CN114074658A - Early warning system and method for detecting approaching object - Google Patents
Early warning system and method for detecting approaching object Download PDFInfo
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- CN114074658A CN114074658A CN202010819431.6A CN202010819431A CN114074658A CN 114074658 A CN114074658 A CN 114074658A CN 202010819431 A CN202010819431 A CN 202010819431A CN 114074658 A CN114074658 A CN 114074658A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
Abstract
The invention provides an early warning system and method for detecting an approaching object, wherein a detection unit detects a moving path of the approaching object, a storage unit stores early warning information comprising a warning path and a confirmation condition, an operation processing unit receives a detection signal provided by the detection unit to obtain the real-time moving path of the approaching object, the operation judgment of the confirmation condition is started when the approaching object is detected to move into a buffer zone, and the operation processing unit outputs the warning signal when the moving path is judged to be in the warning path and accords with the confirmation condition, so that the approaching object can be accurately judged to be in a dangerous state to send out a warning, and personnel are informed to evade as soon as possible.
Description
Technical Field
The present invention relates to a detection and early warning system, and more particularly, to an early warning system and method for detecting an approaching object.
Background
Radar Detection systems, such as a Blind Spot Detection System (Blind Spot Detection System), a Rear Collision Warning System (Rear Collision Warning System), and a Collision prevention System (Pre Crash System), are currently used in intelligent vehicles, such as Advanced Driver Assistance Systems (ADAS), and are used to ensure that the vehicles do not collide with other people or objects during the driving process, thereby providing more safety.
However, it is often said that a faulty vehicle is parked at the roadside, and since the vehicle behind the faulty vehicle is hit without attention, a situation occurs in which a person in or beside the vehicle is injured or died by the hit. In addition, when a police places a roadblock in the process of temporary inspection or uses a static vehicle body as a shield in a crime scene, if the police does not find that a vehicle approaches quickly, the police may be injured along with the collision of the vehicle.
The existing detecting and warning system is statically placed to prevent collision of a coming vehicle, and detects the approaching speed or approaching distance of the coming vehicle by using a radar as a basis for judging whether the coming vehicle is a dangerous vehicle. However, when the approaching speed or approaching distance of the coming vehicle reaches the set range, if the driving path of the coming vehicle is far away and is not threatening, the system will still continuously send out a warning, so that the field personnel misjudge the coming vehicle as a dangerous vehicle, and further a fear or a panic occurs.
Disclosure of Invention
In order to solve the above problems, the present invention provides an early warning system and method for detecting an approaching object, wherein a moving path of the approaching object is detected, and when the moving path is determined to be in the warning path and meet a confirmation condition, an arithmetic processing unit outputs a warning signal and warns the approaching object.
An embodiment of the present invention provides an early warning system for detecting an approaching object, where the approaching object may be a vehicle, and the early warning system includes a detecting unit, a storage unit, and an arithmetic processing unit. The detection unit detects a moving path of the approaching object, converts the moving path into a detection signal and outputs the detection signal; the storage unit stores early warning information, the early warning information comprises a warning path set in the detection area and a confirmation condition for confirming that the approaching object continuously moves in the warning path, the warning path comprises a warning area and a buffer area, the warning area extends by a preset width which can be detected by the detection unit, and the buffer area extends outside the warning area; the operation processing unit is electrically connected with the detection unit and the storage unit respectively, receives the detection signal to obtain a real-time moving path of the approaching object, starts operation judgment of the confirmation condition when the approaching object is detected to move into the buffer zone, and outputs an alarm signal when the moving path is in the alarm path and meets the confirmation condition.
Preferably, the detection unit detects a relative distance of the approaching object in a detection area to obtain a collision time, the warning information includes a preset collision time value, the operation processing unit receives the detection signal to obtain a real-time collision time of the approaching object, and when the moving path is in the warning area and meets the confirmation condition, and the collision time is judged to be equal to or less than the preset collision time value, the operation processing unit outputs the warning signal.
Preferably, the confirmation condition is a preset counting value, when the approaching object enters the buffer zone, an actual counting value is counted, and if the actual counting value reaches the preset counting value, the arithmetic processing unit determines that the moving path meets the confirmation condition in the warning zone; additionally, the actual counting value does not reach the preset counting value, and the arithmetic processing unit judges that the moving path does not accord with the confirmation condition in the warning area.
