CN114384544A - Device for realizing lane change risk early warning by utilizing laser - Google Patents
Device for realizing lane change risk early warning by utilizing laser Download PDFInfo
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- CN114384544A CN114384544A CN202011132251.7A CN202011132251A CN114384544A CN 114384544 A CN114384544 A CN 114384544A CN 202011132251 A CN202011132251 A CN 202011132251A CN 114384544 A CN114384544 A CN 114384544A
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- 238000000034 method Methods 0.000 claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012502 risk assessment Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
Abstract
The invention provides a device for realizing lane change risk early warning by utilizing laser, which comprises a laser pulse transmitting module, a laser pulse receiving module, a timer and a vehicle early warning system, wherein the laser pulse transmitting module is used for transmitting laser pulses to a vehicle; the laser pulse transmitting module is used for transmitting pulse laser; the laser pulse receiving module is used for receiving the reflected pulse laser; the timer is used for the time from sending to receiving the pulse laser; the vehicle early warning system is connected with a vehicle CAN network and used for acquiring vehicle steering information and sending an alarm signal. The invention also provides a method for realizing lane change risk early warning by using laser. The device provided by the invention adopts a laser ranging method to dynamically monitor the vehicles at the two sides behind, provides a risk coefficient in the lane changing process in real time, and reduces the possibility of vehicle collision accidents caused by lane changing.
Description
Technical Field
The invention provides a device for realizing lane change risk early warning by utilizing laser, and belongs to the technical field of detection methods.
Background
Disclosure of Invention
The technical problem is as follows: in order to solve the defects of the prior art, the invention provides a method for realizing a detection device, which analyzes the running state of a left running vehicle and a right running vehicle by using data obtained by laser ranging, and carries out lane change risk analysis on the lane change vehicles by using the distance between the left and right running vehicles and the lane change vehicles (the lane change vehicles are vehicles provided with the early warning device), the running speed of the left and right running vehicles relative to the lane change vehicles, the acceleration of the left and right running vehicles relative to the lane change vehicles and the like, and carries out early warning on a driver according to the analysis result.
The technical scheme is as follows: the invention provides a device for realizing lane change risk early warning by utilizing laser, which comprises a laser pulse transmitting module, a laser pulse receiving module, a timer and a vehicle early warning system, wherein the laser pulse transmitting module is used for transmitting laser pulses to a vehicle; the laser pulse transmitting module is used for transmitting pulse laser; the laser pulse receiving module is used for receiving the reflected pulse laser; the timer is used for the time from sending to receiving the pulse laser; the vehicle early warning system is connected with a vehicle CAN network and used for acquiring vehicle steering information and sending an alarm signal.
The invention also provides a method for realizing lane change risk early warning by using laser, which comprises the following steps:
(1) arranging a laser pulse transmitting module and a laser pulse receiving module at two sides of an automobile, so that the laser pulse transmitting module and the automobile body form a certain angle; the angle between the laser emission and the vehicle body is proper so as to ensure that the farther distance and the smaller blind area are detected;
(2) and judging whether the vehicle has lane change operation or not by utilizing a transmitting-receiving pulse laser interval formed by a laser pulse transmitting module and a laser pulse receiving module, calculating two parameters of the distance and the acceleration of the vehicle at the rear side, and taking the parameters into a logic judgment module to judge whether the vehicle is at risk or not.
In the step (1), the two sides of the automobile comprise a left rear-view mirror and a right rear-view mirror or a left tail light and a right tail light.
