CN114523902B - Collision early warning method and system for front vehicle door opening scene - Google Patents
Collision early warning method and system for front vehicle door opening scene Download PDFInfo
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- CN114523902B CN114523902B CN202210325203.2A CN202210325203A CN114523902B CN 114523902 B CN114523902 B CN 114523902B CN 202210325203 A CN202210325203 A CN 202210325203A CN 114523902 B CN114523902 B CN 114523902B
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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
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention discloses a collision early warning method and a system for a front vehicle door opening scene. The intelligent camera and the millimeter wave radar detect vehicles in adjacent lanes, and identify and track the door opening process state of the vehicles. When collision risks exist on the door opening track of the target vehicle and the running track of the vehicle in the adjacent lane, the intelligent camera sends out an alarm signal, the instrument system sends out sound and picture popup window alarm after receiving the alarm signal, if a driver does not take corresponding measures, the collision risks continue to be upgraded, the camera sends out a point brake signal, the brake system takes a point brake action after receiving the signal, and the brake effect generated by the whole vehicle further reminds the driver. According to the method, the door opening state of the vehicles in the adjacent lanes is detected, and when the front vehicle is in the door opening state and collision danger exists between the front vehicle and the vehicle, an alarm is sent, so that a driver is reminded of the collision danger, and collision accidents can be effectively reduced.
Description
Technical Field
The invention belongs to the technical field of intelligent driving assistance of automobiles, and particularly relates to a collision early warning method and system for a front automobile door opening scene.
Background
With mass production of automobile products, automobiles have been popularized to every household, and the quantity of the automobiles kept is increasing. In the driving process, a front vehicle is frequently parked and opened, and a collision accident occurs when a self vehicle passes through an adjacent lane. Accidents lead to loss of property, road traffic jams, and even to life-threatening collisions between people and vehicles.
The invention discloses a vehicle door opening early warning method based on a single-shot single-receiving radar, which comprises the following steps: a vehicle door opening early warning coordinate system is established by installing a single-emission single-receiving millimeter wave radar on a vehicle, radar data are acquired after an unlocking signal in a vehicle door is detected, when the fact that a moving object is close is judged, the vehicle door locking state is maintained, the relative movement speed of a target object and the vehicle in the horizontal direction and the azimuth angle of a single test starting point are acquired, and therefore whether the target object meets preset early warning conditions or not is judged, and if yes, a collision alarm is sent. The invention is used for alarming the door opening collision of the stopped vehicle, and can not alarm and remind the coming vehicle behind; the invention can not detect the actual opening of the vehicle door, only carries out early warning judgment according to the opening and closing state of the vehicle door, and can give an alarm and remind under the condition that the vehicle door is unlocked only and is not unfolded, so that collision danger is not actually existed in a scene, and the alarm influences the experience of the driver.
Therefore, a device is needed to give an alarm on the collision of the door opening in the driving process, so that a driver of the vehicle is reminded to take measures in time to avoid collision risks.
Disclosure of Invention
In order to solve the problems, the invention provides a collision early warning method and a collision early warning system for a front vehicle door opening scene, which are used for simultaneously detecting vehicles on adjacent roads based on millimeter wave radar and intelligent cameras and detecting the movement state of a nearby vehicle in the door opening process.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a collision early warning method of a front vehicle door opening scene, which comprises the following steps,
s1, identifying target vehicles of adjacent lanes, and tracking the target vehicles of the adjacent lanes;
s2, judging whether the doors of the target vehicles of the adjacent lanes are opened, and if the doors are opened, executing the next step;
s3, acquiring the opening speed of a vehicle door of a target vehicle in an adjacent lane;
s4, acquiring a motion track of the vehicle, judging whether the motion track is overlapped with a door of a target vehicle of an adjacent lane, and if so, executing the next step;
s5, acquiring the distance between the vehicle and the door of the target vehicle of the adjacent lane, and calculating the collision time;
s6, prompting the vehicle to take evading action according to the collision time.
As an optimization, the recognition of the target vehicle of the adjacent lane in step S1, comprising the steps of,
s101, acquiring a vehicle type of a target vehicle, and acquiring a door opening radius and a vehicle body width of the target vehicle according to the vehicle type;
s102, acquiring the speed of a target vehicle;
s103, acquiring the relative position of the target vehicle and the host vehicle;
s103, if the transverse distance between the target vehicle and the vehicle meets the following formula or the speed of the target vehicle is zero, identifying the target vehicle as a target vehicle of an adjacent lane; the formula is described as follows,
dy≤W1/2+W2/2+R1
where dy is the lateral distance between the target vehicle and the host vehicle, W1 is the host vehicle width, W2 is the body width of the target vehicle, and R1 is the door opening radius of the target vehicle.