Preferably, the warning area is a linear warning area which extends linearly in the same direction with a predetermined width, and the buffer area is expanded at two sides of the linear warning area and has a symmetrical distance.
Preferably, the warning area is a curve warning area, a triangular area formed by connecting three points with two end points with a predetermined width and a point of the position of the approaching object leaves the curve warning area along with the moving path of the approaching object, and when a distance condition is met, the triangular area formed by connecting three points with the point of the approaching object meeting the distance condition and the two end points is used to redefine the curve warning area, and so on until the confirmation condition is met and the operation processing unit outputs the warning signal, or the approaching object is far away through the detection unit.
Preferably, the distance condition is that the approaching object captures a plurality of waypoints in sequence according to the moving path of the approaching object when the approaching object moves away from the curve warning area, and the operation processing unit compares the first waypoint to the last waypoint in the plurality of waypoints as the distance condition is met when the approaching object gradually moves away from the curve warning area; in addition, when the first path point to the last path point in the plurality of path points are not gradually far away from the curve warning area, the condition of far away is not met.
Preferably, the system further comprises a curve warning area, a triangular area formed by connecting three points of two end points with a predetermined width and a point of the position of the approaching object leaves the curve warning area along the moving path of the approaching object, and when a distance condition is met, the curve warning area is redefined by using the triangular area formed by connecting three points of the point of the approaching object meeting the distance condition and the two end points, and so on until a confirmation condition is met and the arithmetic processing unit outputs a warning signal, or the approaching object is far away through the detection unit.
Preferably, the distance condition is that the approaching object captures a plurality of waypoints in sequence according to the moving path of the approaching object when the approaching object moves away from the curve warning area, and the operation processing unit compares the first waypoint to the last waypoint in the plurality of waypoints as the distance condition is met when the approaching object gradually moves away from the curve warning area; in addition, when the first path point to the last path point in the plurality of path points are not gradually far away from the curve warning area, the condition of far away is not met.
An embodiment of the present invention provides a method for detecting an approaching object, comprising the steps of: detecting a moving path of the approaching object in a detection area through a detection unit, converting the moving path into a detection signal and outputting the detection signal; storing early warning information through a storage unit, wherein the early warning information comprises a warning path set in a detection area and a confirmation condition for confirming that the approaching object continuously moves on the warning path, the warning path comprises a warning area and a buffer area, the warning area extends by a preset width which can be detected by the detection unit, and the buffer area extends outside the warning area; the operation processing unit is electrically connected with the detection unit and the storage unit respectively and receives the detection signal to obtain a real-time moving path of the approaching object, operation judgment of a confirmation condition is started when the approaching object is detected to move into the buffer area, and the operation processing unit outputs an alarm signal when the moving path is in the alarm path and meets the confirmation condition.
Preferably, the detection unit detects a relative distance of the approaching object in a detection area to obtain a collision time, the warning information includes a preset collision time value, the operation processing unit receives the detection signal to obtain a real-time collision time of the approaching object, and when the moving path is in the warning area and meets the confirmation condition, and the collision time is judged to be equal to or less than the preset collision time value, the operation processing unit outputs the warning signal.
Preferably, the confirmation condition is a preset counting value, when the approaching object enters the buffer, a real counting value is counted, if the real counting value reaches the preset counting value, the arithmetic processing unit determines that the moving path in the warning area meets the confirmation condition, otherwise, the real counting value is smaller than the preset counting value, and the arithmetic processing unit determines that the moving path in the warning area does not meet the confirmation condition.
Preferably, the warning area is a linear warning area extending linearly in the same direction with a predetermined width, and the buffer area is expanded at two sides of the linear warning area and has a symmetrical distance.
Preferably, the warning area is a curve warning area, a triangular area is formed by connecting three points at two end points with a predetermined width and a point at which the approaching object is located, after the approaching object leaves the curve warning area along the moving path of the approaching object and meets a distance condition, the triangular area formed by connecting three points at the point at which the approaching object meets the distance condition and the two end points is used to redefine the curve warning area, and so on until the confirmation condition is met and the operation processing unit outputs a warning signal, or the approaching object is far away through the detection unit.
