CN114724408A - Vehicle rear distance early warning method and device, electronic equipment and reading and storing medium - Google Patents

Vehicle rear distance early warning method and device, electronic equipment and reading and storing medium Download PDF

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Publication number
CN114724408A
CN114724408A CN202210344402.8A CN202210344402A CN114724408A CN 114724408 A CN114724408 A CN 114724408A CN 202210344402 A CN202210344402 A CN 202210344402A CN 114724408 A CN114724408 A CN 114724408A
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China
Prior art keywords
distance
vehicle
early warning
target vehicle
following
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CN202210344402.8A
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Chinese (zh)
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余骅骏
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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Priority to CN202210344402.8A priority Critical patent/CN114724408A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/24—Reminder alarms, e.g. anti-loss alarms
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
    • G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
    • G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The invention discloses a vehicle rear distance early warning method, a vehicle rear distance early warning device, electronic equipment and a reading and storing medium, wherein the direction and the distance of a following vehicle relative to a target vehicle are obtained; if the following vehicle is right behind the target vehicle, judging whether the distance between the two vehicles is smaller than the emergency braking safety early warning distance or not according to the braking distance between the two vehicles; if the following vehicle is behind the target vehicle, judging whether the vehicle distance is smaller than the lane change safety early warning distance or not according to the vehicle speeds of the two vehicles; when the vehicle distance is less than the emergency braking safety early warning distance or the lane change safety early warning distance, the early warning is started, the position and the distance of the following vehicle can be detected according to the detected rear, and the position and the distance between the following vehicles are detected, so that the driver is assisted to accurately judge whether the emergency braking or the lane change is performed, and the warning prompt is started through the position and the distance between the following vehicles, thereby effectively avoiding the occurrence of safety accidents in the driving process.

Description

Vehicle rear distance early warning method and device, electronic equipment and reading and storing medium
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to a vehicle rear distance early warning method and device, electronic equipment and a reading and storing medium.
Background
Along with the development of science and technology, people pay more and more attention to driving safety, and when a plurality of traffic accidents occur in the driving process, the vehicles on the left side and the right side are not clearly seen or the distance between the vehicles behind is misjudged from a rearview mirror, so that the rear-end collision is caused after intelligent braking.
The vehicle lane change that uses commonly at present is installed on outer rear-view mirror through the warning light, and when there was the car to be close to in both sides, the warning light can be long bright, reminds the driver not to change the lane, under the bad circumstances of weather, for example rainstorm, snowstorm, sand storm etc.. The driver can not notice the warning of the warning lamp because of attentive driving, and the driver can hardly judge the following distance of other vehicles behind the vehicle through the rear window glass and the outside rearview mirror, so that certain safety risk is easily caused for the driver.
Disclosure of Invention
The invention mainly aims to provide a vehicle rear distance early warning method, a vehicle rear distance early warning device, electronic equipment and a reading and storing medium, which can assist a driver to accurately judge whether to brake or change a lane emergently or not according to the detected direction and distance of a rear following vehicle and the direction and distance between the following vehicles under the condition of extreme weather, and can effectively avoid safety accidents in the driving process by starting alarm prompt through the direction and distance of the following vehicles.
In a first aspect, the present application provides a vehicle rear distance warning method, including:
acquiring the direction and the distance of a following vehicle relative to a target vehicle;
if the following vehicle is right behind the target vehicle, judging whether the distance between the two vehicles is smaller than the emergency braking safety early warning distance or not according to the braking distance between the two vehicles;
if the following vehicle is behind the target vehicle, judging whether the vehicle distance is smaller than the lane change safety early warning distance or not according to the vehicle speeds of the two vehicles;
and when the distance between the vehicles is less than the emergency braking safety early warning distance or the lane change safety early warning distance, starting early warning.