The step (2) is specifically as follows: after the vehicle early warning system acquires vehicle steering information, a laser pulse transmitting module at the steering side transmits pulse laser for the first time, a timer starts timing, a laser pulse receiving module receives the pulse laser for the first time, and the timer stops timing to obtain time t 1; waiting for a time T1; the laser pulse transmitting module transmits the pulse laser for the second time and starts timing, the laser pulse receiving module receives the pulse laser for the second time, and the timer stops timing to obtain time t 2; wait for T1 time; the laser pulse transmitting module transmits the pulse laser for the third time, the timer starts to time, the laser pulse receiving module receives the pulse laser for the third time, and the time t3 is obtained after the time t is stopped to time;
the parameters are sent to a vehicle early warning system, the vehicle early warning system calculates the time T when the rear side vehicle catches up with the lane-changing vehicle by using the parameters T1, T1, T2 and T3, and the calculation method is as follows: l1 ═ C × t1/2, L2 ═ C × t2/2, L3 ═ C × t 3/2; v1 ═ L2-L1)/T1, V2 ═ L3-L2)/T1; a ═ V2-V1/T1;
according to a x T2Determining T by the aid of the/2 + V2T-L3, namely the time T when the rear-side vehicle catches up with the lane-changing vehicle;
wherein C is a light propagation speed, L1 is a distance between two vehicles when the laser is first transmitted and received, L2 is a distance between two vehicles when the laser is second transmitted and received, L3 is a distance between two vehicles when the laser is third transmitted and received, V1 is a relative speed between two vehicles when the laser is first and second transmitted and received, and V2 is a relative speed between two vehicles when the laser is second and third transmitted and received; a is the acceleration; the vehicle early warning system compares the time T that the rear side vehicle catches up with the lane-changing vehicle with the preset safe time S, and sends out an alarm signal when the T is less than S; and when T is larger than or equal to S, no alarm signal is sent out.
Has the advantages that: the device provided by the invention adopts a laser ranging method to dynamically monitor the vehicles at the two sides behind, provides a risk coefficient in the lane changing process in real time, and reduces the possibility of vehicle collision accidents caused by lane changing.
In particular, the present invention is intended to have the following outstanding advantages over the prior art:
(1) aiming at the actual traffic problem, the laser ranging is applied to lane change early warning prompt, so that traffic accidents caused by lane change are greatly reduced;
(2) in order to reduce the dead zone monitored by the device and increase the longitudinal distance monitored as much as possible, the equipment is arranged at the side direction of a rear view mirror or a vehicle;
(2) the early warning system adopts the methods of voice prompt, central control screen prompt and the like
(4) The laser ranging means is very mature, and by utilizing the characteristics of high efficiency, instantaneity and accuracy of laser ranging, the scheme can also have high efficiency, real time, accuracy and low cost for monitoring the motion state analysis of the vehicle coming from the side and the rear.
Drawings
Fig. 1 is a schematic view of an installation state of the lane change risk early warning device implemented by using laser according to the present invention.
Fig. 2 is a flow chart of lane change risk early warning judgment.
Detailed Description
The present invention is further explained below.
The device for realizing lane change risk early warning by utilizing laser comprises a laser pulse transmitting module, a laser pulse receiving module, a timer and a vehicle early warning system; the laser pulse transmitting module is used for transmitting pulse laser; the laser pulse receiving module is used for receiving the reflected pulse laser; the timer is used for the time from sending to receiving the pulse laser; the vehicle early warning system is connected with a vehicle CAN network and used for acquiring vehicle steering information and sending an alarm signal.
The method for realizing lane change risk early warning by utilizing laser comprises the following steps:
(1) arranging a laser pulse transmitting module and a laser pulse receiving module at two sides of an automobile, so that the laser pulse transmitting module and the automobile body form a certain angle; the angle between the laser emission and the vehicle body is proper so as to ensure that the farther distance and the smaller blind area are detected;
(2) and judging whether the vehicle has lane change operation or not by utilizing a transmitting-receiving pulse laser interval formed by a laser pulse transmitting module and a laser pulse receiving module, calculating two parameters of the distance and the acceleration of the vehicle at the rear side, and taking the parameters into a logic judgment module to judge whether the vehicle is at risk or not.
In the step (1), the two sides of the automobile comprise a left rear-view mirror and a right rear-view mirror or a left tail light and a right tail light.
