a possible embodiment, the alarm includes a first-level alarm, wherein the first-level alarm is to trigger at least one speaker and at least one light source and keep at a first preset frequency to alert the driver;

二级警报,所述二级警报为触发至少一个扬声器和至少一个光源并保持在第二预设频率以对驾驶员和周围车辆进行警报,所述第二预设频率比所述第一预设频率高;A second-level alarm, the second-level alarm is to trigger at least one speaker and at least one light source and maintain at a second preset frequency to alert the driver and surrounding vehicles, the second preset frequency is higher than the first preset frequency High frequency;

三级警报,所述三级警报为触发至少一个扬声器和至少一个光源并保持在第三预设频率以对驾驶员和周围车辆进行警报,所述第三预设频率比所述第二预设频率高。A third-level alarm, the third-level alarm is to trigger at least one speaker and at least one light source and maintain at a third preset frequency to alert the driver and surrounding vehicles, the third preset frequency is higher than the second preset frequency High frequency.

在本实施例中,警报分为三种警报,如图7所示,分别为一级警报、二级警报和三级警报,未触发警报时,对应的逻辑开关连接False(关)处,此时摩托车不发出任何警报,当触发警报时,对应的逻辑开关切换到True(开)处,触发对应等级的警报,触发一级警报时,以第一预设频率(中等频率)使扬声器发出警报声、使光源闪烁以提醒摩托车车手摩托车有低危风险,触发二级警报时以第二预设频率(较快频率)使扬声器发出警报声、使光源闪烁以提醒摩托车车手,此时警报声较为急促得以同时对该摩托车周围的车辆进行警告,触发三级警报时以第三预设频率(极快频率)使扬声器发出警报声、使光源闪烁以提醒摩托车车手,此时警报声非常急促且警报声音强度和光源强度要比二级警报和一级警报要强很多,使得该摩托车周围的车辆能够很清楚地得知该摩托车发出了警报声和光源闪烁,并且除了一级警报、二级警报和三级警报,摩托车自带的扬声器同时也可以通过播报相应的警报语音对摩托车车手和周围车辆进行警报。In this embodiment, the alarms are divided into three types of alarms, as shown in FIG. 7 , which are the first-level alarm, the second-level alarm and the third-level alarm. When the alarm is not triggered, the corresponding logic switch is connected to the False (off) position. When the alarm is triggered, the corresponding logic switch is switched to True (on), and the corresponding level of alarm is triggered. When the first-level alarm is triggered, the speaker is issued at the first preset frequency (medium frequency). Alarm sound, make the light source flash to remind motorcyclists that the motorcycle has a low risk. When the second-level alarm is triggered, the speaker will emit an alarm sound at the second preset frequency (faster frequency), and the light source will flash to remind motorcyclists. When the alarm sound is more rapid, it can warn the vehicles around the motorcycle at the same time. When the third-level alarm is triggered, the third preset frequency (extremely fast frequency) will make the speaker sound and the light source will flash to remind the motorcycle rider. The alarm sound is very fast, and the intensity of the alarm sound and the light source is much stronger than that of the second-level alarm and the first-level alarm, so that the vehicles around the motorcycle can clearly know that the motorcycle has issued an alarm sound and the light source is flashing, and in addition to a Level 1, Level 2 and Level 3 alerts, and the motorcycle's own speaker can also alert the motorcycle rider and surrounding vehicles by broadcasting the corresponding warning voice.

在触发三级警报后,在一可实施方式中,获取定位数据;After the third-level alarm is triggered, in an embodiment, the positioning data is obtained;

通过无线连接的通讯设备向预设求助人发送求助信息和所述定位数据。Send the help information and the positioning data to the preset helper through the wirelessly connected communication device.

一般触发三级警报就意味着摩托车无法避免碰撞或者侧倾了,所以触发三级警报后,立即通过无线连接的通讯设备向预设求助人发送求助信息和摩托车的定位数据,使得对应的求助人获取到数据后能够第一时间对该摩托车车手进行救援。Generally, triggering the third-level alarm means that the motorcycle cannot avoid collision or rolling. Therefore, after triggering the third-level alarm, immediately send the help information and motorcycle positioning data to the preset helper through the wirelessly connected communication device, so that the corresponding After obtaining the data, the helper can rescue the motorcycle driver as soon as possible.

