CN114852064A - Method and device for preventing transverse collision of driving training vehicle and electronic equipment - Google Patents
Method and device for preventing transverse collision of driving training vehicle and electronic equipment Download PDFInfo
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Abstract
The invention provides a method for preventing a driving training vehicle from transverse collision, which comprises the following steps: calculating to obtain the motion state of the self-vehicle according to the position information and the heading azimuth angle of the self-vehicle; calculating the distance between the current time and the surrounding vehicles to obtain the surrounding vehicles with the distance within a preset range; calculating the four-quadrant position of the vehicle relative to the vehicle and the heading azimuth angle relation between the four-quadrant position and the vehicle to obtain surrounding vehicles transversely passing through the vehicle; and judging the motion relation between the surrounding vehicles passing through transversely and the own vehicle, judging whether a transverse collision risk exists according to the motion relation, and if so, triggering to execute a preset avoidance action. According to the invention, the self vehicle can prejudge the surrounding vehicles which potentially cross transversely through by sharing the position information, the heading azimuth angle, the motion state and the like of the vehicle, so that the safety problem of transverse crossing of the vehicle is solved.
Description
Technical Field
The invention relates to a method for preventing transverse collision of a driving training vehicle, and belongs to the technical field of vehicle collision safety.
Background
Along with the continuous improvement of living standard of people, convenient traffic trip has become a big demand of people, and the safety of trip is more important. The driving skills of motor vehicles are more and more concerned by people, tens of thousands of students take part in the training of driving professional skills every year, and the driving licenses are examined after the driving skill examination of the motor vehicles; the traffic accident of a driver in the driving process of driving a vehicle can be avoided as much as possible through the driving skill examination, the accident can not only cause certain influence on the vehicle, but also bring very serious threat to the safety and economy of people.
In the field of driving training, a robot coaching training mode gradually replaces a traditional mode of coaching with belts, so that the training cost is greatly reduced. Robot coaches in the existing market all solve the problem of collision prevention of front obstacles in training based on millimeter wave radar, but on one hand, the millimeter wave radar cannot achieve the effect of timely feedback for crossing through vehicles with high front speed, and on the other hand, the method has high cost, has higher requirements for vehicle modification, and greatly increases the difficulty and cost of field implementation.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a method for preventing a driving training vehicle from transverse collision, so as to solve the safety problem caused by transverse short-distance crossing of a front vehicle in the prior driving training process. Furthermore, the invention also provides a device for preventing the transverse collision of the driving training vehicle and electronic equipment.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
the first scheme is as follows: a method for preventing a transverse collision of a driving training vehicle mainly comprises the following steps:
step S1, calculating the motion state of the vehicle according to the position information and the heading azimuth of the vehicle; the motion states comprise static, forward and backward; the position information and the heading azimuth angle are acquired in real time through a vehicle-mounted GPS dual antenna arranged on a vehicle, and the position information refers to longitude and latitude coordinates of a main antenna in the vehicle-mounted GPS dual antenna;
s2, acquiring position information, a course azimuth angle and a motion state of a peripheral vehicle in a driving training field, and calculating the distance between the vehicle and the peripheral vehicle at the current moment according to the position information, the course azimuth angle and the motion state to obtain the peripheral vehicle of which the distance is within a preset range;
step S3, for the surrounding vehicles with the distance within the preset range, calculating the four-quadrant position of the surrounding vehicles relative to the vehicle and the heading azimuth angle relation between the surrounding vehicles and the vehicle, and obtaining the surrounding vehicles transversely passing through relative to the vehicle according to the heading angle relation;
and step S4, obtaining the motion relation between the transversely crossing surrounding vehicles and the self vehicle according to the four-quadrant positions of the transversely crossing surrounding vehicles relative to the self vehicle and the motion state information of the transversely crossing surrounding vehicles, judging whether a transverse collision risk exists according to the motion relation, and triggering and executing a preset avoidance action if the transverse collision risk exists.