The step (2) is specifically as follows: after the vehicle early warning system acquires vehicle steering information, a laser pulse transmitting module at the steering side transmits pulse laser for the first time, a timer starts timing, a laser pulse receiving module receives the pulse laser for the first time, and the timer stops timing to obtain time t 1; waiting for a time T1; the laser pulse transmitting module transmits the pulse laser for the second time and starts timing, the laser pulse receiving module receives the pulse laser for the second time, and the timer stops timing to obtain time t 2; wait for T1 time; the laser pulse transmitting module transmits the pulse laser for the third time, the timer starts to time, the laser pulse receiving module receives the pulse laser for the third time, and the time t3 is obtained after the time t is stopped to time;
the parameters are sent to a vehicle early warning system, the vehicle early warning system calculates the time T when the rear side vehicle catches up with the lane-changing vehicle by using the parameters T1, T1, T2 and T3, and the calculation method is as follows: l1 ═ C × t1/2, L2 ═ C × t2/2, L3 ═ C × t 3/2; v1 ═ L2-L1)/T1, V2 ═ L3-L2)/T1; a ═ V2-V1/T1;
according to a x T2Determining T by the aid of the/2 + V2T-L3, namely the time T when the rear-side vehicle catches up with the lane-changing vehicle;
wherein C is a light propagation speed, L1 is a distance between two vehicles when the laser is first transmitted and received, L2 is a distance between two vehicles when the laser is second transmitted and received, L3 is a distance between two vehicles when the laser is third transmitted and received, V1 is a relative speed between two vehicles when the laser is first and second transmitted and received, and V2 is a relative speed between two vehicles when the laser is second and third transmitted and received; a is the acceleration;
the vehicle early warning system compares the time T that the rear side vehicle catches up with the lane-changing vehicle with the preset safe time S, and sends out an alarm signal when the T is less than S; and when T is larger than or equal to S, no alarm signal is sent out.
The present invention will be described below with reference to a specific example.
The scheme of the invention is introduced and divided into three parts, namely a first part of equipment installation position, a second part of software and hardware implementation process, and a third part of alarm strategy.
A first part: installation of equipment
The equipment installation is located the car both sides, including but not limited to left and right rear-view mirror, left and right tail lamp etc. ensures that laser emission is suitable with the automobile body angle to guarantee to survey farther distance, and littleer blind area. In the example, the mounting on a rearview mirror is taken as an example, as shown in fig. 1: the mirror-mounted unit emits laser light at 7 ° to the body of the unit-mounted vehicle.
The software realizes that two parameters of the distance and the acceleration of the vehicle at the rear side are calculated by using the time interval of the pulse laser for transmitting and receiving, and are brought into a software logic judgment module for judgment.
Judging process, as shown in fig. 2:
step 1: the system is normally started;
step 2: judging whether the vehicle lane change operation is carried out at present, and carrying out a lane change indicator lamp controller result according to a driver;
and step 3: judging whether to change the lane left or right;
step 4, the left device sends pulse laser for the first time and starts timing;
and 5: the left device receives the pulse laser for the first time, and stops timing to obtain time t 1;
step 6: waiting for a time T1;
step 7, the left device sends the pulse laser for the second time and starts timing;
and 8: the left device receives the pulse laser for the second time, and the timing is stopped to obtain time t 2;
and step 9: waiting for a time T1;
step 10, the left device sends pulse laser for the third time and starts timing;
step 11: the left device receives the pulse laser for the third time, and the timing is stopped to obtain time t 3;
step 20: and calculating the time T for the rear vehicle to catch up with the lane-change vehicle by using the parameters T1, T1, T2 and T3, and feeding the time T back to the early warning system, wherein the algorithm is as follows:
l1 ═ C × t1/2, where C is the light propagation speed
L2＝C*t2/2
L3＝C*t3/2
V1＝(L2-L1)/T1
V2＝(L3-L2)/T1
a＝(V2-V1)/T1
According to a x T2The T is obtained by L3 at the point of 2+ V2T, namely the time T when the rear side vehicle catches up with the lane-changing vehicle, and the T is reported to a pre-warning system;
step 12, the right device sends pulse laser for the first time and starts timing;
step 13: the right device receives the pulse laser for the first time, and stops timing to obtain time t 1;
step 14: waiting for a time T1;
step 15, the right device sends the pulse laser for the second time and starts timing;
step 16: the right device receives the pulse laser for the second time, and stops timing to obtain time t 2;
and step 17: waiting for a time T1;
step 18, the right device sends pulse laser for the third time and starts timing;
step 19: the right device receives the pulse laser for the third time, and stops timing to obtain time t 3;
step 21: no lane changing operation is performed;
step 22: the cycle is complete.