Preferably, the distance condition is that the approaching object successively captures a plurality of waypoints along the moving path when the approaching object is far away from the curve warning region as described above, and the operation processing unit compares the first waypoint to the last waypoint in the plurality of waypoints as the distance gradually increasing curve warning region, and determines that the distance condition is satisfied, and in addition, determines that the distance condition is not satisfied when the first waypoint to the last waypoint in the plurality of waypoints are not away from the curve warning region gradually.
Preferably, the system further comprises a curve warning area, a triangular area formed by connecting three points of two end points with a predetermined width and a point of the position of the approaching object is left from the curve warning area along with the moving path of the approaching object, and when a distance condition is met, the curve warning area is redefined by using the triangular area formed by connecting three points of the point of the approaching object meeting the distance condition and the two end points, and so on until the confirmation condition is met and the arithmetic processing unit outputs a warning signal, or the approaching object is far away through the detection unit.
Preferably, the distance condition is that the approaching object successively captures a plurality of waypoints along the moving path when the approaching object is far away from the curve warning region as described above, and the operation processing unit compares the first waypoint to the last waypoint in the plurality of waypoints as the distance gradually increasing curve warning region, and determines that the distance condition is satisfied, and in addition, determines that the distance condition is not satisfied when the first waypoint to the last waypoint in the plurality of waypoints are not away from the curve warning region gradually.
Preferably, the detecting unit is a radar detecting module, which detects a first detecting time when the approaching object moves outside the buffer area, and detects a second detecting time when the approaching object enters the buffer area, wherein the second detecting time is higher than the first detecting time in the same detecting time.
Preferably, the warning signal processing unit outputs a warning when the approaching object travels in the warning area, which is higher than the warning level output by the processing unit when the approaching object travels in the buffer area.
Therefore, the moving path detected by the approaching object is in the warning path and the condition must be met to confirm that the approaching object really continuously moves in the warning path, and when the condition is met, the approaching object is confirmed to be in the dangerous state of collision, and the arithmetic processing unit outputs the warning signal to warn so as to solve the problem of misjudgment that the approaching object is in the dangerous state and avoid the situation that the warning sent by the misjudgment causes fear or panic of personnel.
Drawings
FIG. 1 is a block diagram of an early warning system according to the present invention;
FIG. 2 is a flow chart of the early warning system and method of the present invention in a straight line mode;
FIG. 3 is a schematic diagram of the early warning system and method of the present invention for detecting that an approaching object is approaching and has reached a warning state;
FIG. 4 is a schematic diagram of the early warning system and method of the present invention for detecting an approaching object approaching but failing to reach a warning state;
FIG. 5 is a flow chart of the early warning system and method of the present invention in a curve mode;
FIG. 6 is a schematic diagram of the early warning system and method of the present invention for detecting an approaching object approaching but failing to reach a warning state;
FIG. 7 is a schematic diagram of the early warning system and method of the present invention detecting that an approaching object is approaching and has reached a warning state.
Description of the reference numerals
100: an early warning system; 10: a detection unit; 20: a storage unit; 30: an arithmetic processing unit; A. b, C, D: a waypoint; l: an alert path; p: a movement path; p1, P2: an endpoint; p3, P4: the point is; v: approaching an object; w: a predetermined width; z1: a linear warning area; z2: a buffer area; z3, Z4: a curve warning area; z5, Z6: a buffer area.
Detailed Description
To facilitate the explanation of the present invention, the central ideas shown in the above summary are shown in the following embodiments. Various objects in the embodiments are depicted in terms of suitable illustrative proportions, dimensions, deformations, or displacements, rather than in terms of actual components, as previously described.
Referring to fig. 1 to 7, the present invention provides an early warning system and method for detecting an approaching object, the early warning system 100 for detecting an approaching object includes a detecting unit 10, a storage unit 20 and an arithmetic processing unit 30, the early warning system 100 is represented by an object statically placed on a breakdown car (not shown) or a triangular warning cone, etc. to detect an approaching object V approaching, in an embodiment of the present invention, the approaching object V may be a moving vehicle, and practically any approaching object may be used as a detection target, for example, the method may also be applied to rockfall detection and detection of approaching objects of ships in a water area, and the early warning method for detecting an approaching object is described as follows:
the detecting unit 10 detects a moving path P (in the embodiment, the traveling path of the moving vehicle) approaching the object V in a detecting area (not shown), and converts the moving path P into a detecting signal to output; the storage unit 20 is configured to store an early warning message, where the early warning message includes a warning route L and a confirmation condition, the warning route L is set in the detection area, and the confirmation condition is to confirm that the approaching object V continues to travel on the warning route L; the operation processing unit 30 is electrically connected to the detecting unit 10 and the storage unit 20, respectively, for receiving the detecting signal outputted by the detecting unit 10 to obtain the real-time moving path P of the approaching object V.