Preferably, in step S1, the calculating the motion state of the vehicle according to the position information and the heading azimuth of the vehicle specifically includes:
calculating the change distance of two frames before and after the GPS in the position information by a formula (1):
wherein d is the distance between two frames before and after (x) 1 ，y 1 ) For the current frame vehicle main antenna coordinates, (x) 2 ，y 2 ) The next frame of vehicle main antenna coordinates;
when the change distance value of the front frame and the rear frame is smaller than a first preset value, the vehicle is in a static state; when the distance value of the change of the front frame and the rear frame is greater than or equal to a first preset value, the vehicle is in a non-static state;
if the vehicle is in a non-static state, calculating the azimuth angles of the front frame and the rear frame of the GPS of the non-static vehicle by the formula (2):
where angle is the azimuth angle of two frames before and after the vehicle GPS, (x) 1 ，y 1 ) For the current frame vehicle main antenna coordinates, (x) 2 ，y 2 ) The next frame of vehicle main antenna coordinates;
and (3) making a difference value between the azimuth angle of the two frames before and after the GPS of the non-stationary vehicle and the heading azimuth angle, wherein the absolute value of the difference value is in the range of 0-60 degrees, namely the vehicle is in a forward state in the same direction, and otherwise, the vehicle is in a backward state.
Preferably, step 1 further comprises: and if the change distance value of the front frame and the back frame is larger than a second preset value, filtering and deleting.
Preferably, the first preset value is 0.03 m, and the second preset value is 0.8 m.
Preferably, in step S2, the calculating the distance between the vehicle and the surrounding vehicles at the current time according to the position information, the heading azimuth, and the motion state specifically includes:
calculating coordinates of four corner points of each vehicle body according to the position information and the length and width values of the vehicles stored in advance;
respectively calculating the distances from the four angular points of the self-vehicle to the four angular points of the surrounding vehicles, and taking the minimum distance as the distance between the self-vehicle and the surrounding vehicles to obtain the distance between the self-vehicle and the surrounding vehicles;
d min1 ＝min{d 11 ，d 12 ，d 13 ，d 14 }
d min2 ＝min{d 21 ，d 22 ，d 23 ，d 24 }
d min3 ＝min{d 31 ，d 32 ，d 33 ，d 34 }
d min4 ＝min{d 41 ，d 42 ，d 43 ，d 44 }
d min ＝min{d min1 ，d min2 ，d min3 ，d min4 }
in the formula (d) ij Respectively representing the distance values between the ith angular point of the self vehicle and the jth angular point of the surrounding vehicles, wherein i is 1, 2, 3 and 4; j is 1, 2, 3, 4; d min1 ，d min2 ，d min3 ，d min4 The minimum distance value of a first angular point, a second angular point, a third angular point and a fourth angular point of the vehicle and surrounding vehicles is represented; d min Indicating the minimum distance between the vehicle and the surrounding vehicles.
Preferably, the preset range in step S2 is 10 meters.
Preferably, the step S3 specifically includes:
s31, calculating the four-quadrant position of the surrounding vehicle with the distance within a preset range relative to the vehicle;
establishing a rectangular coordinate system by taking the central point of the vehicle body of the bicycle as an origin, converting the absolute coordinates of surrounding vehicles into the rectangular coordinate system, wherein the algorithm for converting the coordinate system is as follows:
x 4 ＝x 3 cosθ-y 3 sinθ
y 4 ＝x 3 sinθ+y 3 cosθ
in the formula (x) 3 ，y 3 ) Is the primary antenna coordinate of the surrounding vehicle, (x) 4 ，y 4 ) The coordinate of a main antenna of a surrounding vehicle in a self-vehicle coordinate system is shown, and theta is the difference value of the heading azimuth angles of the self-vehicle and the surrounding vehicle;
in the self-vehicle coordinate system, the four-quadrant position judgment method of the surrounding vehicles is as follows:
if x 4 > 0 and y 4 If the vehicle speed is more than 0, the surrounding vehicles are positioned at the front right of the vehicle;
if x 4 < 0 and y 4 If the distance is more than 0, the surrounding vehicles are positioned in the left front of the vehicle;
if x 4 < 0 and y 4 If the vehicle speed is less than 0, the surrounding vehicles are positioned at the left rear part of the vehicle;
if x 4 > 0 and y 4 If the vehicle speed is less than 0, the surrounding vehicles are positioned at the rear right of the vehicle;
s32, calculating the course angle relation between the surrounding vehicles with the distance within the preset range and the vehicle, and judging that the surrounding vehicles with the distance within the range of plus or minus 45 degrees from the vertical direction of the vehicle body are transversely crossing vehicles, wherein the following concrete steps are adopted:
the surrounding vehicle travels to the right with respect to the own vehicle: angle 1 +45°＜angle 2 ＜angle 1 +135°；
The surrounding vehicle travels leftward relative to the vehicle: angle 1 +225°＜angle 2 ＜angle 1 +315°；
In the formula, angle 1 Is the heading azimuth of the vehicle 2 Is the heading azimuth of the surrounding vehicle.