在本实施例中,还对每个危险系数设置了预设停用危险阈值,预设停用危险阈值一般小于对应的预设危险阈值,当某个危险阈值超过预设危险阈值并触发警报后,只有当该危险阈值减少到小于预设停用危险阈值时,才会停止警报;In this embodiment, a preset deactivation danger threshold is also set for each risk factor. The preset deactivation danger threshold is generally smaller than the corresponding preset danger threshold. When a certain danger threshold exceeds the preset danger threshold and an alarm is triggered , the alarm will only stop when the danger threshold is reduced to less than the preset deactivation danger threshold;

例如,某个摩托车的侧倾危险系数为0.6,超过了预设侧倾危险系数0.5,触发了三级警报,而此时摩托车车手在听到三级警报后马上减速并调整摩托车侧倾角角角度,使得该摩托车的侧倾危险系数变为0.36,预设停用侧倾危险阈值为0.4,此时该摩托车的侧倾危险系数小于预设停用侧倾危险阈值,则停止三级警报;For example, the roll hazard factor of a motorcycle is 0.6, which exceeds the preset roll hazard factor of 0.5, triggering a third-level alarm. At this time, the motorcycle driver immediately slowed down and adjusted the side of the motorcycle after hearing the third-level alarm. The angle of inclination angle makes the roll hazard coefficient of the motorcycle become 0.36, and the preset deactivated roll hazard threshold is 0.4. At this time, the roll hazard coefficient of the motorcycle is less than the preset deactivated roll hazard threshold, then stop Level 3 alert;

再例如,某个摩托车的俯仰侧倾危险系数为0.3,超过了预设俯仰侧倾危险系数0.2,触发了一级警报,而此时摩托车车手在听到三级警报后马上减速并调整摩托车侧倾角角角度,使得该摩托车的俯仰侧倾危险系数变为0.08,预设停用俯仰侧倾危险阈值为0.1,此时该摩托车的俯仰侧倾危险系数小于预设停用俯仰侧倾危险阈值,则停止一级警报。For another example, the pitch and roll hazard coefficient of a motorcycle is 0.3, which exceeds the preset pitch and roll hazard coefficient of 0.2, triggering a first-level alarm, and at this time, the motorcycle driver immediately decelerates and adjusts after hearing the third-level alarm. Motorcycle roll angle angle, so that the motorcycle's pitch-roll hazard coefficient becomes 0.08, and the preset deactivated pitch-roll hazard threshold is 0.1. At this time, the motorcycle's pitch-roll hazard coefficient is smaller than the preset deactivated pitch. If the roll danger threshold is exceeded, the first level alarm is deactivated.

在本实施例中,摩托车车手可以根据自身的技术水平在预设的阈值范围内调整各项预设系数和预设阈值以符合自身的使用习惯,此项设计是为了提高用户的体验,而如果摩托车车手设置的各项预设系数和预设阈值过低,可能会导致警报一直被触发,无法达到在危险可能要发生的时候警告用户,如果设置的过高,则可能直到危险发生了,也没有触发警报,所以此项设计设置了预设的阈值范围以限制摩托车车手调整的各项预设系数和预设阈值过低或过高以影响实际效果。In this embodiment, motorcycle riders can adjust various preset coefficients and preset thresholds within the preset threshold range according to their own technical level to conform to their own usage habits. This design is to improve user experience, and If the preset coefficients and preset thresholds set by the motorcycle rider are too low, the alarm may be triggered all the time, and it is impossible to warn the user when the danger may occur. If the setting is too high, it may not be until the danger occurs. , and no alarm is triggered, so this design sets a preset threshold range to limit the preset coefficients and preset thresholds adjusted by motorcycle riders to be too low or too high to affect the actual effect.

在本发明上述方法中,通过对摩托车数据进行监控并计算危险系数,根据危险系数确定是否触发警报和触发警报的级别,使得摩托车车手能够即使得知自身是否处于危险中,以及警告周围车辆摩托车可能出现危险以远离该摩托车,避免对摩托车车手造成二次伤害,显著减少了车祸的发生。In the above method of the present invention, by monitoring the motorcycle data and calculating the risk factor, whether to trigger an alarm and the level of triggering the alarm are determined according to the risk factor, so that the motorcycle rider can even know whether he is in danger and warn the surrounding vehicles. Motorcycles may be dangerous to keep away from the motorcycles, avoid secondary injuries to motorcycle riders, and significantly reduce the occurrence of car accidents.

本发明一实施例还提供了一种摩托车避碰系统,如图8所示,该系统包括:An embodiment of the present invention also provides a motorcycle collision avoidance system, as shown in FIG. 8 , the system includes:

采集模块10,用于采集摩托车数据;The collection module 10 is used to collect motorcycle data;

计算模块20,用于根据所述摩托车数据计算危险系数;a calculation module 20, configured to calculate the risk factor according to the motorcycle data;

判断模块30,用于判断所述危险系数是否大于预设阈值;A judgment module 30, configured to judge whether the risk factor is greater than a preset threshold;

警报模块40,用于若所述危险系数大于预设阈值,则对驾驶员或周围车辆进行警报。The alarm module 40 is used for alarming the driver or surrounding vehicles if the risk factor is greater than a preset threshold.