As optimization, the vehicle type, the vehicle speed and the relative position of the target vehicle and the vehicle are obtained through the vehicle-mounted intelligent camera and the millimeter wave radar of the vehicle.
As an optimization, in step S2, the intelligent camera determines whether the door of the target vehicle of the adjacent lane is opened or not through image recognition.
As an optimization, in step S3, the millimeter wave radar tracks the motion state of the vehicle door through the point cloud, and obtains the opening speed of the vehicle door of the target vehicle of the adjacent lane.
In step S4, the intelligent camera obtains a motion track of the vehicle through the vehicle speed, the steering angle and the vehicle motion model, and determines whether the motion track overlaps with a door of a target vehicle in an adjacent lane.
As an optimization, in step S5, the longitudinal distance between the host vehicle and the door of the target vehicle of the adjacent lane is acquired by the millimeter wave radar.
As an optimization, in step S6, the host vehicle is prompted to take evasive action, including,
s601, if the collision time is smaller than a first preset time, a collision alarm prompt is sent to a driver of the vehicle;
s602, if the collision time is smaller than the second preset time, a braking signal is sent to a braking system of the vehicle, so that the braking system brakes the vehicle; the second preset time is smaller than the first preset time;
s603, if the collision time is longer than a third preset time, the alarm is released; wherein the third preset time is longer than the first preset time.
As optimization, the braking system performs snub braking on the vehicle.
Based on the method, the invention also provides a collision early warning system of the front vehicle door opening scene, so as to realize the method, which comprises the following steps,
the millimeter wave radar is used for acquiring the speed of a target vehicle, the relative position of the target vehicle and the vehicle, the distance between the vehicle door and the vehicle after the vehicle door is opened, and the opening speed of the vehicle door is acquired by tracking the point cloud when the vehicle door is opened, and transmitting the acquired data;
the intelligent camera is communicated with the millimeter wave radar, is used for receiving data acquired by the millimeter wave radar, is also used for acquiring and identifying whether the vehicle type and the vehicle door of the target vehicle are opened, calculates the motion trail of the vehicle according to the data acquired by the millimeter wave radar and the data acquired by the intelligent camera, judges whether the motion trail is overlapped with the vehicle door, calculates collision time, and sends an early warning signal, a braking signal or a release alarm signal according to the collision time to prompt the vehicle to take evading action;
the instrument system is used for receiving the early warning signal and the release warning signal and sending a collision warning prompt and a release warning to the driver of the vehicle;
and the braking system is used for receiving the braking signal and performing snub braking on the vehicle.
Compared with the prior art, the invention has the following advantages:
the hardware system comprises four units of a millimeter wave radar, an intelligent camera, an instrument system and a braking system. The units transmit signals through a CAN network. The intelligent camera and the millimeter wave radar detect vehicles in adjacent lanes, and identify and track the door opening process state of the vehicles. When collision risks exist on the door opening track of the vehicle in the adjacent lane and the running track of the vehicle, the intelligent camera sends out an alarm signal, the instrument system sends out sound and picture popup window alarm after receiving the alarm signal, if a driver does not take corresponding measures, the collision risks continue to be upgraded, the camera sends out a point brake signal, the brake system takes a point brake action after receiving the signal, and the brake effect generated by the whole vehicle further reminds the driver. According to the method, the door opening state of the vehicles in the adjacent lanes is detected, and when the front vehicle is in the door opening state and collision danger exists between the front vehicle and the vehicle, an alarm is sent, so that a driver is reminded of the collision danger, and collision accidents can be effectively reduced.
Drawings
Fig. 1 is a flow chart of the operation of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
Examples: with reference to figure 1 of the drawings,
a collision early warning method of a front vehicle door opening scene, which comprises the following steps,
s1, identifying target vehicles of adjacent lanes, and tracking the target vehicles of the adjacent lanes.
The identification of a target vehicle for an adjacent lane, comprising the steps of,
s101, acquiring a vehicle type of a target vehicle, and acquiring a door opening radius and a vehicle body width of the target vehicle according to the vehicle type.
S102, acquiring the speed of the target vehicle.
S103, acquiring the relative position of the target vehicle and the host vehicle;
the vehicle type, the vehicle speed and the relative position of the target vehicle are obtained through the vehicle-mounted intelligent camera and the millimeter wave radar of the vehicle.
S103, if the transverse distance between the target vehicle and the vehicle meets the following formula or the speed of the target vehicle is zero, identifying the target vehicle as a target vehicle of an adjacent lane; the formula is described as follows,
dy≤W1/2+W2/2+R1
where dy is the lateral distance between the target vehicle and the host vehicle, W1 is the host vehicle width, W2 is the body width of the target vehicle, and R1 is the door opening radius of the target vehicle.
