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

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

A motorcycle collision avoidance method, system, electronic device and storage medium

technical field

The invention relates to the field of data processing, in particular to a motorcycle collision avoidance method, system, electronic device and storage medium.

Background technique

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.

SUMMARY OF THE INVENTION

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.

One aspect of the present invention provides a motorcycle collision avoidance method, comprising:

Collect motorcycle data;

Calculate the risk factor according to the motorcycle data;

judging whether the risk factor is greater than a preset threshold;

If the risk factor is greater than a preset threshold, the driver or surrounding vehicles are alerted.

Wherein, the collecting motorcycle data includes:

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;

The vehicle speed is calculated from the tire size and the wheel speed.

Wherein, the calculation of the risk factor according to the motorcycle data includes:

The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

The roll risk coefficient is calculated and obtained according to the first coefficient and the roll angle.

Wherein, the calculation of the risk factor according to the motorcycle data includes:

The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

Calculate the roll risk coefficient according to the first coefficient and the roll angle;

The pitch roll risk coefficient is obtained according to the roll risk coefficient and the pitch angle.

Wherein, the calculation of the risk factor according to the motorcycle data includes:

The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

judging whether the absolute value of the longitudinal acceleration exceeds the preset acceleration preset times within a preset time;

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;

The overspeed risk coefficient is calculated according to the first coefficient and the second coefficient.

Wherein, the calculation of the risk factor according to the motorcycle data includes:

The third coefficient is obtained by calculating according to the lateral acceleration and the preset lateral acceleration coefficient;

The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

The lateral collision risk coefficient is calculated according to the first coefficient and the third coefficient.

Wherein, the calculation of the risk factor according to the motorcycle data includes:

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;

The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

The distance risk coefficient is calculated according to the first coefficient and the fourth coefficient.

Wherein, after the roll hazard coefficient is obtained, it also includes:

If the roll risk factor is greater than the first preset roll risk threshold, trigger a first-level alarm;

If the roll risk factor is greater than the second preset roll risk threshold, a three-level alarm is triggered.

Wherein, after the pitch and roll hazard coefficient is obtained, the method further includes:

If the pitch-roll hazard coefficient is greater than the first preset pitch-roll hazard threshold, a first-level alarm is triggered;

If the pitch-roll risk factor is greater than the second preset pitch-roll risk threshold, a third-level alarm is triggered.

Wherein, after obtaining the overspeed risk factor, it also includes:

If the overspeed risk factor is greater than the first preset overspeed risk threshold, a first-level alarm is triggered;

If the overspeed risk factor is greater than the second preset overspeed risk threshold, a three-level alarm is triggered.

Wherein, after obtaining the lateral collision risk coefficient, the method further includes:

If the lateral collision risk factor is greater than the first preset lateral collision risk threshold, a first-level alarm is triggered;

If the lateral collision risk factor is greater than the second preset lateral collision risk threshold, a three-level alarm is triggered.

Wherein, after obtaining the distance hazard coefficient, it also includes:

If the distance risk factor is greater than the first preset distance risk threshold, a first-level alarm is triggered;

If the distance risk factor is greater than the second preset distance risk threshold, a three-level alarm is triggered.

Among them, the comprehensive risk coefficient is calculated according to the risk coefficient and the corresponding preset risk coefficient weight value;

If the comprehensive risk factor is greater than the preset comprehensive risk threshold, a secondary alarm is triggered.

Among them, obtain positioning data and map data;

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;

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.

Wherein, the alarm includes:

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;

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;

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.

Wherein, after the third-level alarm is triggered, it further includes:

Get positioning data;

Send the help information and the positioning data to the preset helper through the wirelessly connected communication device.

Another aspect of the present invention provides a motorcycle collision avoidance system, comprising:

The acquisition module is used to collect motorcycle data;

a calculation module for calculating the risk factor according to the motorcycle data;

a judgment module for judging whether the risk factor is greater than a preset threshold;

An alarm module, configured to alert the driver or surrounding vehicles if the risk factor is greater than a preset threshold.

Another aspect of the present invention provides an electronic device, comprising: a processor, a communication interface, a memory and a communication bus;

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;

The processor is used for implementing the motorcycle collision avoidance method of the present invention when executing the program stored in the memory.

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.

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.

Description of drawings

1 shows a schematic flowchart of a motorcycle collision avoidance method provided by an embodiment of the present invention;

FIG. 2 shows a schematic flow chart of the calculation flow of the roll hazard coefficient provided by an embodiment of the present invention;

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;

FIG. 4 shows a schematic flowchart of a calculation flow of an overspeed risk factor provided by an embodiment of the present invention;

FIG. 5 shows a schematic flowchart of a calculation flow of a lateral collision risk coefficient provided by an embodiment of the present invention;

FIG. 6 shows a schematic flowchart of calculating a distance hazard coefficient provided by an embodiment of the present invention;

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;

FIG. 8 shows a schematic structural diagram of a motorcycle collision avoidance system provided by an embodiment of the present invention.