其中,所述采集模块10,还用于采集车轮转速、侧倾角角度、俯仰角角度、纵向加速度、横向加速度、动力控制数据、前方物体距离、后方物体距离和侧向物体距离,所述动力控制数据包括节气门数据、刹车制动数据和离合器数据;Wherein, the collection module 10 is also used to collect wheel rotational speed, roll angle, pitch angle, longitudinal acceleration, lateral acceleration, power control data, distance to objects in front, distance to rear objects, and distance to lateral objects. Data includes throttle data, brake data and clutch data;

所述计算模块20,还用于根据轮胎尺寸和所述车轮转速计算得到车速。The calculation module 20 is further configured to calculate and obtain the vehicle speed according to the tire size and the rotational speed of the wheel.

其中,所述计算模块20,还用于根据所述车速、所述动力控制数据计算得到第一系数;Wherein, the calculation module 20 is further configured to calculate and obtain the first coefficient according to the vehicle speed and the power control data;

所述计算模块20,还用于根据所述第一系数和所述侧倾角角度计算得到侧倾危险系数。The calculation module 20 is further configured to calculate and obtain the roll risk coefficient according to the first coefficient and the roll angle.

所述计算模块20,还用于根据所述车速、所述动力控制数据计算得到第一系数;The calculation module 20 is further configured to calculate and obtain the first coefficient according to the vehicle speed and the power control data;

所述计算模块20,还用于根据所述第一系数和所述侧倾角角度计算得到侧倾危险系数;The calculation module 20 is further configured to calculate and obtain the roll risk coefficient according to the first coefficient and the roll angle;

所述计算模块20,还用于根据所述侧倾危险系数和所述俯仰角角度得到俯仰侧倾危险系数。The calculating module 20 is further configured to obtain the pitching roll risk coefficient according to the roll risk coefficient and the pitch angle.

其中,所述计算模块20,还用于根据所述车速、所述动力控制数据计算得到第一系数;Wherein, the calculation module 20 is further configured to calculate and obtain the first coefficient according to the vehicle speed and the power control data;

所述计算模块20,还用于判断所述纵向加速度的绝对值是否在预设时间内超过预设加速度预设次数;The calculation module 20 is further configured to determine whether the absolute value of the longitudinal acceleration exceeds a preset acceleration preset number of times within a preset time;

所述计算模块20,还用于若是则根据所述纵向加速度和预设纵向加速系数计算得到第二系数,若否则将第二系数确定为0;The calculation module 20 is further configured to calculate and obtain a second coefficient according to the longitudinal acceleration and the preset longitudinal acceleration coefficient, if so, and determine the second coefficient as 0 if otherwise;

所述计算模块20,还用于根据所述第一系数和所述第二系数计算得到超速危险系数。The calculation module 20 is further configured to calculate and obtain an overspeed risk coefficient according to the first coefficient and the second coefficient.

其中,所述计算模块20,还用于根据所述横向加速度和预设横向加速系数计算得到第三系数;Wherein, the calculation module 20 is further configured to calculate and obtain a third coefficient according to the lateral acceleration and a preset lateral acceleration coefficient;

所述计算模块20,还用于根据所述车速、所述动力控制数据计算得到第一系数;The calculation module 20 is further configured to calculate and obtain the first coefficient according to the vehicle speed and the power control data;

所述计算模块20,还用于根据所述第一系数和所述第三系数计算得到横向碰撞危险系数。The calculation module 20 is further configured to calculate and obtain a lateral collision risk coefficient according to the first coefficient and the third coefficient.

其中,所述计算模块20,还用于根据所述俯仰角角度、所述纵向加速度和所述前方物体距离/所述后方物体距离/所述侧向物体距离计算得到第四系数;Wherein, the computing module 20 is further configured to calculate and obtain a fourth coefficient according to the pitch angle, the longitudinal acceleration, and the distance to the front object/the distance to the rear object/the distance to the side object;

所述计算模块20,还用于根据所述车速、所述动力控制数据计算得到第一系数;The calculation module 20 is further configured to calculate and obtain the first coefficient according to the vehicle speed and the power control data;

所述计算模块20,还用于根据所述第一系数和所述第四系数计算得到距离危险系数。The calculating module 20 is further configured to calculate and obtain the distance risk coefficient according to the first coefficient and the fourth coefficient.

其中,所述警报模块40,还用于若所述侧倾危险系数大于第一预设侧倾危险阈值,则触发一级警报;Wherein, the alarm module 40 is further configured to trigger a first-level alarm if the roll hazard coefficient is greater than a first preset roll hazard threshold;

所述警报模块40,还用于若所述侧倾危险系数大于第二预设侧倾危险阈值,则触发三级警报。The alarm module 40 is further configured to trigger a third-level alarm if the roll risk factor is greater than a second preset roll risk threshold.