The confirmation condition, which is a counting default value in this embodiment, starts counting a counting actual value when the approaching object V enters the warning path L, and if the counting actual value reaches the counting default value, the arithmetic processing unit 30 determines that the moving path P of the approaching object V meets the confirmation condition in the warning path L. Otherwise, if the actual counting value does not reach the preset counting value, the arithmetic processing unit 30 determines that the moving path P of the approaching object V does not meet the confirmation condition in the warning path L.
In this embodiment, the counting preset value is 5, the counting actual value is 0 to 5, the counting process is not counting when the approaching object V is outside the warning path L, and the counting actual value is equal to 0; and starting counting after the approaching object V enters the warning path L until the actual counting value is equal to 5, wherein the actual counting value reaches the preset counting value. The counting default value and the counting actual value can be adjusted according to the situation, and are not limited to the above embodiments.
In this embodiment, the detecting unit 10 further detects a relative distance of the approaching object V in the detection region to obtain a Time To Collision (TTC), where the Time to Collision is obtained by differentiating the relative distance after the detecting unit 10 detects the relative distance to obtain a relative velocity of the approaching object V, and dividing the relative velocity by the relative distance. In this embodiment, the warning information includes a preset collision time value, which is about 3.5 seconds. In the present embodiment, the detected moving path P of the approaching object V is in the warning path L and meets the above-mentioned confirmation condition, and when the collision time is determined to be equal to or less than the above-mentioned preset collision time, the arithmetic processing unit 30 outputs a warning signal. The condition that the arithmetic processing unit 30 outputs the warning signal is not limited to include determining that the collision time is equal to or less than the preset collision time value, that is, when the moving path P of the approaching object V is detected in the warning path L and meets the confirmation condition, the arithmetic processing unit 30 can output the warning signal, but in this embodiment, the arithmetic processing unit 30 further determines that the collision time is equal to or less than the preset collision time value and then sends out the warning signal, which is only one embodiment, and the invention is not limited thereto.
The early warning system for detecting the approach of the approaching object in this embodiment includes a "straight line mode" and a "curve mode". In the aforementioned "linear mode", the warning path L includes a linear warning zone Z1 and a buffer zone Z2 (as shown in fig. 3 and 4), the buffer zone Z2 is expanded outside the linear warning zone Z1, the linear warning zone Z1 extends by a predetermined width W that can be detected by the detecting unit 10, in this embodiment, the linear warning zone Z1 extends linearly in the same direction by the predetermined width W, and the buffer zone Z2 is expanded at two sides of the linear warning zone Z1 and has a symmetrical distance.
As shown in fig. 2, the approach flow of detecting the approaching object V in the "straight line mode" is shown, and in conjunction with fig. 3, when the approaching object V does not enter the buffer Z2, it is not counted, which indicates that the approaching object V does not enter the warning path L, and the warning system 100 is in a standby state at this time; when the approaching object V enters the buffer Z2, the determination of the confirmation condition starts, in this embodiment, the actual count value starts to count up from 0 to 5, and if the approaching object V leaves the buffer Z2, the actual count value is counted down to 0. When the actual count value reaches 5, the arithmetic processing unit 30 determines that the moving path P of the approaching object V meets the confirmation condition in the warning path L because the actual count value reaches the preset count value, regardless of whether the approaching object V is in the buffer Z2 or enters the linear warning zone Z1 from the buffer Z2 during the process of counting from 0 to 5.
