CN114038196A - Vehicle forward collision avoidance early warning system and method - Google Patents
Vehicle forward collision avoidance early warning system and method Download PDFInfo
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- CN114038196A CN114038196A CN202111366212.8A CN202111366212A CN114038196A CN 114038196 A CN114038196 A CN 114038196A CN 202111366212 A CN202111366212 A CN 202111366212A CN 114038196 A CN114038196 A CN 114038196A
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses a vehicle forward anti-collision early warning system and a vehicle forward anti-collision early warning method, which comprise a data acquisition module, a forward anti-collision early warning module and a left and right forward anti-collision early warning module, wherein the data acquisition module comprises a vehicle distance detection unit in front of a vehicle, a vehicle distance detection unit in front of the left and right of the vehicle, an x-axis vehicle speed detection unit and a y-axis vehicle speed detection unit. The invention discloses a vehicle forward collision avoidance early warning system and a vehicle forward collision avoidance early warning method, wherein a vehicle distance detection unit in front of a vehicle can detect the distance of a front vehicle in front of the vehicle and perform early warning in time; the front vehicle in the front of the left and right sides of the vehicle can be subjected to distance detection through the vehicle distance detection unit in the front of the left and right sides of the vehicle, the driving direction and the driving speed are reasonably judged, various data are combined for comprehensive comparison, driving safety is judged, and early warning is carried out in time.
Description
Technical Field
The invention relates to the field of vehicle anti-collision early warning for equipment safety, in particular to a vehicle forward anti-collision early warning system and a vehicle forward anti-collision early warning method.
Background
The automobile anti-collision early warning system is mainly used for assisting a driver to avoid major traffic accidents such as high-speed and low-speed rear-end collisions, unconscious lane departure at high speed, collision with pedestrians and the like. The system can identify and judge various potential dangerous conditions and remind the driver to avoid or slow down collision accidents through different sounds and vision by helping the driver like a third eye to continuously detect the road condition in front of the vehicle.
The automobile anti-collision early warning system is based on intelligent video analysis and processing, and achieves the early warning function through a dynamic video shooting technology and a computer image processing technology. The main functions are as follows: the system comprises a vehicle distance monitoring and rear-end collision early warning function, a front collision early warning function, a lane departure early warning function, a navigation function and a black box function. Compared with the existing automobile anti-collision early warning systems at home and abroad, such as an ultrasonic anti-collision early warning system, a radar anti-collision early warning system, a laser anti-collision early warning system, an infrared anti-collision early warning system and the like, the system has incomparable advantages in function, stability, accuracy, humanization and price. Can stably run for a long time in all weather, and greatly improves the comfort and safety of automobile driving.
Current automotive anti-collision technology typically includes the following functions:
1. vehicle distance monitoring and early warning: the system continuously monitors the distance to the front vehicle and provides three levels of vehicle distance monitoring alarms according to the proximity of the front vehicle;
2. early warning of automobile crossing lines: in the case where the turn signal is not on, the system generates an out-of-lane alert about 0.5 seconds before the vehicle passes through the various lane lines;
3. forward collision early warning: the system alerts the driver to an impending collision with the vehicle in front. When the possible collision time between the vehicle and the front vehicle at the current running speed is within 2.7 seconds, the system generates sound and light warning;
4. other functions are as follows: black box function, intelligent navigation, entertainment, radar early warning system (optional), tire pressure monitoring (optional), digital television (optional), back vision (optional).
To above-mentioned function, its forward collision early warning function development is comparatively laggard, and most are comparatively fuzzy to forward judgement among the prior art, and the position resolution of front truck is unclear, and if the front truck is in the left place ahead of back car, right front or dead ahead, the untimely problem of turning often can appear in some special circumstances to above-mentioned position relation, and adopts the mode of advance early warning usually to above-mentioned circumstances prior art, and this kind of mode is accurate inadequately, can not perfectly solve above-mentioned problem.