Detailed ways

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.

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:

Step 101, collecting motorcycle data.

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;

The vehicle speed is calculated from the tire size and the wheel speed.

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;

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;

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;

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.

Step 102: Calculate the risk factor according to the motorcycle data.

In this embodiment, various risk factors can be calculated according to motorcycle data:

The first type: calculating the first coefficient according to the vehicle speed and the power control data;

The roll risk coefficient is calculated and obtained according to the first coefficient and the roll angle.

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;

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;

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;

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.

The second type: calculating the first coefficient according to the vehicle speed and the power control data;

Calculate the roll risk coefficient according to the first coefficient and the roll angle;

The pitch roll risk coefficient is obtained according to the roll risk coefficient and the pitch angle.

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;

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. ;

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;

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;

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;

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;

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.

The third type: calculating and obtaining the first coefficient according to the vehicle speed and the power control data;

judging whether the absolute value of the longitudinal acceleration exceeds the preset acceleration preset times within a preset time;

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;

The overspeed risk coefficient is calculated according to the first coefficient and the second coefficient.

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;

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;

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;

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;

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;

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.

The fourth type: the third coefficient is calculated and obtained according to the lateral acceleration and the preset lateral acceleration coefficient;

The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

The lateral collision risk coefficient is calculated according to the first coefficient and the third coefficient.

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;

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;

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;

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.

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;

The first coefficient is calculated and obtained according to the vehicle speed and the power control data;

The distance risk coefficient is calculated according to the first coefficient and the fourth coefficient.

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;

Among them, the preset forward distance relationship table is to first calculate the safety time Tf according to the following formula:

T _f =+K _d Δθ ² (1)

T _f = -K _u Δθ ² (2)

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;

The preset rear distance relationship table is to first calculate the safety time T _f according to the following formula:

T _f =+L _d Δθ ² (3)

T _f = -L _u Δθ ² (4)

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;

The preset lateral distance relationship table is to first calculate the safety time T _f according to the following formula:

T _f =+T _d Δθ ² (5)

T _f = -T _u Δθ ² (6)

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;

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;

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;

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):

speed Minimum safe distance safe distance 48Km/H 9M 14M 80Km/H 15M 38M 112Km/H 21M 75M

Table 1)

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.

Step 103, judging whether the risk factor is greater than a preset threshold.

Step 104, if the risk factor is greater than a preset threshold, alert the driver or surrounding vehicles.

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;

If the roll risk factor is greater than the second preset roll risk threshold, a three-level alarm is triggered.

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;

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;

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;

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.

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;

If the pitch-roll risk factor is greater than the second preset pitch-roll risk threshold, a third-level alarm is triggered.

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;

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;

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;

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.

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;

If the overspeed risk factor is greater than the second preset overspeed risk threshold, a three-level alarm is triggered.

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;

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;

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;

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.

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;

If the lateral collision risk factor is greater than the second preset lateral collision risk threshold, a three-level alarm is triggered.

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;

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;

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;

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.

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;

If the distance risk factor is greater than the second preset distance risk threshold, a three-level alarm is triggered.

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;

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;

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;

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.

In 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):

为超速危险系数，

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,

is the speeding risk factor,

is the lateral collision risk factor;

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.

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;

If the comprehensive risk factor is greater than the preset comprehensive risk threshold, a secondary alarm is triggered.

After more than two risk coefficients are obtained, the comprehensive risk coefficient γ is calculated according to formula (8):

为超速危险系数对应的预设危险系数权重值，

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,

is the preset risk factor weight value corresponding to the overspeed risk factor,

is the preset risk coefficient weight value corresponding to the lateral collision risk coefficient;

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.

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.

In a possible embodiment, obtaining positioning data and map data;

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;

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.

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.

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;

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;

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.

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.

After the third-level alarm is triggered, in an embodiment, the positioning data is obtained;

Send the help information and the positioning data to the preset helper through the wirelessly connected communication device.

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.

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;

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;

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.

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.

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.

An embodiment of the present invention also provides a motorcycle collision avoidance system, as shown in FIG. 8 , the system includes:

The collection module 10 is used to collect motorcycle data;

a calculation module 20, configured to calculate the risk factor according to the motorcycle data;

A judgment module 30, configured to judge whether the risk factor is greater than a preset threshold;

The alarm module 40 is used for alarming the driver or surrounding vehicles if the risk factor is greater than a preset threshold.

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;

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.

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;

The calculation module 20 is further configured to calculate and obtain the roll risk coefficient according to the first coefficient and the roll angle.

The calculation module 20 is further configured to calculate and obtain the first coefficient according to the vehicle speed and the power control data;

The calculation module 20 is further configured to calculate and obtain the roll risk coefficient according to the first coefficient and the roll angle;

The calculating module 20 is further configured to obtain the pitching roll risk coefficient according to the roll risk coefficient and the pitch angle.