Preferably, in step S4, determining whether there is a risk of lateral collision according to the motion relationship includes:
under the scene of advancing from the car, the condition of judging that there is the lateral collision risk includes:
the surrounding vehicles are positioned at the left front part of the self vehicle, and are in a forward state towards the right relative to the self vehicle direction;
the surrounding vehicles are positioned at the left front part of the self vehicle, are leftwards relative to the self vehicle direction and are in a backward state;
the surrounding vehicles are positioned at the right front of the self vehicle, are rightwards relative to the self vehicle direction and are in a backward state;
the surrounding vehicles are positioned at the front right of the self vehicle, and are in a forward state relative to the left of the self vehicle;
under the scene of backing up the own vehicle, the situation of judging that the lateral collision risk exists comprises the following steps:
the surrounding vehicles are positioned at the rear right of the self vehicle, are rightwards relative to the self vehicle direction and are in a backward state;
the surrounding vehicles are positioned at the rear right of the self vehicle, and are in a forward state towards the left relative to the self vehicle direction;
the surrounding vehicles are positioned at the left rear part of the self vehicle, and are in a forward state towards the right relative to the self vehicle direction;
the surrounding vehicle is located at the left rear of the vehicle, and is in a backward state leftward with respect to the vehicle direction.
Scheme two is as follows: disclosed is a device for preventing a lateral collision of a driving training vehicle, which mainly comprises:
the vehicle information acquisition module is used for acquiring the position information and the course azimuth angle of the vehicle in real time through a vehicle-mounted GPS double antenna arranged on the vehicle, and acquiring the position information, the course azimuth angle and the motion state of the surrounding vehicle in the driving training field through a cloud server;
the vehicle motion state judging module is used for calculating the motion state of the vehicle according to the position information and the heading azimuth angle;
the vehicle judgment module in the preset range is used for calculating the distance between the current vehicle and the surrounding vehicles according to the position information, the heading azimuth angle and the motion state to obtain the surrounding vehicles with the distance in the preset range;
the transverse traversing vehicle judging module is used for calculating the four-quadrant position of the surrounding vehicle with the distance within the preset range relative to the self vehicle and the heading azimuth angle relation of the surrounding vehicle and the self vehicle, and obtaining the surrounding vehicle transversely traversing relative to the self vehicle according to the heading angle relation;
the collision risk judging module is used for obtaining the motion relation between the transversely-crossed peripheral vehicles and the self-vehicle according to the four-quadrant position and the motion state information of the transversely-crossed peripheral vehicles relative to the self-vehicle, judging whether a transverse collision risk exists or not according to the motion relation, and controlling an executing mechanism to execute a preset avoidance action when the transverse collision risk exists;
and the storage module is used for storing the length and width values of the vehicle, the position information, the heading azimuth angle and the motion state.
The third scheme is as follows: an electronic device is disclosed, which mainly comprises a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method for preventing a lateral collision of a driving training vehicle according to one or any of the preferred embodiments of the method.
The method can realize that the self vehicle can prejudge the surrounding vehicles which potentially cross transversely through by sharing the position information, the heading azimuth angle, the motion state and the like of the vehicle, thereby solving the safety problem caused by the transverse crossing of the vehicle. By using the method, the number of radars or other electronic devices is not required to be added, and redundant surveying and deployment work of driving field personnel in a training field is not required, so that the economic cost is greatly saved, and the operation efficiency is improved.