Disclosure of Invention
Aiming at the problems, the invention provides a vehicle forward collision avoidance early warning system and a vehicle forward collision avoidance early warning method, which are used for solving the problems.
The invention is realized by the following technical scheme:
anti-collision early warning system is preceding to vehicle, including data acquisition module, dead ahead anti-collision early warning module, control the place ahead anti-collision early warning module, wherein, data acquisition module includes that the vehicle dead ahead vehicle distance detecting element, the vehicle control the place ahead vehicle distance detecting element, X axle vehicle speed detecting element and y axle vehicle speed detecting element, the vehicle dead ahead vehicle distance detecting element is used for gathering the vehicle dead ahead and the vehicle distance information X of preceding car0The vehicle left and right front distance detection unit is used for acquiring vertical distance information X of the left and right front sides of the vehicle and the front vehicle1And a transverse vehicle distance X2The x-axis vehicle speed detection unit is used for acquiring the speed information V of the x axis when the vehicle runsxThe y-axis vehicle speed detection unit is used for acquiring speed information V of a y axis when the vehicle runsy(ii) a The front anti-collision early warning module comprises a first comparison unit and a first early warning unit, wherein the first comparison unit is used for comparing the distance information X between the front part of the vehicle and the front vehicle0Comparing with the safety threshold of the front vehicle when X is reached0When the safety threshold value is smaller than the safety threshold value, the first early warning unit carries out early warning; the left front and right front anti-collision early warning module comprises a data calculation unit, a second comparison unit and a second early warning unit, wherein the data calculation unit is used for calculating the distance information X between the left front and the right front of the vehicle and the front of the vehicle1Speed information V related to y axis of vehicle runningyCalculating to obtain time information T and speed information V of x axis when the vehicle runsxCalculating with the time information T to obtain the budget distance X3The second comparison unit is used for comparing the distance X between the transverse vehicles2And preCalculating the distance X3Comparing when X is2Less than X3And the second early warning unit carries out early warning.
Further, the vehicle distance information X between the left front and the right front of the vehicle and the front vehicle1Speed information V related to y axis of vehicle runningyThe calculation is specifically as follows:
T= X1/Vy；
wherein T represents time, X1Indicating vertical vehicle distance information between the left and right front sides of the vehicle and the front vehicle, said VyIndicating the speed information of the y-axis while the vehicle is traveling.
Further, the speed information V of the x axis when the pair of vehicles runsxThe calculation with the time information T is specifically:
X3=Vx·T；
wherein T represents time, and V representsxSpeed information representing an X-axis of a vehicle while the vehicle is traveling, the X3Representing the budget distance.
Further, the first early warning unit is a brake voice warning prompt device.
Further, the second early warning unit comprises brake voice warning prompt equipment and turning voice warning prompt equipment.
The forward collision avoidance early warning method for the vehicle comprises the following steps:
s1, distance information X between right front and front vehicles0Vertical vehicle distance information X between the left front side, the right front side and the front vehicle of the vehicle1And a transverse vehicle distance X2And speed information V of x axis when vehicle is runningxAnd speed information V of y axis when vehicle is runningyCollecting;
s2, obtaining the distance information X between the front of the vehicle and the front vehicle0Comparing with the safety threshold of the front vehicle when X is reached0When the value is greater than the safety threshold value, early warning is carried out, and when X is greater than the safety threshold value0If the safety threshold is less than the safety threshold, executing step S3;
s3 vehicle distance information X between right and left front of vehicle and front vehicle1Speed information V related to y axis of vehicle runningyCalculating to obtain time information T;
s4, speed information V of x axis when vehicle runsxCalculating with the time information T to obtain the budget distance X3；
S5, separating the transverse vehicle by the distance X2Distance X from budget3Comparing when X is2Greater than X3If so, then repeat step S1, when X2Less than X3And (6) early warning is carried out.