In summary, if the processing unit 30 has determined that the moving path P of the approaching object V is within the straight warning zone Z1 and the moving path P of the approaching object V also meets the confirmation condition, in the embodiment, the processing unit 30 further determines whether the collision time measured by the approaching object V is equal to or less than the preset collision time value of 3.5 seconds, i.e. whether the collision time measured by the approaching object V is within the preset collision time value of 3.5 seconds. In other words, when the arithmetic processing unit 30 determines that the collision time measured by the approaching object V is greater than the preset collision time value by 3.5 seconds, the warning system 100 is in a non-warning state; when the collision time measured by the arithmetic processing unit 30 is judged to be equal to or less than the preset collision time value for 3.5 seconds, the approaching object V is judged to be a dangerous vehicle in a dangerous state, and at the moment, the warning signal is output to warn (such as buzzing or flashing light), so that personnel in the fault vehicle or nearby can know that the dangerous vehicle approaches in time and avoid as soon as possible.
As shown in fig. 4, if the arithmetic processing unit 30 determines that the moving path P of the approaching object V is in the straight warning zone Z1 and the moving path P of the approaching object V also meets the confirmation condition, but the approaching object V has moved out of the straight warning zone Z1 before the detected collision time of the approaching object V reaches the preset collision time value within 3.5 seconds, even if the detected collision time of the approaching object V reaches the preset collision time value within 3.5 seconds, the approaching object V has moved out of the straight warning zone Z1, and no danger is caused to the people inside or beside the faulty vehicle, and the arithmetic processing unit 30 does not output the warning signal and does not warn, thereby avoiding the fear or panic of the people inside or beside the faulty vehicle.
In the "curve mode" described above, the triangular region formed by connecting the two end points P1 and P2 of the predetermined width W and the point P3 close to the position of the object V by three points is the curve warning regions Z3 and Z4, and the buffer regions Z5 and Z6 are expanded at both sides of the curve warning regions Z3 and Z4 (as shown in fig. 6 and 7). As shown in fig. 5, the approaching object detecting process in the "curve mode" is shown, and as shown in fig. 6, when the approaching object V does not enter the buffers Z5 and Z6, it is not counted, which indicates that the approaching object V does not enter the warning path L, and the warning system 100 is in a standby state. And when the approaching object V enters the buffer zone Z5, counting is started, and the actual counting value is counted from 0 to 5, and if the approaching object V enters the curve warning zone Z3 and then leaves, counting is started until the actual counting value is 0.
As shown in fig. 6 and 7, as the moving path P of the approaching object V changes, for example, the moving path P of the approaching object V leaves the curved warning zone Z3 and meets a departure condition, for example, in this embodiment, the departure condition is that the approaching object V successively captures four waypoints, such as waypoint A, B, C, D and the like, as shown in fig. 6, from the moving path P when the approaching object V departs from the curved warning zone Z3, and the processing unit 30 compares the first waypoint a to the last waypoint D in the waypoints A, B, C, D to gradually depart from the curved warning zone Z3, at this time, the triangular region formed by connecting the point P4 and the two endpoints P1 and P2 when the approaching object V meets the departure condition is changed to redefine the curved warning zone Z4 and the buffer zone Z6 (as shown in fig. 7), and so on until the confirmation condition is met and the processing unit 30 outputs the warning signal, or the approaching object V is moved away by the detection unit 10. On the contrary, if the first path point a to the last path point D of the path points A, B, C, D are not gradually far from the curve warning zone Z3, it is determined that the far condition is not met, and the curve warning zone Z3 is still maintained without redefining.
When the approaching object V enters the buffer Z5 or the buffer Z6 in the "curve mode", the actual counting value starts to be counted up from 0 to 5, the approaching object V enters the curve warning region Z3 from the buffer Z5 or enters the curve warning region Z4 from the buffer Z6, and when the continuous counting reaches 5, the arithmetic processing unit 30 determines that the moving path P of the approaching object V meets the confirmation condition in the warning path L because the actual counting value reaches the preset counting value.
In summary, if the processing unit 30 determines that the moving path P of the approaching object V is within the curve warning zone Z3 or the curve warning zone Z4 and the moving path P of the approaching object V also meets the determination condition, the processing unit 30 also determines whether the collision time measured by the approaching object V is equal to or less than the preset collision time value of 3.5 seconds. In other words, when the arithmetic processing unit 30 determines that the collision time measured by the approaching object V is greater than the preset collision time value by 3.5 seconds, the warning system 100 is in a non-warning state; when the collision time measured by the arithmetic processing unit 30 is judged to be equal to or less than the preset collision time value for 3.5 seconds (as shown in fig. 7), the approaching object V is judged to be a dangerous vehicle in a dangerous state, and the warning signal is output to warn, so that personnel in the fault vehicle or nearby can know that the dangerous vehicle approaches in time and evade as soon as possible. If the approaching object V moves out of the curve warning zone Z4 (not shown), even if the collision time measured by the approaching object V reaches the preset collision time value within 3.5 seconds, no danger is caused to the people inside the faulty vehicle or nearby, the arithmetic processing unit 30 does not output the warning signal and does not warn, thereby avoiding the fear or panic of the people inside the faulty vehicle or nearby.