In one possible embodiment, according to formula SJ1＝V1 2Calculating the braking distance S of the target vehicle by 2g muJ1In which S isJ1Is the braking distance, V, of the target vehicle1Is the speed of the target vehicle, g is the acceleration of the target vehicle, μ is the coefficient of friction of the target vehicle;
according to the formula SF＝V2*tFCalculating a reaction distance of the following vehicle, wherein SFIs the reaction distance, V, of the following vehicle2Speed, t, of the following vehicleFThe response time of the following vehicle is obtained;
according to the formula SJ2＝V2 2Calculating the braking distance S of the following vehicle by 2g muJ2In which S isJ2For the braking distance, V, of the following vehicle2The speed of the following vehicle, g is the acceleration of the following vehicle, and mu is the friction coefficient of the following vehicle;
according to the formula (S)2+SJ1)-(SJ2+SF)>10m, judging whether the distance of the car following vehicle right behind the target vehicle is smaller than the emergency braking safety early warning distance or not;
wherein S2Is the distance between the target vehicle and the following vehicle.
In one possible embodiment, according to formula S1＞(V1-V2)*2>0 judging the safety early warning distance of the following vehicle at the left rear side and the right rear side of the target vehicle, wherein S1Is the distance, V, between the left and/or right rear of the target vehicle and the following vehicle1Is the speed, V, of the target vehicle2The speed of the following vehicle.
In one possible implementation mode, when the distance between the target vehicle and the following vehicle is smaller than a preset emergency braking distance, an early warning lamp installed in the target vehicle is turned on in the middle;
when the following vehicle is behind the left side of the target vehicle and the distance between the two vehicles is smaller than the preset lane change safety early warning distance, the left side of an early warning lamp installed in the target vehicle is started;
and when the following vehicle is positioned at the right rear part of the target vehicle and the distance between the two vehicles is less than the preset lane change safety early warning distance, the right side of an early warning lamp arranged in the target vehicle is started.
In a possible embodiment, the warning light is mounted above a cluster shade of the target vehicle or on an interior rear view mirror of the target vehicle.
In one possible embodiment, the vehicle distance between the following vehicle right behind and the target vehicle is detected by a millimeter wave radar installed right behind the bumper of the target vehicle;
detecting the vehicle distance between a following vehicle and a target vehicle of a left rear adjacent lane by a millimeter wave radar installed on the left side of a bumper of the target vehicle;
and detecting the vehicle distance between the following vehicle of the right rear adjacent lane and the target vehicle through a millimeter wave radar installed on the right side of the bumper of the target vehicle.
In one possible embodiment, the vehicle distances of the following vehicles directly behind, behind left and behind right of the target vehicle are detected by using a laser radar which is installed directly behind a rear bumper of the target vehicle.
In a second aspect, the present application provides a vehicle rear distance warning device, the device comprising:
the acquisition unit is used for acquiring the direction and the distance of the following vehicle relative to the target vehicle;
the first judgment unit is used for judging whether the distance between the two vehicles is smaller than the emergency braking safety early warning distance or not according to the braking distance between the two vehicles if the following vehicle is right behind the target vehicle;
the second judgment unit is used for judging whether the vehicle distance is smaller than the lane change safety early warning distance or not according to the vehicle speeds of the two vehicles if the following vehicle is behind the side of the target vehicle;
and the starting unit is used for starting early warning when the distance between vehicles is less than the emergency braking safety early warning distance or the lane change safety early warning distance.
In a third aspect, the present application further provides an electronic device, including: a processor; a memory having computer readable instructions stored thereon which, when executed by the processor, implement the method of any one of the first aspects.
In a fourth aspect, the present application also provides a computer readable program medium storing computer program instructions which, when executed by a computer, cause the computer to perform the method of any of the first aspects.