Further, the step S3 is specifically:
T= X1/Vy；
wherein T represents time, X1 represents vertical vehicle distance information between the left and right front sides of the vehicle and the front vehicle, and Vy represents speed information of the y axis when the vehicle runs.
Further, the step S4 is specifically:
X3=Vx·T；
wherein T represents time, and V representsxSpeed information representing an X-axis of a vehicle while the vehicle is traveling, the X3Representing the budget distance.
Further, the step S2 is specifically: the distance information X between the front part of the vehicle and the front vehicle0Comparing with the safety threshold of the front vehicle when X is reached0And when the safety threshold value is larger than the safety threshold value, performing brake voice prompt early warning.
Further, the step S5 is specifically: distance X between transverse vehicles2Distance X from budget3Comparing when X is2Less than X3And then, performing braking voice warning and turning voice warning.
The invention has the beneficial effects that:
the invention discloses a vehicle forward collision avoidance early warning system, which can detect the distance of a front vehicle right ahead of a vehicle and carry out early warning in time through a vehicle distance detection unit right ahead of the vehicle; the front vehicle in the front of the left and right sides of the vehicle can be subjected to distance detection through the vehicle distance detection unit in the front of the left and right sides of the vehicle, the driving direction and the driving speed are reasonably judged, various data are combined for comprehensive comparison, driving safety is judged, and early warning is carried out in time.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a system configuration diagram of a vehicle forward collision avoidance early warning system according to embodiment 1 of the present invention;
fig. 2 is a flowchart of a method of a vehicle forward collision avoidance early warning method according to embodiment 2 of the present invention;
fig. 3 is a schematic diagram of detecting a distance between left and right front vehicles of a vehicle according to the vehicle forward collision avoidance early warning method provided in embodiment 2 of the present invention;
FIG. 4 is a flow chart of x-axis vehicle speed detection and y-axis vehicle speed detection of the vehicle forward collision avoidance early warning method provided by the embodiment of the invention;
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a method for implementing a forward collision avoidance early warning of a vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
As shown in fig. 1, this embodiment provides anti-collision early warning system before vehicle, includes data acquisition module, dead ahead anti-collision early warning module, controls the place ahead anti-collision early warning module, wherein, data acquisition module includes vehicle dead ahead vehicle distance detecting element, the place ahead vehicle distance detecting element about the vehicle, X axle vehicle speed detecting element and y axle vehicle speed detecting element, vehicle dead ahead vehicle distance detecting element is used for gathering vehicle dead ahead and the vehicle distance information X of preceding car0The vehicle distance detection unit is used for acquiring the vertical vehicles of the left front, the right front and the front of the vehicleDistance information X1And a transverse vehicle distance X2The x-axis vehicle speed detection unit is used for acquiring the speed information V of the x axis when the vehicle runsxThe y-axis vehicle speed detection unit is used for acquiring speed information V of a y axis when the vehicle runsy(ii) a The front anti-collision early warning module comprises a first comparison unit and a first early warning unit, wherein the first comparison unit is used for comparing the distance information X between the front part of the vehicle and the front vehicle0Comparing with the safety threshold of the front vehicle when X is reached0When the safety threshold value is smaller than the safety threshold value, the first early warning unit carries out early warning; the left front and right front anti-collision early warning module comprises a data calculation unit, a second comparison unit and a second early warning unit, wherein the data calculation unit is used for calculating the distance information X between the left front and the right front of the vehicle and the front of the vehicle1Speed information V related to y axis of vehicle runningyCalculating to obtain time information T and speed information V of x axis when the vehicle runsxCalculating with the time information T to obtain the budget distance X3The second comparison unit is used for comparing the distance X between the transverse vehicles2Distance X from budget3Comparing when X is2Less than X3And the second early warning unit carries out early warning.