S2, the intelligent camera judges whether the door of the target vehicle of the adjacent lane is opened or not through image recognition, and if the door is opened, the next step is executed;
s3, the millimeter wave radar tracks the motion state of the vehicle door through the point cloud to acquire the opening speed of the vehicle door of the target vehicle of the adjacent lane;
s4, the intelligent camera acquires a motion track of the vehicle through the speed, the steering angle and the motion model of the vehicle, judges whether the motion track is overlapped with a door of a target vehicle of an adjacent lane, and if so, executes the next step;
s5, acquiring the longitudinal distance between the vehicle and the door of the target vehicle of the adjacent lane through the millimeter wave radar, and calculating the collision time;
s6, prompting the vehicle to take evading action according to the collision time. Comprising the steps of (a) a step of,
s601, if the collision time is smaller than a first preset time, a collision alarm prompt is sent to a driver of the vehicle;
s602, if the collision time is smaller than the second preset time, a braking signal is sent to a braking system of the vehicle, so that the braking system performs snub braking on the vehicle; the second preset time is smaller than the first preset time;
s603, if the collision time is longer than a third preset time, the alarm is released; wherein the third preset time is longer than the first preset time.
Based on the method, the invention also provides a collision early warning system of the front vehicle door opening scene, so as to realize the method, which comprises the following steps,
the millimeter wave radar is used for acquiring the speed of a target vehicle, the relative position of the target vehicle and the vehicle, the distance between the vehicle door and the vehicle after the vehicle door is opened, and the opening speed of the vehicle door is acquired by tracking the point cloud when the vehicle door is opened, and transmitting the acquired data;
the intelligent camera is communicated with the millimeter wave radar, is used for receiving data acquired by the millimeter wave radar, is also used for acquiring and identifying whether the vehicle type and the vehicle door of the target vehicle are opened, calculates the motion trail of the vehicle according to the data acquired by the millimeter wave radar and the data acquired by the intelligent camera, judges whether the motion trail is overlapped with the vehicle door, calculates collision time, and sends an early warning signal, a braking signal or a release alarm signal according to the collision time to prompt the vehicle to take evading action;
the instrument system is used for receiving the early warning signal and the release warning signal and sending a collision warning prompt and a release warning to the driver of the vehicle;
and the braking system is used for receiving the braking signal and performing snub braking on the vehicle.
Specifically, as shown in fig. 1, the working logic of the invention is that an intelligent camera and a millimeter wave radar detect vehicles in adjacent lanes in real time, the intelligent camera and the millimeter wave radar fuse a perceived target through a fusion algorithm, and when the transverse distance dy of the target is less than or equal to W1 (width of the vehicle)/2+W2 (width of the target vehicle)/2+R1 (radius of opening the door), the target is judged to be the target vehicle in the adjacent lanes. Wherein R1 is calibrated according to the type of vehicle. And then the speed of the target is tracked, if the speed of the target is 0kph, the target is a stationary vehicle, and the possibility of opening the door exists.
And judging whether a door of the target vehicle, which is close to the side surface of the vehicle, is opened or not through image recognition. If the door is not opened, continuing to track the state of the target vehicle until the vehicle passes through the position of the target vehicle; if the vehicle door is opened, the motion state of the door is tracked through millimeter wave Lei Dadian cloud, and the speed of opening the door is detected.
The intelligent camera calculates the motion trail of the vehicle according to the speed, steering angle and vehicle kinematics model of the vehicle, judges whether the running rule moment and the door opening have the superposition of paths, and if not, the intelligent camera has no collision wind direction and continuously tracks the target vehicle. If the collision risk exists, calculating the pre-collision time TTC according to the longitudinal distance between the vehicle and the target vehicle door. When TTC is less than or equal to X seconds (first preset time), an alarm is sent to the instrument, and after the instrument receives an alarm signal, a sound and an image alarm are sent to prompt a driver to pay attention to safety. Continuously calculating the collision time, and when the TTC is continuously reduced and the collision risk degree is increased, sending out a point brake signal when the TTC is less than or equal to X1 seconds (second preset time), executing point brake by a brake system, and enhancing the reminding of a driver; when TTC becomes larger, the collision risk degree is reduced, TTC is more than X2 seconds (third preset time), and the alarm is released. TTC time is calibrated according to the type and scene of the target vehicle, and X2 is more than X1.
The hardware system comprises four units of a millimeter wave radar, an intelligent camera, an instrument system and a braking system. The units transmit signals through a CAN network. The intelligent camera and the millimeter wave radar detect vehicles in adjacent lanes, and identify and track the door opening process state of the vehicles. When collision risks exist on the door opening track of the vehicle in the adjacent lane and the running track of the vehicle, the intelligent camera sends out an alarm signal, the instrument system sends out sound and picture popup window alarm after receiving the alarm signal, if a driver does not take corresponding measures, the collision risks continue to be upgraded, the camera sends out a point brake signal, the brake system takes a point brake action after receiving the signal, and the brake effect generated by the whole vehicle further reminds the driver. According to the method, the door opening state of the vehicles in the adjacent lanes is detected, and when the front vehicle is in the door opening state and collision danger exists between the front vehicle and the vehicle, an alarm is sent, so that a driver is reminded of the collision danger, and collision accidents can be effectively reduced.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the technical solution, and those skilled in the art should understand that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the present invention, and all such modifications and equivalents are included in the scope of the claims.