Drawings
FIG. 1 is a schematic flow chart of a method for preventing a collision of a driving training vehicle according to embodiment 1;
fig. 2 is a schematic diagram of the conversion of the absolute coordinates of the surrounding vehicle into the orthogonal coordinate system of the host vehicle.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1, embodiment 1 discloses a method for preventing a collision of a driving training vehicle, which mainly includes the following steps:
step 1, calculating the motion state of the vehicle according to the acquired position information (specifically longitude and latitude information) and heading azimuth angle (abbreviated as 'heading angle') information of the vehicle, wherein the motion state of the vehicle comprises the following steps: static, forward, reverse (i.e., reverse).
And each vehicle in the driving training field is provided with a vehicle-mounted GPS double antenna and a vehicle-mounted terminal which can communicate with the vehicle-mounted GPS double antenna and the cloud server. The differential positioning technology can be realized through the vehicle-mounted GPS double antenna to obtain the heading azimuth angle, the vehicle-mounted GPS double antenna usually comprises a main antenna and an auxiliary antenna, and the longitude and latitude information of the main antenna is usually selected when the position information is obtained. The vehicle-mounted GPS double antenna collects the position information and the course azimuth angle information of the vehicle in real time and transmits the information to the vehicle-mounted terminal. The vehicle-mounted terminal is mainly used for data acquisition, data processing, data uploading and downloading. The vehicle-mounted terminal of the vehicle calculates the motion state of the vehicle based on the acquired vehicle position information and the acquired heading azimuth, and uploads the vehicle position information, the heading azimuth, the motion state and other information of the vehicle to the cloud server for downloading and using by other vehicle-mounted terminals. The cloud server mainly plays a role in data transfer, and collects data uploaded by each vehicle-mounted terminal and provides the vehicle-mounted terminals to download related data.
The specific calculation mode of the step 1 mainly comprises the following steps:
11) calculating the distance value of the data of the front frame and the rear frame of the vehicle GPS, specifically calculating the change distance of the front frame and the rear frame by the Pythagorean theorem, as follows:
wherein d is the distance between two frames before and after (x) 1 ,y 1 ) For the current frame vehicle main antenna coordinates, (x) 2 ,y 2 ) The next frame of vehicle master antenna coordinates.
12) And when the change distance value of the two frames is larger than 0.8 m, deleting the data. Generally, the distance between the front frame and the rear frame is more than 0.8 m, which is considered as gross error caused by GPS frame skipping, and the gross error is filtered and deleted to avoid influencing the judgment of the vehicle state; when the change distance value of the front frame and the back frame is less than 0.03 m, the vehicle is in a static state; when the change distance value of the front frame and the rear frame is greater than or equal to 0.03 m, the vehicle is in a non-static state, and then the step 13) is carried out, and the vehicle is further judged to be in a forward state or a backward state; here, 0.8 m and 0.03 m are empirical values, and in other embodiments, they may be adjusted according to actual conditions.
13) Calculating the azimuth angles of the front frame and the rear frame of the vehicle GPS, namely the angles generated after the front frame and the rear frame are changed, wherein the azimuth angle calculation formula is as follows:
where angle is the azimuth angle of the front and rear frames of the vehicle GPS, (x) 1 ，y 1 ) For the current frame vehicle main antenna coordinates, (x) 2 ，y 2 ) The next frame of vehicle master antenna coordinates.
14) And (3) making a difference value between the azimuth angle of the two frames before and after the GPS of the vehicle and the heading azimuth angle, wherein the absolute value of the difference value is in the range of 0-60 degrees, namely the vehicle is in the same direction and is in a forward state, otherwise, the vehicle is in a backward state.
And 2, acquiring the position information, the heading azimuth angle and the motion state of the peripheral vehicles in the driving training field, and calculating the distance between the vehicle and the peripheral vehicles at the current moment according to the position information, the heading azimuth angle and the motion state of the vehicles to obtain the vehicles with the distance between 0 and 10 meters from the vehicle.
The specific implementation scheme of the step 2 mainly comprises the following steps:
21) and acquiring the position information, the heading azimuth angle and the motion state of the peripheral vehicles in the driving training field.