Further, the vehicle distance information X between the left front and the right front of the vehicle and the front vehicle1Speed information V related to y axis of vehicle runningyThe calculation is specifically as follows:
T= X1/Vy；
wherein T represents time, X1Indicating vertical vehicle distance information between the left and right front sides of the vehicle and the front vehicle, said VyIndicating the speed information of the y-axis while the vehicle is traveling.
Further, the speed information V of the x axis when the pair of vehicles runsxThe calculation with the time information T is specifically:
X3=Vx·T；
wherein T represents time, and V representsxSpeed information representing an X-axis of a vehicle while the vehicle is traveling, the X3Representing the budget distance.
Further, the first early warning unit is a brake voice warning prompt device.
Further, the second early warning unit comprises brake voice warning prompt equipment and turning voice warning prompt equipment.
Example 2
On the basis of embodiment 1, the present embodiment further provides a vehicle forward collision avoidance early warning method, as shown in fig. 2, 3, and 4, including the following steps:
s1, distance information X between right front and front vehicles0Vertical vehicle distance information X between the left front side, the right front side and the front vehicle of the vehicle1And a transverse vehicle distance X2And speed information V of x axis when vehicle is runningxAnd speed information V of y axis when vehicle is runningyCollecting;
s2, obtaining the distance information X between the front of the vehicle and the front vehicle0Comparing with the safety threshold of the front vehicle when X is reached0When the value is greater than the safety threshold value, early warning is carried out, and when X is greater than the safety threshold value0If the safety threshold is less than the safety threshold, executing step S3;
s3 vehicle distance information X between right and left front of vehicle and front vehicle1Speed information V related to y axis of vehicle runningyCalculating to obtain time information T;
s4, speed information V of x axis when vehicle runsxCalculating with the time information T to obtain the budget distance X3；
S5, separating the transverse vehicle by the distance X2Distance X from budget3Comparing when X is2Greater than X3If so, then repeat step S1, when X2Less than X3And (6) early warning is carried out.
Further, the step S3 is specifically:
T= X1/Vy；
wherein T represents time, X1 represents vertical vehicle distance information between the left and right front sides of the vehicle and the front vehicle, and Vy represents speed information of the y axis when the vehicle runs.
Further, the step S4 is specifically:
X3=Vx·T；
wherein T represents time, and V representsxSpeed information representing an X-axis of a vehicle while the vehicle is traveling, the X3To representAnd (4) budgeting the distance.
Further, the step S2 is specifically: the distance information X between the front part of the vehicle and the front vehicle0Comparing with the safety threshold of the front vehicle when X is reached0And when the safety threshold value is larger than the safety threshold value, performing brake voice prompt early warning.
Further, the step S5 is specifically: distance X between transverse vehicles2Distance X from budget3Comparing when X is2Less than X3And then, performing braking voice warning and turning voice warning.
Example 3
On the basis of embodiment 1, this embodiment provides an implementation mode of a vehicle forward anti-collision early warning system, specifically, a vehicle adopting the vehicle forward anti-collision early warning system acquires through a vehicle distance detection unit that is directly in front of the vehicle that the vehicle distance between the vehicle directly in front and a preceding vehicle is 13m, a safety threshold value is 3.5m in the vehicle forward anti-collision early warning system, the first comparison unit compares, 13m is greater than 3.5m, and no early warning is performed at this moment.
In another embodiment, the vehicle distance detecting unit acquires that the vehicle distance between the front vehicle and the front vehicle is 3.4m, the first comparing unit compares the vehicle distance with the front vehicle, the 3.4m is greater than 3.5m, and at the moment, the first early warning unit carries out voice and acousto-optic warning through the brake voice warning prompting device installed in the vehicle.
Example 4
On the basis of embodiment 1, the embodiment provides an implementation manner of a vehicle forward anti-collision early warning, specifically, a vehicle adopting a vehicle forward anti-collision early warning system, the vertical vehicle distance between the left front side of the vehicle and the front vehicle is 24m and the horizontal vehicle distance is 1m, the vehicle speed on the x axis is 0.5m/s, the vehicle speed on the y axis is 8m/s, the time on the y axis is 3s, the estimated distance is 1.5m, the second comparison unit compares the estimated distance with the second comparison unit, and the 1.5m is greater than 1m, and the early warning is not performed at this time.