The above description describes the linear mode and the curved mode respectively, and in practical use, the approach of the approaching object V can be detected by the linear mode or the curved mode alone, or the linear mode and the curved mode are parallel, for example, the approach of the approaching object V is detected by the linear mode and the curved mode simultaneously, or the approach of the approaching object V is detected by the linear mode and the curved mode in an alternating manner, so that the mode for detecting the approach of the approaching object can be more flexibly applied, and the occurrence of misjudgment can be reduced.
The characteristics of the invention can be easily found from the above description, mainly comprising:
1. the approaching object detection early warning system and method provided by the present invention is characterized in that the moving path P of the approaching object is in the warning path L and must meet the confirmation condition to confirm that the approaching object V is actually and continuously driving on the warning path. When the above conditions are met, the approaching object is determined to be in a dangerous state, and the arithmetic processing unit 30 outputs a warning signal to warn, so as to solve the problem of misjudging the approaching object to be in the dangerous state, and avoid the occurrence of fear or panic of personnel caused by the warning sent by misjudgment.
2. The system and method for detecting an approaching object of the present invention further uses the collision time detected by the detecting unit 10 for the approaching object, except that the moving path P of the approaching object is in the warning path L and should meet the confirmation condition, and the operation processing unit 30 determines that the moving path P is within the preset collision time value, and then determines that the approaching object is in a dangerous state and outputs the warning signal to warn, so that the collision time assists in determining the correctness of the approaching object in the dangerous state.
3. The early warning system and method for detecting the approaching object provided by the invention can obtain good detecting and early warning effects in a curve mode when the moving path P of the approaching object V enters from the side, and can adjust the range of the warning area according to the moving path P of the approaching object V (for example, the curve warning area Z3 is adjusted to the curve warning area Z4), thereby further achieving the effect of accurately detecting the moving path P of the approaching object V.
Further, the detecting unit 10 is a radar detecting module in the embodiment, and detects that there is a first detecting time when the approaching object V travels outside the buffers Z2, Z5, and Z6, and there is a second detecting time when the approaching object V is detected to travel inside the buffers Z2, Z5, and Z6, where the second detecting time is higher than the first detecting time. For example, when the approaching object V travels outside the buffers Z2, Z5, and Z6, the detecting unit 10 detects a first number of detections, for example, only 50 times per second, and belongs to the slow detection mode; when the approaching object V travels in the buffers Z2, Z5, Z6, a second detection frequency, such as only 500 times per second, which can be detected by the detection unit 10, belongs to the fast detection mode. Therefore, the approaching object V is driven outside the buffers Z2, Z5, and Z6 to be in the slow detection mode, which saves power compared to the fast detection mode, thereby achieving the power saving effect when the detection unit 10 detects.
Further, the warning signal is output to give a warning when the approaching object V travels in the buffers Z2, Z5, and Z6, and the warning signal arithmetic processing unit 30 outputs a warning when the approaching object V travels in the warning zones Z1, Z3, and Z4, in comparison with the warning degree output by the arithmetic processing unit 30 when the approaching object V travels in the buffers Z2, Z5, and Z6. In other words, the warning degree when the approaching object V travels in the buffers Z2, Z5, and Z6 and starts outputting the warning signal to warn is low (for example, the buzzer sound is low or the flashing frequency of the warning lamp is low), the providing personnel can notice when the approaching object V travels in the buffers Z2, Z5, and Z6, and the warning degree is increased (for example, the buzzer sound is high or the flashing frequency of the warning lamp is high) when the approaching object V travels in the warning buffers Z1, Z3, and Z4, so as to assist the personnel to know that the situation is critical and evade as soon as possible.