The method and the device for early warning the vehicle rear distance, the electronic equipment and the reading and storing medium obtain the direction and the vehicle distance of a following vehicle relative to a target vehicle; if the following vehicle is right behind the target vehicle, judging whether the distance between the two vehicles is smaller than the emergency braking safety early warning distance or not according to the braking distance between the two vehicles; if the following vehicle is behind the target vehicle, judging whether the vehicle distance is smaller than the lane change safety early warning distance or not according to the vehicle speeds of the two vehicles; when the vehicle distance is less than the emergency braking safety early warning distance or the lane change safety early warning distance, the early warning is started, the position and the distance of the following vehicle can be detected according to the detected rear, and the position and the distance between the following vehicles are detected, so that the driver is assisted to accurately judge whether the emergency braking or the lane change is performed, and the warning prompt is started through the position and the distance between the following vehicles, thereby effectively avoiding the occurrence of safety accidents in the driving process.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a flowchart of a vehicle rear distance warning method provided in this embodiment;
fig. 2 is a schematic view of a rear vehicle distance warning device of a vehicle provided in this embodiment;
fig. 3 is a schematic diagram of a vehicle rear distance warning electronic device provided in an embodiment of the present application;
fig. 4 is a schematic diagram of a computer-readable program medium for vehicle rear distance warning provided in an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities.
Referring to fig. 1, fig. 1 is a flowchart of a method for warning a vehicle rear distance according to the present invention, and as shown in fig. 1, the method for warning a vehicle rear distance includes:
and S101, acquiring the direction and the distance of the following vehicle relative to the target vehicle.
Specifically, three millimeter wave radars are used, wherein the millimeter wave radars are respectively arranged right behind a rear bumper of the target vehicle and used for detecting the distance between vehicles following the rear portion of the target vehicle, the millimeter wave radar on the left side of the rear bumper of the target vehicle and used for detecting the distance between vehicles following the left rear adjacent lane of the target vehicle, and the millimeter wave radar on the right side of the rear bumper of the target vehicle and used for detecting the distance between vehicles following the right rear adjacent lane of the target vehicle. Wherein the detection range of each millimeter wave radar has an angle of 90 degrees. In one embodiment, the distance between following vehicles directly behind a target vehicle is detected according to a radar installed directly behind the target vehicle, and a detected signal is sent to a control module, and the control module converts the received radar signal into a distance signal S2. Detecting the distance between the following vehicles behind the target vehicle according to the radar arranged on the left rear part of the target vehicle and sending the detected signals to the control module, and converting the received radar signals into distance signals S by the control module1。
Step S102: and if the following vehicle is right behind the target vehicle, judging whether the distance between the two vehicles is smaller than the emergency braking safety early warning distance or not according to the braking distance between the two vehicles.
Specifically, if the following vehicle is directly behind the target vehicle, the following vehicle is based on the formula SJ1＝V1 2Calculating the braking distance S of the target vehicle by 2g muJ1In which S isJ1Is the braking distance, V, of the target vehicle1G is the acceleration of the target vehicle, mu is the friction coefficient of the target vehicle, and g is 10m/s2Mu.1.
According to the formula SF＝V2*tFCalculating the reaction distance of the following vehicle, wherein SFIs the reaction distance, V, of the following vehicle2Speed, t, of the following vehicleFThe response time of the following vehicle.
According to the formula SJ2＝V2 2Calculating the braking distance S of the following vehicle by 2g muJ2In which S isJ2For the braking distance, V, of the following vehicle2The speed of the following vehicle is g, the acceleration of the following vehicle is g, and the friction coefficient of the following vehicle is mu.
Optionally, the acceleration and the friction coefficient of the following vehicle are the same as the acceleration and the friction coefficient of the target vehicle.
According to the formula (S)2+SJ1)-(SJ2+SF)>And 10m, judging whether the distance of the car following vehicle right behind the target vehicle is less than the emergency braking safety early warning distance.
And when the vehicle distance between the target vehicle and the vehicle behind the target vehicle is less than 10m, the target vehicle can be braked emergently.
In one embodiment, real-time signals of following vehicles in three directions of 90 degrees left and back, 90 degrees right and back and 90 degrees right and back are detected according to a radar installed behind a target vehicle, the detected real-time signals of the following vehicles are converted into real-time distances, and the speed of the following vehicles can be calculated according to the real-time distances and the speed of the target vehicle.