22) And calculating to obtain coordinates of four corner points of the vehicle body according to the longitude and latitude coordinates of the vehicle GPS main antenna and the length and width values of each vehicle stored in the vehicle-mounted terminal in advance. The angular points refer to four vertexes of the left front, the right front, the left rear and the right rear of the vehicle body.
23) Respectively calculating the distance from four angular points of the self-vehicle to four angular points of each surrounding vehicle, and taking the minimum distance as the distance value between the self-vehicle and the surrounding vehicles, so that the distance between the self-vehicle and each surrounding vehicle can be obtained;
d min1 ＝min{d 11 ，d 12 ，d 13 ，d 14 }
d min2 ＝min{d 21 ，d 22 ，d 23 ，d 24 }
d min3 ＝min{d 31 ，d 32 ，d 33 ，d 34 }
d min4 ＝min{d 41 ，d 42 ，d 43 ，d 44 }
d min ＝min{d min1 ，d min2 ，d min3 ，d min4 }
in the formula (d) 11 ，d 12 ，d 13 ，d 14 Respectively representing the distance values between the first corner of the vehicle and the first, second, third and fourth corners of the surrounding vehicles, and so on, d 41 ，d 42 ，d 43 ，d 44 Respectively represent the fourth of the bicycleThe distance values between the corner points and the first, second, third and fourth corner points of surrounding vehicles; d min1 ，d min2 ，d min3 ，d min4 The minimum distance value of a first angular point, a second angular point, a third angular point and a fourth angular point of the vehicle and surrounding vehicles is represented; d min Indicating the minimum distance between the vehicle and the surrounding vehicles.
24) Acquiring surrounding vehicle information within a range of 0-10 meters from a vehicle, wherein the vehicle information comprises: the position (longitude and latitude information) of the vehicle, the heading azimuth angle and the motion state of the vehicle.
And 3, for surrounding vehicles within the distance range of 0-10 meters from the vehicle, calculating the four-quadrant position information of the surrounding vehicles relative to the vehicle and the course angle relation of the surrounding vehicles and the vehicle, and judging which of the surrounding vehicles belong to transversely crossing vehicles according to the course angle relation.
The method for calculating the four-quadrant position of the surrounding vehicle within the preset range of the distance from the vehicle to the vehicle comprises the following steps:
referring to fig. 2, a rectangular coordinate system is established with the center point of the vehicle body as the origin, and the absolute coordinates of the surrounding vehicles are converted into the rectangular coordinate system; the algorithm for converting the coordinate system is as follows:
x 4 ＝x 3 cosθ-y 3 sinθ
y 4 ＝x 3 sinθ+y 3 cosθ
wherein (x) 3 ，y 3 ) Is the primary antenna coordinate of the surrounding vehicle, (x) 4 ，y 4 ) The coordinate of a main antenna of a surrounding vehicle in a self-vehicle coordinate system is shown, and theta is a course angle difference value of the self-vehicle and the surrounding vehicle;
in the own vehicle coordinate system, the peripheral vehicle position determination method is as follows:
if x 4 > 0 and y 4 If the vehicle speed is more than 0, the surrounding vehicles are positioned at the front right of the vehicle;
if x 4 < 0 and y 4 If the vehicle speed is more than 0, the surrounding vehicles are positioned in the front left of the vehicle;
if x 4 < 0 and y 4 If the vehicle speed is less than 0, the surrounding vehicles are positioned at the left rear part of the vehicle;
if x 4 > 0 and y 4 If the current time is less than 0, the surrounding vehicles are positioned at the rear right of the vehicle;
the method comprises the following steps of calculating the heading azimuth angle relation between a surrounding vehicle and a self vehicle within a preset range of distance from the self vehicle, regarding the surrounding vehicle within a range of plus or minus 45 degrees from the vertical direction of the self vehicle as a transverse passing vehicle, and specifically comprising the following steps:
the surrounding vehicle travels to the right with respect to the own vehicle: angle 1 +45°＜angle 2 ＜angle 1 +135°；
The surrounding vehicle travels leftward relative to the vehicle: angle 1 +225°＜angle 2 ＜angle 1 +315°；
In the formula, angle 1 Is the heading angle of the vehicle 2 Is the course angle of the surrounding vehicle;
and 4, judging the motion relation between the surrounding vehicles and the self vehicle in four quadrants for the surrounding vehicles passing through transversely, namely judging whether the surrounding vehicles are far away from the self vehicle or close to the self vehicle, judging whether the self vehicle and the surrounding vehicles have transverse collision risks, and if so, performing braking action.