And a third part: alarm system
And taking the lane change time output by the software and hardware system as input, setting a safety time threshold value as S, and comparing the S with the S. The actual rear vehicle catching-up time obtained by the system is T, and the T is compared with the default safety distance T of the system; when T is less than T, carrying out voice broadcast, central control screen icon display and other alarm prompts; when T is larger than or equal to T, the central control screen turns to the green light.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (4)
1. The utility model provides an utilize laser to realize device of lane change risk early warning which characterized in that: the system comprises a laser pulse transmitting module, a laser pulse receiving module, a timer and a vehicle early warning system; the laser pulse transmitting module is used for transmitting pulse laser; the laser pulse receiving module is used for receiving the reflected pulse laser; the timer is used for the time from sending to receiving the pulse laser; the vehicle early warning system is connected with a vehicle CAN network and used for acquiring vehicle steering information and sending an alarm signal.
2. A method for realizing lane change risk early warning by utilizing laser is characterized by comprising the following steps: the method comprises the following steps:
(1) arranging a laser pulse transmitting module and a laser pulse receiving module at two sides of an automobile, so that the laser pulse transmitting module and the automobile body form a certain angle;
(2) the method comprises the steps of utilizing a transmitting-receiving pulse laser interval formed by a laser pulse transmitting module and a laser pulse receiving module to judge whether a vehicle has lane changing operation, calculating two parameters of the distance and the acceleration of the vehicle at the rear side, and taking the parameters into a logic judging module to judge whether the vehicle is risky.
3. The method for realizing lane change risk early warning by using laser according to claim 1, wherein the method comprises the following steps: in the step (1), the two sides of the automobile comprise a left rear-view mirror and a right rear-view mirror or a left tail light and a right tail light.
4. The method for realizing lane change risk early warning by using laser according to claim 1, wherein the method comprises the following steps: the step (2) is specifically as follows: after the vehicle early warning system acquires vehicle steering information, a laser pulse transmitting module at the steering side transmits pulse laser for the first time, a timer starts timing, a laser pulse receiving module receives the pulse laser for the first time, and the timer stops timing to obtain time t 1; waiting for a time T1; the laser pulse transmitting module transmits the pulse laser for the second time and starts timing, the laser pulse receiving module receives the pulse laser for the second time, and the timer stops timing to obtain time t 2; waiting for a time T1; the laser pulse transmitting module transmits the pulse laser for the third time, the timer starts to time, the laser pulse receiving module receives the pulse laser for the third time, and the time t3 is obtained after the time t is stopped to time;
the parameters are sent to a vehicle early warning system, the vehicle early warning system calculates the time T when the rear side vehicle catches up with the lane-changing vehicle by using the parameters T1, T1, T2 and T3, and the calculation method comprises the following steps: l1 ═ C × t1/2, L2 ═ C × t2/2, L3 ═ C × t 3/2; v1 ═ L2-L1)/T1, V2 ═ L3-L2)/T1; a ═ V2-V1/T1;
according to a x T2Determining T by the aid of the/2 + V2T-L3, namely the time T when the rear-side vehicle catches up with the lane-changing vehicle;
wherein C is a light propagation speed, L1 is a distance between two vehicles when the two vehicles receive and transmit laser light for the first time, L2 is a distance between two vehicles when the two vehicles receive and transmit laser light for the second time, L3 is a distance between two vehicles when the two vehicles receive and transmit laser light for the third time, V1 is a relative speed between two vehicles when the two vehicles receive and transmit laser light for the first time and the second time, and V2 is a relative speed between two vehicles when the two vehicles receive and transmit laser light for the second time and the third time; a is the acceleration; the vehicle early warning system compares the time T that the rear side vehicle catches up with the lane-changing vehicle with the preset safe time S, and sends out an alarm signal when the T is less than S; and when T is larger than or equal to S, no alarm signal is sent out.
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| CN202011132251.7A CN114384544A (en) | 2020-10-21 | 2020-10-21 | Device for realizing lane change risk early warning by utilizing laser |
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| CN202011132251.7A CN114384544A (en) | 2020-10-21 | 2020-10-21 | Device for realizing lane change risk early warning by utilizing laser |
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Address after: 210000 room 0601, building C, Xingzhi Science Park, Xingzhi Road, Nanjing Economic and Technological Development Zone, Jiangsu Province Applicant after: Nanjing Mulai Laser Technology Co.,Ltd. Address before: 210000 room 0601, building C, Xingzhi Science Park, Xingzhi Road, Nanjing Economic and Technological Development Zone, Jiangsu Province Applicant before: NANJING MOVELASER TECHNOLOGY Co.,Ltd. |