In one embodiment, when the distance between the target vehicle and the vehicle behind is less than 10m, the middle of the warning lamp above the combined instrument light shield installed in the vehicle is lighted, the distance between the vehicle behind and the vehicle is displayed on the combined instrument light shield, the display font is green, the warning lamp is evenly arranged in the left, the middle and the right, and the color of the warning lamp when the warning lamp is turned on is orange.
In another embodiment, when the inter-vehicle distance between the target vehicle and the vehicle following directly behind is less than 10m, the warning lamp is lit up in the middle on the rear-view mirror installed in the vehicle, wherein the warning lamp is arranged on the inner rear-view mirror of the target vehicle on average from the left to the middle and the right.
Step S103: and if the following vehicle is behind the target vehicle, judging whether the vehicle distance is smaller than the lane change safety early warning distance according to the vehicle speeds of the two vehicles.
Specifically, when the millimeter wave radar at the left rear of the target vehicle detects a left rear following vehicle, the speed of the following vehicle is calculated according to the real-time distance converted from the detected signal and the speed of the target vehicle, and the formula S is used1＞(V1-V2)*2>0 judging the safety early warning distance of the following vehicle at the left rear side of the target vehicle, wherein S1Is the distance, V, between the left and/or right rear of the target vehicle and the following vehicle1Is the speed, V, of the target vehicle2The vehicle speed of the following vehicle.
If it satisfies the formula S1＞(V1-V2)*2>And 0, changing lanes towards the left side, if not, lighting the left side of the warning lamp above the combined instrument light shield installed in the vehicle, displaying the distance between the left rear part and the vehicle on the combined instrument light shield, wherein the display font is green, the warning lamp is arranged on average in the left, the middle and the right, and the color of the warning lamp when being turned on is orange yellow.
Optionally, if not, if satisfying the formula S1＞(V1-V2)*2>0, then the left side of the warning light installed on the rearview mirror in the vehicle is lighted, wherein the warning light is averaged in the left, middle and right directions on the rearview mirror in the target vehicleAnd (4) arranging.
In one embodiment, if the formula S is satisfied1＞(V1-V2)*2>And 0, changing lanes towards the right side, if not, lighting the right side of the warning lamp above the combined instrument light shield installed in the vehicle, displaying the distance between the right vehicle and the combined instrument light shield, wherein the warning lamp is arranged averagely in the left, the middle and the right, and the color of the warning lamp when being turned on is orange yellow.
Optionally, if not, if satisfying the formula S1＞(V1-V2)*2>And 0, the right side of a warning lamp arranged on the rearview mirror in the vehicle is lightened, wherein the warning lamp is evenly arranged on the rearview mirror in the target vehicle in the left, middle and right directions.
And step S104, when the distance between vehicles is less than the emergency braking safety early warning distance or the lane change safety early warning distance, starting early warning.
Specifically, when the distance between a target vehicle and a following vehicle is smaller than a preset emergency braking distance, an early warning lamp installed in the target vehicle is turned on in the middle; when the following vehicle is behind the left of the target vehicle and the distance between the two vehicles is smaller than the preset lane change safety early warning distance, the left side of an early warning lamp installed in the target vehicle is turned on; when the following vehicles are behind the right of the target vehicle and the distance between the two vehicles is smaller than the preset lane-changing safety early warning distance, the right side of the early warning lamp installed in the target vehicle is turned on.
Referring to fig. 2, fig. 2 is a schematic view of a vehicle rear distance warning device provided by the present invention, and as shown in fig. 2, the vehicle rear distance warning device includes:
an acquisition unit 201 for acquiring the direction and the inter-vehicle distance of a following vehicle relative to a target vehicle;
the first judging unit 202 is configured to judge whether the vehicle distance is smaller than an emergency braking safety early warning distance according to the braking distance between the two vehicles if the following vehicle is directly behind the target vehicle;
the second judgment unit 203 is configured to judge whether the vehicle distance is smaller than the lane change safety warning distance according to the vehicle speeds of the two vehicles if the following vehicle is behind the target vehicle;
and the starting unit 204 is used for starting early warning when the distance between vehicles is less than the emergency braking safety early warning distance or the lane changing safety early warning distance.