Wherein, under the scene is marchd from the front, judge that there is the condition of horizontal collision risk and include:
the surrounding vehicles are positioned at the left front part of the self vehicle, and are in a forward state towards the right relative to the self vehicle direction;
the surrounding vehicles are positioned at the left front part of the self vehicle, are leftwards relative to the self vehicle direction and are in a backward state;
the surrounding vehicles are positioned at the right front of the self vehicle, are rightwards relative to the self vehicle direction and are in a backward state;
the surrounding vehicles are positioned at the front right of the self vehicle, and are in a forward state relative to the left of the self vehicle;
under the scene of backing up the own vehicle, the situation of judging that the lateral collision risk exists comprises the following steps:
the surrounding vehicles are positioned at the rear right of the self vehicle, are rightwards relative to the self vehicle direction and are in a backward state;
the surrounding vehicles are positioned at the rear right of the self vehicle, and are in a forward state towards the left relative to the self vehicle direction;
the surrounding vehicles are positioned at the left rear part of the self vehicle, and are in a forward state towards the right relative to the self vehicle direction;
the surrounding vehicle is located at the left rear of the vehicle, and is in a backward state leftward with respect to the vehicle direction.
Further, embodiment 2 discloses a vehicle-mounted terminal, which can be used for implementing the method for preventing the transverse collision of the driving training vehicle, and mainly comprises a vehicle information acquisition module, a vehicle motion state judgment module, a vehicle judgment module in a preset range, a transverse crossing vehicle judgment module, a collision risk judgment module and a storage module.
Wherein, the vehicle information acquisition module: the position information and the course azimuth angle of the vehicle are obtained in real time through a vehicle-mounted GPS double antenna arranged on the vehicle, and the position information, the course azimuth angle and the motion state of the surrounding vehicle in the driving training field are obtained through a cloud server.
A vehicle motion state determination module: and calculating the motion state of the vehicle according to the position information and the heading azimuth angle.
A vehicle determination module within a preset range: and calculating the distance between the current vehicle and the surrounding vehicles according to the position information, the heading azimuth angle and the motion state to obtain the surrounding vehicles with the distance within a preset range.
A transverse crossing vehicle determination module: and calculating the four-quadrant position of the surrounding vehicle with the distance within the preset range relative to the self vehicle and the heading azimuth angle relation of the surrounding vehicle and the self vehicle, and obtaining the surrounding vehicle transversely passing through relative to the self vehicle according to the heading angle relation.
Collision risk judgment module: and obtaining the motion relation between the transversely crossed surrounding vehicles and the self-vehicle according to the four-quadrant position and the motion state information of the transversely crossed surrounding vehicles relative to the self-vehicle, judging whether a transverse collision risk exists or not according to the motion relation, and controlling an executing mechanism to execute a preset avoiding action, such as braking, when the transverse collision risk exists.
A storage module: the length and width values of the stored vehicle, the position information, the heading azimuth angle, the motion state and other information are stored.
The above-described embodiments of the apparatus are merely illustrative, and the units illustrated as separate components may or may not be physically separate, and some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments. One of ordinary skill in the art can understand and implement it without inventive effort.
Based on the same inventive concept, embodiment 3 further discloses an electronic device, which at least includes a processor and a memory, wherein the processor is mainly used for calling the computer program in the memory, and the processor implements the steps of the method provided in embodiment 1 when executing the computer program. For example, the motion state of the vehicle is calculated according to the position information and the heading azimuth angle of the vehicle; acquiring position information, a course azimuth angle and a motion state of peripheral vehicles in a driving training field, and calculating the distance between the vehicle and the peripheral vehicles at the current moment according to the position information, the course azimuth angle and the motion state to obtain the peripheral vehicles with the distance within a preset range; calculating the four-quadrant position of the vehicle relative to the vehicle and the course azimuth angle relation between the four-quadrant position and the vehicle, and obtaining surrounding vehicles transversely passing through the vehicle according to the course angle relation; and obtaining the motion relation between the transversely crossed surrounding vehicles and the self vehicle according to the four-quadrant position of the self vehicle and the motion state information of the four-quadrant position, judging whether a transverse collision risk exists or not according to the motion relation, and triggering and executing a preset avoidance action if the transverse collision risk exists. .