In another embodiment, the vehicle distance detection unit acquires that the vertical vehicle distance between the left front of the vehicle and the front vehicle is 16m, the transverse vehicle distance is 0.9m, the x-axis vehicle speed detection unit acquires that the x-axis vehicle speed of the vehicle at the moment is 0.4m/s, the y-axis vehicle speed detection unit acquires that the y-axis vehicle speed of the vehicle at the moment is 8m/s, at the moment, the time is 2s through the data calculation unit, the estimated distance is 0.8m through calculation, the second comparison unit performs comparison, the 0.8m is smaller than 1m, and at the moment, the second early warning unit performs voice and acousto-optic warning through the brake voice warning prompt device and the turning voice warning prompt device installed in the vehicle.
Example 5
As shown in fig. 5, based on embodiment 1, the present embodiment proposes a terminal device for vehicle forward collision avoidance warning, where the terminal device 200 includes at least one memory 210, at least one processor 220, and a bus 230 connecting different platform systems.
The memory 210 may include readable media in the form of volatile memory, such as Random Access Memory (RAM)211 and/or cache memory 212, and may further include Read Only Memory (ROM) 213.
The memory 210 further stores a computer program, and the computer program can be executed by the processor 220, so that the processor 220 executes any one of the vehicle forward collision avoidance early warning methods in the embodiments of the present application, and the specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the embodiments of the method, and details of some contents are not repeated. Memory 210 may also include a program/utility 214 having a set (at least one) of program modules 215, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
Accordingly, processor 220 may execute the computer programs described above, as well as may execute programs/utilities 214.
Example 6
On the basis of embodiment 1, the present embodiment provides a computer-readable storage medium for vehicle forward pre-warning, which stores instructions that, when executed by a processor, implement any one of the vehicle forward pre-warning methods described above. The specific implementation manner is consistent with the implementation manner and the achieved technical effect described in the embodiment of the method, and some contents are not described again.
Fig. 6 shows a program product 300 for implementing the method provided by the embodiment, which may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be run on a terminal device, such as a personal computer. However, the program product 300 of the present invention is not so limited, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Program product 300 may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming 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. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. Anti-collision early warning system is preceding to vehicle, its characterized in that includes data acquisition module, dead ahead anti-collision early warning module, controls the place ahead anti-collision early warning module, wherein, data acquisition module includes that the dead ahead vehicle distance detecting element of vehicle, vehicle control the place ahead vehicle distance detecting element, X axle vehicle speed detecting element and y axle vehicle speed detecting element, the dead ahead vehicle distance detecting element of vehicle is used for gathering the vehicle distance information X of the dead ahead of vehicle and front truck0The vehicle left and right front distance detection unit is used for acquiring vertical distance information X of the left and right front sides of the vehicle and the front vehicle1And a transverse vehicle distance X2The x-axis vehicle speed detection unit is used for acquiring the speed information V of the x axis when the vehicle runsxThe y-axis vehicle speed detection unit is used for acquiring speed information V of a y axis when the vehicle runsy(ii) a The front anti-collision early warning module comprises a first comparison unit and a first early warning unit, wherein the first comparison unit is used for comparing the distance information X between the front part of the vehicle and the front vehicle0Comparing with the safety threshold of the front vehicle when X is reached0When the safety threshold value is smaller than the safety threshold value, the first early warning unit carries out early warning; the left front and right front anti-collision early warning module comprises a data calculation unit, a second comparison unit and a second early warning unit, wherein the data calculation unit is used for calculating the distance information X between the left front and the right front of the vehicle and the front of the vehicle1Speed information V related to y axis of vehicle runningyCalculating to obtain time information T and speed information V of x axis when the vehicle runsxCalculating with the time information T to obtain the budget distance X3The second comparison unit is used for comparing the distance X between the transverse vehicles2Distance X from budget3Comparing when X is2Less than X3And the second early warning unit carries out early warning.