An electronic device 300 according to this embodiment of the invention is described below with reference to fig. 3. The electronic device 300 shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 3, electronic device 300 is embodied in the form of a general purpose computing device. The components of electronic device 300 may include, but are not limited to: the at least one processing unit 310, the at least one memory unit 320, and a bus 330 that couples various system components including the memory unit 320 and the processing unit 310.
Wherein the storage unit stores program code that can be executed by the processing unit 310, such that the processing unit 310 performs the steps according to various exemplary embodiments of the present invention described in the section "example methods" above in this specification.
The storage unit 320 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)321 and/or a cache memory unit 322, and may further include a read only memory unit (ROM) 323.
The storage unit 320 may also include a program/utility 324 having a set (at least one) of program modules 325, such program modules 325 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
Bus 330 may be one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
The electronic device 300 may also communicate with one or more external devices 300 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 300, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 300 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 350. Also, the electronic device 300 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 360. As shown, network adapter 360 communicates with the other modules of electronic device 300 via bus 330. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
According to an aspect of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of the present specification. In some possible embodiments, aspects of the invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the invention described in the above section "exemplary methods" of the present description, when said program product is run on the terminal device.
Referring to fig. 4, a program product 400 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
Furthermore, the above-described figures are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.
In summary, the application provides a method, a device, an electronic device and a reading and storing medium for early warning of the rear vehicle distance of a vehicle, and the method, the device, the electronic device and the reading and storing medium are used for acquiring the direction and the vehicle distance of a following vehicle relative to a target vehicle; if the following vehicle is right behind the target vehicle, judging whether the distance between the two vehicles is smaller than the emergency braking safety early warning distance or not according to the braking distance between the two vehicles; if the following vehicle is behind the target vehicle, judging whether the vehicle distance is smaller than the lane change safety early warning distance or not according to the vehicle speeds of the two vehicles; when the vehicle distance is less than the emergency braking safety early warning distance or the lane change safety early warning distance, the early warning is started, the position and the distance of the following vehicle can be detected according to the detected rear, and the position and the distance between the following vehicles are detected, so that the driver is assisted to accurately judge whether the emergency braking or the lane change is performed, and the warning prompt is started through the position and the distance between the following vehicles, thereby effectively avoiding the occurrence of safety accidents in the driving process.
The foregoing are merely exemplary embodiments of the present application and no attempt is made to show structural details of the invention in more detail than is necessary for the fundamental understanding of the art, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice with the teachings of the invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (10)

1. A vehicle rear distance early warning method is characterized by comprising the following steps:
acquiring the direction and the distance of a following vehicle relative to a target vehicle;
if the following vehicle is right behind the target vehicle, judging whether the distance between the two vehicles is smaller than the emergency braking safety early warning distance or not according to the braking distance between the two vehicles;
if the following vehicle is behind the target vehicle, judging whether the vehicle distance is smaller than the lane change safety early warning distance or not according to the vehicle speeds of the two vehicles;
and when the distance between the vehicles is less than the emergency braking safety early warning distance or the lane change safety early warning distance, starting early warning.
2. The method as claimed in claim 1, wherein if the following vehicle is directly behind the target vehicle, determining whether the vehicle distance is smaller than the emergency braking safety warning distance according to the braking distance between the two vehicles comprises:
according to the formula SJ1＝V1 2Calculating the braking distance S of the target vehicle by 2g muJ1In which S isJ1Is the braking distance, V, of the target vehicle1Is the speed of the target vehicle, g is the acceleration of the target vehicle, μ is the coefficient of friction of the target vehicle;
according to the formula SF＝V2*tFCalculating a reaction distance of the following vehicle, wherein SFIs the reaction distance, V, of the following vehicle2Speed, t, of the following vehicleFThe response time of the following vehicle is obtained;
according to the formula SJ2＝V2 2Calculating the braking distance S of the following vehicle by 2g muJ2In which S isJ2For the braking distance, V, of the following vehicle2The speed of the following vehicle, g is the acceleration of the following vehicle, and mu is the friction coefficient of the following vehicle;
according to the formula (S)2+SJ1)-(SJ2+SF)>10m, judging whether the distance of the following vehicle right behind the target vehicle is smaller than the emergency braking safety early warning distance or not;
wherein S2Is the distance between the target vehicle and the following vehicle.