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods of the various embodiments or some parts of the embodiments.
Finally, it should be noted that while the above embodiments of the present invention have been described, the present invention is not limited to the above embodiments and applications, and the above embodiments are only illustrative and instructive, and are not limiting. Those skilled in the art, having the benefit of this disclosure, may effect numerous modifications thereto without departing from the scope of the invention as defined by the appended claims.
Claims (10)
1. A method of preventing a lateral collision of a driver training vehicle, comprising:
step S1, calculating the motion state of the vehicle according to the position information and the heading azimuth of the vehicle; the motion states comprise static, forward and backward; the position information and the heading azimuth angle are acquired in real time through a vehicle-mounted GPS dual antenna arranged on a vehicle, and the position information refers to longitude and latitude coordinates of a main antenna in the vehicle-mounted GPS dual antenna;
s2, acquiring position information, a course azimuth angle and a motion state of a peripheral vehicle in a driving training field, and calculating the distance between the vehicle and the peripheral vehicle at the current moment according to the position information, the course azimuth angle and the motion state to obtain the peripheral vehicle of which the distance is within a preset range;
step S3, for the surrounding vehicles with the distance within the preset range, calculating the four-quadrant position of the surrounding vehicles relative to the vehicle and the heading azimuth angle relation between the surrounding vehicles and the vehicle, and obtaining the surrounding vehicles transversely passing through relative to the vehicle according to the heading angle relation;
and step S4, obtaining the motion relation between the transversely crossing surrounding vehicles and the self vehicle according to the four-quadrant positions of the transversely crossing surrounding vehicles relative to the self vehicle and the motion states of the transversely crossing surrounding vehicles, judging whether a transverse collision risk exists according to the motion relation, and triggering and executing a preset avoidance action if the transverse collision risk exists.
2. The method according to claim 1, wherein the step S1 of obtaining the motion state of the vehicle according to the position information and heading azimuth of the vehicle includes:
calculating the change distance of two frames before and after the GPS in the position information by a formula (1):
wherein d is the distance between two frames before and after (x) 1 ,y 1 ) For the current frame vehicle main antenna coordinates, (x) 2 ,y 2 ) The next frame of vehicle main antenna coordinates;
when the change distance value of the front frame and the rear frame is smaller than a first preset value, the vehicle is in a static state; when the distance value of the change of the front frame and the rear frame is greater than or equal to a first preset value, the vehicle is in a non-static state;
if the vehicle is in a non-static state, calculating the azimuth angles of the front frame and the rear frame of the GPS of the non-static vehicle by the formula (2):
where angle is the azimuth angle of two frames before and after the vehicle GPS, (x) 1 ,y 1 ) For the current frame vehicle main antenna coordinates, (x) 2 ,y 2 ) The next frame of vehicle main antenna coordinates;
and (3) making a difference value between the azimuth angle of the two frames before and after the GPS of the non-stationary vehicle and the heading azimuth angle, wherein the absolute value of the difference value is in the range of 0-60 degrees, namely the vehicle is in a forward state in the same direction, and otherwise, the vehicle is in a backward state.
3. The method of claim 2, further comprising: and if the change distance value of the front frame and the back frame is larger than a second preset value, filtering and deleting.
4. The method of claim 3, wherein the first predetermined value is 0.03 meters and the second predetermined value is 0.8 meters.