其中,所述警报模块40,还用于若所述俯仰侧倾危险系数大于第一预设俯仰侧倾危险阈值,则触发一级警报;Wherein, the alarm module 40 is further configured to trigger a first-level alarm if the pitch-roll risk factor is greater than a first preset pitch-roll risk threshold;

所述警报模块40,还用于若所述俯仰侧倾危险系数大于第二预设俯仰侧倾危险阈值,则触发三级警报。The alarm module 40 is further configured to trigger a third-level alarm if the pitch-roll risk factor is greater than a second preset pitch-roll risk threshold.

其中,所述警报模块40,还用于若所述超速危险系数大于第一预设超速危险阈值,则触发一级警报;Wherein, the alarm module 40 is further configured to trigger a first-level alarm if the overspeed risk factor is greater than a first preset overspeed risk threshold;

所述警报模块40,还用于若所述超速危险系数大于第二预设超速危险阈值,则触发三级警报。The alarm module 40 is further configured to trigger a third-level alarm if the overspeed risk factor is greater than a second preset overspeed risk threshold.

其中,所述警报模块40,还用于若所述横向碰撞危险系数大于第一预设横向碰撞危险阈值,则触发一级警报;Wherein, the alarm module 40 is further configured to trigger a first-level alarm if the lateral collision risk coefficient is greater than a first preset lateral collision risk threshold;

所述警报模块40,还用于若所述横向碰撞危险系数大于第二预设横向碰撞危险阈值,则触发三级警报。The alarm module 40 is further configured to trigger a third-level alarm if the lateral collision risk factor is greater than a second preset lateral collision risk threshold.

其中,所述警报模块40,还用于若所述距离危险系数大于第一预设距离危险阈值,则触发一级警报;Wherein, the alarm module 40 is further configured to trigger a first-level alarm if the distance risk factor is greater than a first preset distance risk threshold;

所述警报模块40,还用于若所述距离危险系数大于第二预设距离危险阈值,则触发三级警报。The alarm module 40 is further configured to trigger a third-level alarm if the distance risk factor is greater than the second preset distance risk threshold.

所述计算模块20,还用于根据危险系数和对应的预设危险系数权重值计算综合危险系数;The calculation module 20 is further configured to calculate the comprehensive risk coefficient according to the risk coefficient and the corresponding preset risk coefficient weight value;

所述警报模块40,还用于若所述综合危险系数大于预设综合危险阈值,则触发二级警报。The alarm module 40 is further configured to trigger a secondary alarm if the comprehensive risk factor is greater than a preset comprehensive risk threshold.

其中,所述采集模块10,还用于获取定位数据和地图数据;Wherein, the acquisition module 10 is also used for acquiring positioning data and map data;

所述计算模块20,还用于根据所述定位数据和地图数据判断该定位数据对应的位置的预设距离内是否存在危险区域;The computing module 20 is further configured to determine whether there is a dangerous area within the preset distance of the position corresponding to the positioning data according to the positioning data and the map data;

所述警报模块40,还用于若定位数据对应的位置的预设距离内存在危险区域,则触发一级警报。The alarm module 40 is further configured to trigger a first-level alarm if there is a dangerous area within the preset distance of the position corresponding to the positioning data.

其中,所述警报模块40,还用于触发一级警报,所述一级警报为触发至少一个扬声器和至少一个光源并保持在第一预设频率以对驾驶员进行警报;Wherein, the alarm module 40 is also used to trigger a first-level alarm, and the first-level alarm is to trigger at least one speaker and at least one light source and keep it at a first preset frequency to alert the driver;

所述警报模块40,还用于触发二级警报,所述二级警报为触发至少一个扬声器和至少一个光源并保持在第二预设频率以对驾驶员和周围车辆进行警报,所述第二预设频率比所述第一预设频率高;The alarm module 40 is further configured to trigger a secondary alarm, where the secondary alarm is to trigger at least one speaker and at least one light source and keep it at a second preset frequency to alert the driver and surrounding vehicles, the second The preset frequency is higher than the first preset frequency;

所述警报模块40,还用于触发三级警报,所述三级警报为触发至少一个扬声器和至少一个光源并保持在第三预设频率以对驾驶员和周围车辆进行警报,所述第三预设频率比所述第二预设频率高。The alarm module 40 is further configured to trigger a third-level alarm, wherein the third-level alarm is to trigger at least one speaker and at least one light source and keep it at a third preset frequency to alert the driver and surrounding vehicles, and the third The preset frequency is higher than the second preset frequency.