3. The method as claimed in claim 1, wherein if the following vehicle is behind the target vehicle, determining whether the vehicle distance is smaller than the lane change safety warning distance according to the speeds of the two vehicles comprises:
according to the formula S1＞(V1-V2)*2>0 judging the safety early warning distance of the following vehicle at the left rear side and the right rear side of the target vehicle, wherein S1Is the distance, V, between the left and/or right rear of the target vehicle and the following vehicle1Is the speed, V, of the target vehicle2The speed of the following vehicle.
4. The method for early warning the vehicle rear distance according to claim 1, wherein when the vehicle distance is less than an emergency braking safety early warning distance or a lane change safety early warning distance, the early warning is started, and the method comprises the following steps:
when the distance between the target vehicle and the following vehicle is smaller than the preset emergency braking distance, starting an early warning lamp arranged in the target vehicle;
when the following vehicle is positioned behind the left side of the target vehicle and the distance between the two vehicles is smaller than the preset lane changing safety early warning distance, the left side of an early warning lamp arranged in the target vehicle is started;
and when the following vehicle is positioned at the right rear part of the target vehicle and the distance between the two vehicles is less than the preset lane change safety early warning distance, the right side of an early warning lamp arranged in the target vehicle is started.
5. The vehicle rear distance early warning method according to claim 4, characterized by comprising the following steps:
the warning light is mounted above a cluster shade of the target vehicle or on an interior rearview mirror of the target vehicle.
6. The vehicle rear vehicle distance early warning method according to claim 1, wherein the acquiring of the orientation and the vehicle distance of the following vehicle relative to the target vehicle comprises:
detecting the distance between a following vehicle right behind and a target vehicle through a millimeter wave radar arranged right behind a bumper of the target vehicle;
detecting the vehicle distance between a following vehicle and a target vehicle of a left rear adjacent lane by a millimeter wave radar installed on the left side of a bumper of the target vehicle;
and detecting the vehicle distance between the following vehicle of the right rear adjacent lane and the target vehicle through a millimeter wave radar installed on the right side of the bumper of the target vehicle.
7. The vehicle rear distance early warning method according to claim 1, characterized by comprising the following steps:
the method comprises the steps of detecting the distances among following vehicles behind a target vehicle, behind the target vehicle and behind the target vehicle, behind the target vehicle and behind a rear bumper of the target vehicle by utilizing a laser radar.
8. The utility model provides a car is apart from early warning device behind vehicle which characterized in that includes:
the acquisition unit is used for acquiring the direction and the distance of the following vehicle relative to the target vehicle;
the first judgment unit is used for judging whether the distance between the two vehicles is smaller than the emergency braking safety early warning distance or not according to the braking distance between the two vehicles if the following vehicle is right behind the target vehicle;
the second judgment unit is used for judging whether the vehicle distance is smaller than the lane change safety early warning distance or not according to the vehicle speeds of the two vehicles if the following vehicle is behind the side of the target vehicle;
and the starting unit is used for starting early warning when the distance between vehicles is less than the emergency braking safety early warning distance or the lane change safety early warning distance.
9. An electronic device, characterized in that the electronic device comprises:
a processor;
a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method of any of claims 1 to 7.
10. A computer-readable program medium, characterized in that it stores computer program instructions which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 7.
CN202210344402.8A 2022-03-31 2022-03-31 Vehicle rear distance early warning method and device, electronic equipment and reading and storing medium Pending CN114724408A (en)

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