2. The vehicle forward anti-collision early warning system according to claim 1, wherein the vehicle distance information X between the front left and right of the vehicle and the front vehicle1Speed information V related to y axis of vehicle runningyThe calculation is specifically as follows:
T= X1/Vy；
wherein T represents time, X1Indicating vertical vehicle distance information between the left and right front sides of the vehicle and the front vehicle, said VyIndicating the speed information of the y-axis while the vehicle is traveling.
3. The vehicle forward collision avoidance early warning system according to claim 1, wherein the speed information V on the x-axis of the vehicle during traveling is setxThe calculation with the time information T is specifically:
X3=Vx·T；
wherein T represents time, and V representsxSpeed information representing an X-axis of a vehicle while the vehicle is traveling, the X3Representing the budget distance.
4. The vehicle forward collision avoidance early warning system of claim 1, wherein the first early warning unit is a brake voice warning prompting device.
5. The vehicle forward collision avoidance warning system according to claim 1, wherein the second warning unit includes a brake voice warning prompting device and a turn voice warning prompting device.
6. The forward collision avoidance early warning method of the vehicle is characterized by comprising the following steps of:
s1, distance information X between right front and front vehicles0Vertical distance between the left front side and the right front side of the vehicle and the front vehicleInformation X1And a transverse vehicle distance X2And speed information V of x axis when vehicle is runningxAnd speed information V of y axis when vehicle is runningyCollecting;
s2, obtaining the distance information X between the front of the vehicle and the front vehicle0Comparing with the safety threshold of the front vehicle when X is reached0When the value is greater than the safety threshold value, early warning is carried out, and when X is greater than the safety threshold value0If the safety threshold is less than the safety threshold, executing step S3;
s3 vehicle distance information X between right and left front of vehicle and front vehicle1Speed information V related to y axis of vehicle runningyCalculating to obtain time information T;
s4, speed information V of x axis when vehicle runsxCalculating with the time information T to obtain the budget distance X3；
S5, separating the transverse vehicle by the distance X2Distance X from budget3Comparing when X is2Greater than X3If so, then repeat step S1, when X2Less than X3And (6) early warning is carried out.
7. The forward vehicle collision avoidance early warning method according to claim 6, wherein the step S3 is specifically:
T= X1/Vy；
wherein T represents time, X1 represents vertical vehicle distance information between the left and right front sides of the vehicle and the front vehicle, and Vy represents speed information of the y axis when the vehicle runs.
8. The forward vehicle collision avoidance early warning method according to claim 6, wherein the step S4 is specifically:
X3=Vx·T；
wherein T represents time, and V representsxSpeed information representing an X-axis of a vehicle while the vehicle is traveling, the X3Representing the budget distance.
9. The forward vehicle collision avoidance early warning method according to claim 6, wherein the step S2 is specifically: make the vehicle right aheadVehicle distance information X of square and front vehicle0Comparing with the safety threshold of the front vehicle when X is reached0And when the safety threshold value is larger than the safety threshold value, performing brake voice prompt early warning.
10. The forward vehicle collision avoidance early warning method according to claim 6, wherein the step S5 is specifically: distance X between transverse vehicles2Distance X from budget3Comparing when X is2Less than X3And then, performing braking voice warning and turning voice warning.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114937318A (en) * | 2022-04-21 | 2022-08-23 | 中山市易路美道路养护科技有限公司 | Black box of anti-collision warning device and collision data recording method |
| CN115273550A (en) * | 2022-07-29 | 2022-11-01 | 郑州工程技术学院 | Vehicle collision early warning method and system based on Internet of vehicles |
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