其中,所述采集模块10,还用于获取定位数据;Wherein, the acquisition module 10 is also used for acquiring positioning data;

所述警报模块40,还用于通过无线连接的通讯设备向预设求助人发送求助信息和所述定位数据。The alarm module 40 is further configured to send the help information and the positioning data to the preset helper through a wirelessly connected communication device.

除了上述方法和设备以外,本申请的实施例还可以是计算机程序产品,其包括计算机程序指令,所述计算机程序指令在被处理器运行时使得所述处理器执行本说明书上述“示例性方法”部分中描述的根据本申请各种实施例的方法中的步骤。In addition to the methods and apparatuses described above, embodiments of the present application may also be computer program products comprising computer program instructions that, when executed by a processor, cause the processor to perform the "exemplary methods" described above in this specification Sections describe steps in methods according to various embodiments of the present application.

所述计算机程序产品可以以一种或多种程序设计语言的任意组合来编写用于执行本申请实施例操作的程序代码,所述程序设计语言包括面向对象的程序设计语言,诸如Java、C++等,还包括常规的过程式程序设计语言,诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。The computer program product can write program codes for performing the operations of the embodiments of the present application in any combination of one or more programming languages, including object-oriented programming languages, such as Java, C++, etc. , also includes conventional procedural programming languages, such as "C" language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.

此外,本申请的实施例还可以是计算机可读存储介质,其上存储有计算机程序指令,所述计算机程序指令在被处理器运行时使得所述处理器执行本说明书上述“示例性方法”部分中描述的根据本申请各种实施例的方法中的步骤。In addition, embodiments of the present application may also be computer-readable storage media having computer program instructions stored thereon, the computer program instructions, when executed by a processor, cause the processor to perform the above-mentioned "Example Method" section of this specification Steps in methods according to various embodiments of the present application described in .

所述计算机可读存储介质可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以包括但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件,或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括:具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。The computer-readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses or devices, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

以上结合具体实施例描述了本申请的基本原理,但是,需要指出的是,在本申请中提及的优点、优势、效果等仅是示例而非限制,不能认为这些优点、优势、效果等是本申请的各个实施例必须具备的。另外,上述公开的具体细节仅是为了示例的作用和便于理解的作用,而非限制,上述细节并不限制本申请为必须采用上述具体的细节来实现。The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be pointed out that the advantages, advantages, effects, etc. mentioned in the present application are only examples rather than limitations, and these advantages, advantages, effects, etc., are not considered to be Required for each embodiment of this application. In addition, the specific details disclosed above are only for the purpose of example and easy understanding, rather than limiting, and the above-mentioned details do not limit the application to be implemented by using the above-mentioned specific details.

本申请中涉及的器件、装置、设备、系统的方框图仅作为例示性的例子并且不意图要求或暗示必须按照方框图示出的方式进行连接、布置、配置。如本领域技术人员将认识到的,可以按任意方式连接、布置、配置这些器件、装置、设备、系统。诸如“包括”、“包含”、“具有”等等的词语是开放性词汇,指“包括但不限于”,且可与其互换使用。这里所使用的词汇“或”和“和”指词汇“和/或”,且可与其互换使用,除非上下文明确指示不是如此。这里所使用的词汇“诸如”指词组“如但不限于”,且可与其互换使用。The block diagrams of devices, apparatus, apparatuses, and systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, or configurations must be in the manner shown in the block diagrams. As those skilled in the art will appreciate, these means, apparatuses, apparatuses, systems may be connected, arranged, configured in any manner. Words such as "including", "including", "having" and the like are open-ended words meaning "including but not limited to" and are used interchangeably therewith. As used herein, the words "or" and "and" refer to and are used interchangeably with the word "and/or" unless the context clearly dictates otherwise. As used herein, the word "such as" refers to and is used interchangeably with the phrase "such as but not limited to".

还需要指出的是,在本申请的装置、设备和方法中,各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本申请的等效方案。It should also be pointed out that in the apparatus, equipment and method of the present application, each component or each step can be decomposed and/or recombined. These disaggregations and/or recombinations should be considered as equivalents of the present application.