Claims (7)
1. A collision early warning method for a front car door opening scene is characterized by comprising the following steps,
s1, identifying target vehicles of adjacent lanes, and tracking the target vehicles of the adjacent lanes;
s2, judging whether the doors of the target vehicles of the adjacent lanes are opened, and if the doors are opened, executing the next step;
s3, acquiring the opening speed of a vehicle door of a target vehicle in an adjacent lane;
s4, acquiring a motion track of the vehicle, judging whether the motion track is overlapped with a door of a target vehicle of an adjacent lane, and if so, executing the next step;
s5, acquiring the distance between the vehicle and the door of the target vehicle of the adjacent lane, and calculating the collision time;
s6, prompting the vehicle to take evading action according to the collision time;
the recognition of the target vehicle of the adjacent lane in step S1, comprising the steps of,
s101, acquiring a vehicle type of a target vehicle, and acquiring a door opening radius and a vehicle body width of the target vehicle according to the vehicle type;
s102, acquiring the speed of a target vehicle;
s103, acquiring the relative position of the target vehicle and the host vehicle;
s103, if the transverse distance between the target vehicle and the vehicle meets the following formula or the speed of the target vehicle is zero, identifying the target vehicle as a target vehicle of an adjacent lane; the formula is described as follows,
dy≤W1/2+W2/2+R1
wherein dy is the lateral distance between the target vehicle and the vehicle, W1 is the width of the vehicle, W2 is the width of the vehicle body of the target vehicle, and R1 is the door opening radius of the target vehicle;
the vehicle type, the vehicle speed and the relative position of the target vehicle are obtained through a vehicle-mounted intelligent camera and a millimeter wave radar of the vehicle;
in step S3, the millimeter wave radar tracks the motion state of the vehicle door through the point cloud, and obtains the opening speed of the vehicle door of the target vehicle in the adjacent lane.
2. The collision pre-warning method for a front door opening scene according to claim 1, wherein in step S2, the intelligent camera determines whether the door of the target vehicle of the adjacent lane is opened through image recognition.
3. The collision early warning method for a front vehicle door opening scene according to claim 1, wherein in step S4, the intelligent camera obtains a motion track of the vehicle through a vehicle speed, a steering angle and a vehicle kinematics model, and judges whether the motion track is overlapped with a door of a target vehicle of an adjacent lane.
4. The collision early warning method of a front vehicle door opening scene according to claim 1, wherein in step S5, a longitudinal distance between a host vehicle and a door of a target vehicle of an adjacent lane is obtained by the millimeter wave radar.
5. The method for collision warning in a front-vehicle door opening scenario according to claim 1, wherein in step S6, the host vehicle is prompted to take evasive action, comprising,
s601, if the collision time is smaller than a first preset time, a collision alarm prompt is sent to a driver of the vehicle;
s602, if the collision time is smaller than the second preset time, a braking signal is sent to a braking system of the vehicle, so that the braking system brakes the vehicle; the second preset time is smaller than the first preset time;
s603, if the collision time is longer than a third preset time, the alarm is released; wherein the third preset time is longer than the first preset time.
6. The collision early warning method for the door opening scene of the front vehicle according to claim 5, wherein the braking system performs snub braking on the vehicle.
7. A collision early warning system for a front car door opening scene, adopting the collision early warning method for the front car door opening scene according to any one of the claims 1-6, characterized by comprising,
the millimeter wave radar is used for acquiring the speed of a target vehicle, the relative position of the target vehicle and the vehicle, the distance between the vehicle door and the vehicle after the vehicle door is opened, and the opening speed of the vehicle door is acquired by tracking the point cloud when the vehicle door is opened, and transmitting the acquired data;
the intelligent camera is communicated with the millimeter wave radar, is used for receiving data acquired by the millimeter wave radar, is also used for acquiring and identifying whether the vehicle type and the vehicle door of the target vehicle are opened, calculates the motion trail of the vehicle according to the data acquired by the millimeter wave radar and the data acquired by the intelligent camera, judges whether the motion trail is overlapped with the vehicle door, calculates collision time, and sends an early warning signal, a braking signal or a release alarm signal according to the collision time to prompt the vehicle to take evading action;
the instrument system is used for receiving the early warning signal and the release warning signal and sending a collision warning prompt and a release warning to the driver of the vehicle;
and the braking system is used for receiving the braking signal and performing snub braking on the vehicle.
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