In addition, the early warning system 100 detects the approaching object V, which is placed statically in a faulty vehicle or in a case of an object such as a triangular warning cone in the above embodiment, but not limited thereto, the early warning system 100 may also detect the moving vehicle, for example, the early warning system 100 is placed behind the vehicle, when the vehicle starts to reverse, the early warning system 100 may also detect that the approaching object is approaching in the forward direction or in the lateral direction behind the vehicle in the detection range, and output the warning signal to warn when the approaching object is detected, thereby achieving the effect of collision avoidance during reversing.
The above examples are provided only for illustrating the present invention and are not intended to limit the scope of the present invention. It will be understood that various modifications and changes may be made without departing from the spirit of the invention, which is set forth in the claims below.
Claims (18)
1. An early warning system for detecting the approach of an approaching object, comprising:
the detection unit is used for detecting a moving path of the approaching object in a detection area and converting the moving path into a detection signal to be output;
a storage unit, for storing an early warning information, the early warning information includes a warning path set in the detection area and a confirmation condition for confirming that the approaching object continuously moves on the warning path, wherein the warning path has a warning area and a buffer area, the warning area extends by a predetermined width that can be detected by the detection unit, the buffer area extends outside the warning area, and the confirmation condition is started when the approaching object moves into the buffer area; and
and the operation processing unit is electrically connected with the detection unit and the storage unit respectively, receives the detection signal to obtain a real-time moving path of the approaching object, and outputs an alarm signal when judging that the moving path is in parallel with the alarm path and meets the confirmation condition.
2. A warning system for detecting the proximity of an approaching object as recited in claim 1, wherein: the detection unit detects a relative distance of the approaching object in a detection area to obtain a collision time, the early warning information comprises a preset collision time value, the operation processing unit receives the detection signal to obtain the real-time collision time of the approaching object, and when the moving path is in the warning area and meets the confirmation condition, and the operation processing unit outputs the warning signal when the collision time is judged to be equal to or less than the preset collision time value.
3. A warning system for detecting the proximity of an approaching object as recited in claim 1, wherein: the confirmation condition is a counting preset value, when the approaching object enters the buffer zone, a counting actual value is counted, if the counting actual value reaches the counting preset value, the arithmetic processing unit judges that the moving path accords with the confirmation condition in the warning zone; additionally, the actual counting value does not reach the preset counting value, and the arithmetic processing unit judges that the moving path does not accord with the confirmation condition in the warning area.
4. A warning system for detecting the proximity of an approaching object as recited in claim 3, wherein: the warning area is a linear warning area which extends linearly in the same direction by the preset width, and the buffer area expands at two sides of the linear warning area and has symmetrical distance.
5. A warning system for detecting the proximity of an approaching object as recited in claim 1, wherein: the warning area is a curve warning area, a triangular area formed by connecting three points of two end points with the position of the approaching object is formed, the triangular area leaves the curve warning area along the moving path of the approaching object, and when a distance condition is met, the triangular area formed by connecting three points of the two end points with the position of the approaching object when the approaching object meets the distance condition is used for redefining the curve warning area, and the like until the confirmation condition is met and the operation processing unit outputs the warning signal, or the approaching object is far away through the detection unit.
6. A warning system for detecting the proximity of an approaching object as recited in claim 5, wherein: the far condition is that the approaching object captures a plurality of path points in sequence according to the moving path when the approaching object is far away from the curve warning area, and the operation processing unit compares that the first path point to the last path point in the plurality of path points are gradually far away from the curve warning area, and the approaching object is considered to be in accordance with the far condition; additionally, the first path point to the last path point in the plurality of path points is not considered to be in accordance with the departure condition when the curve warning area is not gradually departed from the curve warning area.
7. An early warning system for detecting the proximity of a proximate object as recited in claim 4, wherein: the curve warning area is redefined by the triangular area formed by the three-point connecting line of the point where the approaching object meets the distance condition and the two end points when the approaching object meets the distance condition, and the analogy is repeated until the confirmation condition is met and the operation processing unit outputs the warning signal or the approaching object is far away through the detection unit.
8. A warning system for detecting the proximity of an approaching object as recited in claim 7, wherein: the far condition is that a plurality of path points are successively captured by a moving path of the approaching object when the approaching object is far away from the curve warning area, and the operation processing unit compares that the first path point to the last path point in the plurality of path points are gradually far away from the curve warning area, and the approaching object is considered to be in accordance with the far condition; additionally, the first path point to the last path point in the plurality of path points is not considered to be in accordance with the departure condition when the curve warning area is not gradually departed from the curve warning area.