提供所公开的方面的以上描述以使本领域的任何技术人员能够做出或者使用本申请。对这些方面的各种修改对于本领域技术人员而言是非常显而易见的,并且在此定义的一般原理可以应用于其他方面而不脱离本申请的范围。因此,本申请不意图被限制到在此示出的方面,而是按照与在此公开的原理和新颖的特征一致的最宽范围。The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Therefore, this application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

为了例示和描述的目的已经给出了以上描述。此外,此描述不意图将本申请的实施例限制到在此公开的形式。尽管以上已经讨论了多个示例方面和实施例,但是本领域技术人员将认识到其某些变型、修改、改变、添加和子组合。The foregoing description has been presented for the purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims (17)

1.一种摩托车避碰方法,其特征在于,包括:1. a motorcycle collision avoidance method, is characterized in that, comprises: 采集摩托车数据,所述摩托车数据包括车轮转速、侧倾角角度、俯仰角角度和动力控制数据,所述动力控制数据包括节气门数据、刹车制动数据和离合器数据,所述侧倾角角度和俯仰角角度是由IMU/AHRS传感器采集得到的;Collect motorcycle data, the motorcycle data includes wheel speed, roll angle, pitch angle and power control data, the power control data includes throttle data, brake data and clutch data, the roll angle and The pitch angle is collected by the IMU/AHRS sensor; 根据所述摩托车数据计算危险系数,包括:根据轮胎尺寸和所述车轮转速计算得到车速;Calculate the risk factor according to the motorcycle data, including: calculating the vehicle speed according to the tire size and the wheel speed; 根据所述车速、所述动力控制数据计算得到第一系数;根据所述第一系数和所述侧倾角角度计算得到侧倾危险系数;或,The first coefficient is calculated according to the vehicle speed and the power control data; the roll risk coefficient is calculated according to the first coefficient and the roll angle; or, 根据所述车速、所述动力控制数据计算得到第一系数;根据所述第一系数和所述侧倾角角度计算得到侧倾危险系数;根据所述侧倾危险系数和所述俯仰角角度得到俯仰侧倾危险系数;The first coefficient is calculated according to the vehicle speed and the power control data; the roll risk coefficient is calculated according to the first coefficient and the roll angle; the pitch is obtained according to the roll risk coefficient and the pitch angle roll hazard factor; 判断所述危险系数是否大于预设阈值;judging whether the risk factor is greater than a preset threshold; 若所述危险系数大于预设阈值,则对驾驶员或周围车辆进行警报。If the risk factor is greater than a preset threshold, the driver or surrounding vehicles are alerted. 2.根据权利要求1所述的摩托车避碰方法,其特征在于,所述采集摩托车数据,包括:2. The motorcycle collision avoidance method according to claim 1, wherein the collecting motorcycle data comprises: 所述摩托车数据还包括纵向加速度、横向加速度、前方物体距离、后方物体距离和侧向物体距离,所述纵向加速度和横向加速度是由IMU/AHRS传感器采集得到的,所述前方物体距离、后方物体距离和侧向物体距离是由车用雷达采集得到的。The motorcycle data also includes longitudinal acceleration, lateral acceleration, distance to objects in front, distance to objects behind, and distance to lateral objects. The longitudinal acceleration and lateral acceleration are collected by IMU/AHRS sensors. Object distance and lateral object distance are collected by vehicle radar. 3.根据权利要求2所述的摩托车避碰方法,其特征在于,所述根据所述摩托车数据计算危险系数,包括:3. The motorcycle collision avoidance method according to claim 2, wherein the calculation of the risk factor according to the motorcycle data comprises: 判断所述纵向加速度的绝对值是否在预设时间内超过预设加速度预设次数;judging whether the absolute value of the longitudinal acceleration exceeds the preset acceleration preset times within a preset time; 若是则根据所述纵向加速度和预设纵向加速系数计算得到第二系数,若否则将第二系数确定为0;If so, the second coefficient is calculated according to the longitudinal acceleration and the preset longitudinal acceleration coefficient, otherwise, the second coefficient is determined to be 0; 根据所述第一系数和所述第二系数计算得到超速危险系数。The overspeed risk coefficient is calculated according to the first coefficient and the second coefficient. 4.根据权利要求2所述的摩托车避碰方法,其特征在于,所述根据所述摩托车数据计算危险系数,包括:4. The motorcycle collision avoidance method according to claim 2, wherein the calculation of the risk factor according to the motorcycle data comprises: 根据所述横向加速度和预设横向加速系数计算得到第三系数;The third coefficient is obtained by calculating according to the lateral acceleration and the preset lateral acceleration coefficient; 根据所述第一系数和所述第三系数计算得到横向碰撞危险系数。The lateral collision risk coefficient is calculated according to the first coefficient and the third coefficient. 5.