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;

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;

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;

The calculation module 20 is further configured to calculate and obtain an overspeed risk coefficient according to the first coefficient and the second coefficient.

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;

The calculation module 20 is further configured to calculate and obtain the first coefficient according to the vehicle speed and the power control data;

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.

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;

The calculation module 20 is further configured to calculate and obtain the first coefficient according to the vehicle speed and the power control data;

The calculating module 20 is further configured to calculate and obtain the distance risk coefficient according to the first coefficient and the fourth coefficient.

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;

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.

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;

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.

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;

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.

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;

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.

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;

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.

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;

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.

Wherein, the acquisition module 10 is also used for acquiring positioning data and map data;

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;

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.

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;

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;

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.

Wherein, the acquisition module 10 is also used for acquiring positioning data;

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.

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.

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.

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 .

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.

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.

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".

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.

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.

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. a motorcycle collision avoidance method, is characterized in that, comprises: 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; Calculate the risk factor according to the motorcycle data, including: calculating the vehicle speed according to the tire size and the wheel speed; 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, 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; judging whether the risk factor is greater than a preset threshold; If the risk factor is greater than a preset threshold, the driver or surrounding vehicles are alerted. 2. The motorcycle collision avoidance method according to claim 1, wherein the collecting motorcycle data comprises: 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. The motorcycle collision avoidance method according to claim 2, wherein the calculation of the risk factor according to the motorcycle data comprises: judging whether the absolute value of the longitudinal acceleration exceeds the preset acceleration preset times within a preset time; 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; The overspeed risk coefficient is calculated according to the first coefficient and the second coefficient. 4. The motorcycle collision avoidance method according to claim 2, wherein the calculation of the risk factor according to the motorcycle data comprises: The third coefficient is obtained by calculating according to the lateral acceleration and the preset lateral acceleration coefficient; The lateral collision risk coefficient is calculated according to the first coefficient and the third coefficient. 5. The collision avoidance method for motorcycles according to claim 2, wherein the calculation of the risk factor according to the motorcycle data comprises: 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; The distance risk coefficient is calculated according to the first coefficient and the fourth coefficient. 6. The motorcycle collision avoidance method according to claim 1, characterized in that, after obtaining the roll hazard coefficient, the method further comprises: If the roll risk factor is greater than the first preset roll risk threshold, trigger a first-level alarm; If the roll risk factor is greater than the second preset roll risk threshold, a three-level alarm is triggered. 7. The motorcycle collision avoidance method according to claim 1, characterized in that, after obtaining the pitch-roll hazard coefficient, the method further comprises: If the pitch-roll hazard coefficient is greater than the first preset pitch-roll hazard threshold, a first-level alarm is triggered; If the pitch-roll risk factor is greater than the second preset pitch-roll risk threshold, a third-level alarm is triggered. 8. The motorcycle collision avoidance method according to claim 3, characterized in that, after obtaining the overspeed risk factor, the method further comprises: If the overspeed risk factor is greater than the first preset overspeed risk threshold, a first-level alarm is triggered; If the overspeed risk factor is greater than the second preset overspeed risk threshold, a three-level alarm is triggered. 9. The motorcycle collision avoidance method according to claim 4, wherein after obtaining the lateral collision risk coefficient, the method further comprises: If the lateral collision risk factor is greater than the first preset lateral collision risk threshold, a first-level alarm is triggered; If the lateral collision risk factor is greater than the second preset lateral collision risk threshold, a three-level alarm is triggered. 10. The motorcycle collision avoidance method according to claim 5, characterized in that, after obtaining the distance risk factor, the method further comprises: If the distance risk factor is greater than the first preset distance risk threshold, a first-level alarm is triggered; If the distance risk factor is greater than the second preset distance risk threshold, a three-level alarm is triggered. 11. The motorcycle collision avoidance method according to claim 1, wherein, Calculate the comprehensive risk coefficient according to the risk coefficient and the corresponding preset risk coefficient weight value; If the comprehensive risk factor is greater than the preset comprehensive risk threshold, a secondary alarm is triggered. 12. The motorcycle collision avoidance method according to claim 1, characterized in that, Obtain positioning data and map data; 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; 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. The motorcycle collision avoidance method according to any one of claims 6-12, wherein the alarm comprises: 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; 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; 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. 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: Get positioning data; Send the help information and the positioning data to the preset helper through the wirelessly connected communication device. 15. A motorcycle collision avoidance system, comprising: 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; a calculation module for calculating the vehicle speed according to the tire size and the wheel speed; 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, 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; a judgment module for judging whether the risk factor is greater than a preset threshold; An alarm module, configured to alert the driver or surrounding vehicles if the risk factor is greater than a preset threshold. 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. 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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