9. An early warning method for detecting the approach of an approaching object is characterized by comprising the following steps:
detecting a moving path of the approaching object in a detection area through a detection unit, converting the moving path into a detection signal and outputting the detection signal;
storing early warning information through a storage unit, wherein the early warning information comprises a warning path set in the detection area and a confirmation condition for confirming that the approaching object continuously moves on the warning path, the warning path comprises a warning area and a buffer area, the warning area extends by a preset width which can be detected by the detection unit, and the buffer area is expanded outside the warning area;
the operation processing unit is electrically connected with the detection unit and the storage unit respectively and receives the detection signal to obtain a real-time moving path of the approaching object, and when the moving path is in the warning path and meets the confirmation condition, the operation processing unit outputs a warning signal.
10. A method as claimed in claim 9, wherein the method comprises: the detection unit detects a relative distance of the approaching object in a detection area to obtain a collision time, the early warning information comprises a preset collision time value, the operation processing unit receives the detection signal to obtain the real-time collision time of the approaching object, and when the moving path is in the warning area and meets the confirmation condition, and the operation processing unit outputs the warning signal when the collision time is judged to be equal to or less than the preset collision time value.
11. A method as claimed in claim 9, wherein the method comprises: the confirmation condition is a counting default value, when the approaching object enters the buffer zone, a counting actual value is counted, if the counting actual value reaches the counting default value, the arithmetic processing unit judges that the moving path in the warning zone meets the confirmation condition, otherwise, the counting actual value is smaller than the counting default value, and the arithmetic processing unit judges that the moving path in the warning zone does not meet the confirmation condition.
12. A method as claimed in claim 11, wherein the method comprises: the warning area is a linear warning area which extends linearly in the same direction by the preset width, and the buffer area is expanded at two sides of the linear warning area and has symmetrical distance.
13. A method as claimed in claim 9, wherein the method comprises: the warning area is a curve warning area, a triangular area formed by connecting three points of two end points with the position of the approaching object is formed, after the curve warning area leaves the curve warning area along the moving path of the approaching object and meets a distance condition, the triangular area formed by connecting three points of the point and the two end points when the approaching object meets the distance condition is used for redefining the curve warning area, and the like until the confirmation condition is met and the operation processing unit outputs the warning signal, or the approaching object is far away through the detection unit.
14. A method as claimed in claim 13, wherein the method comprises: the moving path of the approaching object is successively captured by the moving path of the approaching object when the approaching object moves away from the curve warning area, the operation processing unit compares the first path point to the last path point of the plurality of path points to determine that the approaching object gradually moves away from the curve warning area, and the approaching object is determined to be in accordance with the moving path of the approaching object when the first path point to the last path point of the plurality of path points gradually moves away from the curve warning area.
15. A method as claimed in claim 12, wherein the method comprises: and the curve warning area is redefined by the triangular area formed by connecting the point of the approaching object which is in accordance with the distance condition with the three points of the two end points when the approaching object is in accordance with the distance condition after the curve warning area is separated from the moving path of the approaching object and the distance condition is satisfied, and the analogy is repeated until the confirmation condition is satisfied and the operation processing unit outputs the warning signal or the approaching object is far away through the detection unit.
16. A method as claimed in claim 15, wherein the method comprises: the moving path of the approaching object is successively captured by the moving path of the approaching object when the approaching object moves away from the curve warning area, the operation processing unit compares the first path point to the last path point of the plurality of path points to determine that the approaching object gradually moves away from the curve warning area, and the approaching object is determined to be in accordance with the moving path of the approaching object when the first path point to the last path point of the plurality of path points gradually moves away from the curve warning area.
17. A method as claimed in claim 9, wherein the method comprises: the detection unit is a radar detection module, which detects that a first detection frequency exists when the approaching object moves outside the buffer area, and detects that a second detection frequency exists when the approaching object enters the buffer area, wherein the second detection frequency is higher than the first detection frequency in the same detection time.
18. A method as claimed in claim 9, wherein the method comprises: the warning signal is output by the arithmetic processing unit when the approaching object runs in the warning area, and is higher than the warning degree output by the arithmetic processing unit when the approaching object runs in the buffer area.
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