根据权利要求2所述的摩托车避碰方法,其特征在于,所述根据所述摩托车数据计算危险系数,包括:5. The collision avoidance method for motorcycles according to claim 2, wherein the calculation of the risk factor according to the motorcycle data comprises: 根据所述俯仰角角度、所述纵向加速度和所述前方物体距离计算得到第四系数,或根据所述俯仰角角度、所述纵向加速度和所述后方物体距离计算得到第四系数,或根据所述俯仰角角度、所述纵向加速度和所述侧向物体距离计算得到第四系数;The fourth coefficient is calculated according to the pitch angle, the longitudinal acceleration and the distance of the object in front, or the fourth coefficient is calculated according to the pitch angle, the longitudinal acceleration and the distance of the rear object, or the fourth coefficient is calculated according to the The fourth coefficient is obtained by calculating the pitch angle, the longitudinal acceleration and the distance of the lateral object; 根据所述第一系数和所述第四系数计算得到距离危险系数。The distance risk coefficient is calculated according to the first coefficient and the fourth coefficient. 6.根据权利要求1所述的摩托车避碰方法,其特征在于,所述得到侧倾危险系数后,还包括:6. The motorcycle collision avoidance method according to claim 1, characterized in that, after obtaining the roll hazard coefficient, the method further comprises: 若所述侧倾危险系数大于第一预设侧倾危险阈值,则触发一级警报;If the roll risk factor is greater than the first preset roll risk threshold, trigger a first-level alarm; 若所述侧倾危险系数大于第二预设侧倾危险阈值,则触发三级警报。If the roll risk factor is greater than the second preset roll risk threshold, a three-level alarm is triggered. 7.根据权利要求1所述的摩托车避碰方法,其特征在于,所述得到俯仰侧倾危险系数后,还包括:7. The motorcycle collision avoidance method according to claim 1, characterized in that, after obtaining the pitch-roll hazard coefficient, the method further comprises: 若所述俯仰侧倾危险系数大于第一预设俯仰侧倾危险阈值,则触发一级警报;If the pitch-roll hazard coefficient is greater than the first preset pitch-roll hazard threshold, a first-level alarm is triggered; 若所述俯仰侧倾危险系数大于第二预设俯仰侧倾危险阈值,则触发三级警报。If the pitch-roll risk factor is greater than the second preset pitch-roll risk threshold, a third-level alarm is triggered. 8.根据权利要求3所述的摩托车避碰方法,其特征在于,所述得到超速危险系数后,还包括:8. The motorcycle collision avoidance method according to claim 3, characterized in that, after obtaining the overspeed risk factor, the method further comprises: 若所述超速危险系数大于第一预设超速危险阈值,则触发一级警报;If the overspeed risk factor is greater than the first preset overspeed risk threshold, a first-level alarm is triggered; 若所述超速危险系数大于第二预设超速危险阈值,则触发三级警报。If the overspeed risk factor is greater than the second preset overspeed risk threshold, a three-level alarm is triggered. 9.根据权利要求4所述的摩托车避碰方法,其特征在于,所述得到横向碰撞危险系数后,还包括:9. The motorcycle collision avoidance method according to claim 4, wherein after obtaining the lateral collision risk coefficient, the method further comprises: 若所述横向碰撞危险系数大于第一预设横向碰撞危险阈值,则触发一级警报;If the lateral collision risk factor is greater than the first preset lateral collision risk threshold, a first-level alarm is triggered; 若所述横向碰撞危险系数大于第二预设横向碰撞危险阈值,则触发三级警报。If the lateral collision risk factor is greater than the second preset lateral collision risk threshold, a three-level alarm is triggered. 10.根据权利要求5所述的摩托车避碰方法,其特征在于,所述得到距离危险系数后,还包括:10. The motorcycle collision avoidance method according to claim 5, characterized in that, after obtaining the distance risk factor, the method further comprises: 若所述距离危险系数大于第一预设距离危险阈值,则触发一级警报;If the distance risk factor is greater than the first preset distance risk threshold, a first-level alarm is triggered; 若所述距离危险系数大于第二预设距离危险阈值,则触发三级警报。If the distance risk factor is greater than the second preset distance risk threshold, a three-level alarm is triggered. 11.根据权利要求1所述的摩托车避碰方法,其特征在于,11. The motorcycle collision avoidance method according to claim 1, wherein, 根据危险系数和对应的预设危险系数权重值计算综合危险系数;Calculate the comprehensive risk coefficient according to the risk coefficient and the corresponding preset risk coefficient weight value; 若所述综合危险系数大于预设综合危险阈值,则触发二级警报。If the comprehensive risk factor is greater than the preset comprehensive risk threshold, a secondary alarm is triggered. 12.根据权利要求1所述的摩托车避碰方法,其特征在于,12. The motorcycle collision avoidance method according to claim 1, characterized in that, 获取定位数据和地图数据;Obtain positioning data and map data; 根据所述定位数据和地图数据判断该定位数据对应的位置的预设距离内是否存在危险区域;According to the positioning data and the map data, determine whether there is a dangerous area within the preset distance of the position corresponding to the positioning data; 若定位数据对应的位置的预设距离内存在危险区域,则触发一级警报。If there is a dangerous area within the preset distance of the position corresponding to the positioning data, a first-level alarm will be triggered. 13.根据权利要求6-12任一项所述的摩托车避碰方法,其特征在于,所述警报,包括:13. The motorcycle collision avoidance method according to any one of claims 6-12, wherein the alarm comprises: 一级警报,所述一级警报为触发至少一个扬声器和至少一个光源并保持在第一预设频率以对驾驶员进行警报;A first-level alarm, the first-level alarm is to trigger at least one speaker and at least one light source and maintain at a first preset frequency to alert the driver; 二级警报,所述二级警报为触发至少一个扬声器和至少一个光源并保持在第二预设频率以对驾驶员和周围车辆进行警报,所述第二预设频率比所述第一预设频率高;A second-level alarm, the second-level alarm is to trigger at least one speaker and at least one light source and maintain at a second preset frequency to alert the driver and surrounding vehicles, the second preset frequency is higher than the first preset frequency High frequency; 三级警报,所述三级警报为触发至少一个扬声器和至少一个光源并保持在第三预设频率以对驾驶员和周围车辆进行警报,所述第三预设频率比所述第二预设频率高。A third-level alarm, the third-level alarm is to trigger at least one speaker and at least one light source and maintain at a third preset frequency to alert the driver and surrounding vehicles, the third preset frequency is higher than the second preset frequency High frequency. 14.根据权利要求6-10任一项所述的摩托车避碰方法,其特征在于,所述触发三级警报之后,还包括:14. The collision avoidance method for motorcycles according to any one of claims 6-10, wherein after triggering the third-level alarm, the method further comprises: 获取定位数据;Get positioning data; 通过无线连接的通讯设备向预设求助人发送求助信息和所述定位数据。Send the help information and the positioning data to the preset helper through the wirelessly connected communication device. 15.一种摩托车避碰系统,其特征在于,包括:15. A motorcycle collision avoidance system, comprising: 采集模块,用于采集摩托车数据,所述摩托车数据包括车轮转速、侧倾角角度、俯仰角角度和动力控制数据,所述动力控制数据包括节气门数据、刹车制动数据和离合器数据,所述侧倾角角度和俯仰角角度是由IMU/AHRS传感器采集得到的;The acquisition module is used to collect motorcycle data, the motorcycle data includes wheel speed, roll angle, pitch angle and power control data, the power control data includes throttle data, brake data and clutch data, so The roll angle and pitch angle are collected by the IMU/AHRS sensor; 计算模块,用于根据轮胎尺寸和所述车轮转速计算得到车速;a calculation module for calculating the vehicle speed according to the tire size and the wheel speed; 所述计算模块,还用于根据所述摩托车数据计算危险系数,包括:根据所述车速、所述动力控制数据计算得到第一系数;根据所述第一系数和所述侧倾角角度计算得到侧倾危险系数;或,The calculation module is further configured to calculate the risk coefficient according to the motorcycle data, including: calculating and obtaining a first coefficient according to the vehicle speed and the power control data; calculating and obtaining the first coefficient according to the first coefficient and the roll angle. roll hazard factor; or, 所述计算模块,还用于根据所述车速、所述动力控制数据计算得到第一系数;根据所述第一系数和所述侧倾角角度计算得到侧倾危险系数;根据所述侧倾危险系数和所述俯仰角角度得到俯仰侧倾危险系数;The calculation module is further configured to calculate and obtain a first coefficient according to the vehicle speed and the power control data; calculate and obtain a roll risk coefficient according to the first coefficient and the roll angle; and obtain a roll risk coefficient according to the roll risk coefficient and the pitch angle to obtain the pitch-roll hazard coefficient; 判断模块,用于判断所述危险系数是否大于预设阈值;a judgment module for judging whether the risk factor is greater than a preset threshold; 警报模块,用于若所述危险系数大于预设阈值,则对驾驶员或周围车辆进行警报。An alarm module, configured to alert the driver or surrounding vehicles if the risk factor is greater than a preset threshold. 16.一种电子设备,其特征在于,包括处理器、通信接口、存储器和通信总线,其中,处理器,通信接口,存储器通过通信总线完成相互间的通信;存储器,用于存放计算机程序;处理器,用于执行存储器上所存放的程序时,实现权利要求1-14任一项所述的方法。16. An electronic device, characterized in that it comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory is used to store computer programs; The device is used to implement the method of any one of claims 1-14 when executing the program stored in the memory. 17.一种计算机可读存储介质,其特征在于,所述计算机可读存储介质内存储有计算机程序,所述计算机程序被处理器执行时实现权利要求1-14任一项所述的方法。17. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method of any one of claims 1-14 is implemented.
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