5. The method as claimed in claim 1, wherein the step S2, calculating the distance between the host vehicle and the surrounding vehicles at the current time according to the position information, the heading azimuth and the motion state, specifically comprises:
calculating coordinates of four corner points of each vehicle body according to the position information and the length and width values of the vehicles stored in advance;
respectively calculating the distances from the four angular points of the self-vehicle to the four angular points of the surrounding vehicles, and taking the minimum distance as the distance between the self-vehicle and the surrounding vehicles to obtain the distance between the self-vehicle and the surrounding vehicles;
d min1 ＝min{d 11 ，d 12 ，d 13 ，d 14 }
d min2 ＝min{d 21 ，d 22 ，d 23 ，d 24 }
d min3 ＝min{d 31 ，d 32 ，d 33 ，d 34 }
d min4 ＝min{d 41 ，d 42 ，d 43 ，d 44 }
d min ＝min{d min1 ，d min2 ，d min3 ，d min4 }
in the formula (d) ij Respectively representing the distance values between the ith angular point of the self vehicle and the jth angular point of the surrounding vehicles, wherein i is 1, 2, 3 and 4; j is 1, 2, 3, 4; d is a radical of min1 ，d min2 ，d min3 ，d min4 The minimum distance value of a first angular point, a second angular point, a third angular point and a fourth angular point of the vehicle and surrounding vehicles is represented; d min Indicating the minimum distance between the vehicle and the surrounding vehicles.
6. The method as set forth in claim 1, wherein the preset range in the step S2 is 10 m.
7. The method according to claim 1, wherein the step S3 specifically includes:
s31, calculating the four-quadrant position of the surrounding vehicle with the distance within the preset range relative to the vehicle;
establishing a rectangular coordinate system by taking the central point of the vehicle body of the bicycle as an origin, converting the absolute coordinates of surrounding vehicles into the rectangular coordinate system, wherein the algorithm for converting the coordinate system is as follows:
x 4 ＝x 3 cosθ-y 3 sinθ
y 4 ＝x 3 sinθ+y 3 cosθ
in the formula (x) 3 ，y 3 ) Is the primary antenna coordinate of the surrounding vehicle, (x) 4 ，y 4 ) The coordinate of a main antenna of a surrounding vehicle in a self-vehicle coordinate system is shown, and theta is the difference value of the heading azimuth angles of the self-vehicle and the surrounding vehicle;
in the self-vehicle coordinate system, the four-quadrant position judgment method of the surrounding vehicles is as follows:
if x 4 > 0 and y 4 If the vehicle speed is more than 0, the surrounding vehicles are positioned at the front right of the vehicle;
if x 4 < 0 and y 4 If the vehicle speed is more than 0, the surrounding vehicles are positioned in the front left of the vehicle;
if x 4 < 0 and y 4 If the vehicle speed is less than 0, the surrounding vehicles are positioned at the left rear part of the vehicle;
if x 4 > 0 and y 4 If the vehicle speed is less than 0, the surrounding vehicles are positioned at the rear right of the vehicle;
s32, calculating the course angle relation between the surrounding vehicles with the distance within the preset range and the vehicle, and judging that the surrounding vehicles with the vertical direction of the vehicle body within the range of plus or minus 45 degrees are vehicles passing through transversely, wherein the following concrete steps are as follows:
the surrounding vehicle travels to the right with respect to the own vehicle: angle 1 +45°＜angle 2 ＜angle 1 +135°；
The surrounding vehicle travels leftward relative to the vehicle: angle 1 +225°＜angle 2 ＜angle 1 +315°；
In the formula, angle 1 Is the heading azimuth of the vehicle 2 Is the heading azimuth of the surrounding vehicle.
8. The method according to claim 1, wherein in step S4, the determining whether there is a risk of lateral collision according to the motion relationship includes:
under the scene of advancing from the car, judge that there is the condition of horizontal collision risk and include:
the surrounding vehicles are positioned at the left front part of the self vehicle, and are in a forward state towards the right relative to the self vehicle direction;
the surrounding vehicles are positioned at the left front part of the self vehicle, are leftwards relative to the self vehicle direction and are in a backward state;
the surrounding vehicles are positioned at the right front of the self vehicle, are rightwards relative to the self vehicle direction and are in a backward state;
the surrounding vehicles are positioned at the front right of the self vehicle, and are in a forward state relative to the left of the self vehicle;
under the scene of backing up the own vehicle, the situation of judging that the lateral collision risk exists comprises the following steps:
the surrounding vehicles are positioned at the rear right of the self vehicle, are rightwards relative to the self vehicle direction and are in a backward state;
the surrounding vehicles are positioned at the rear right of the self vehicle, and are in a forward state towards the left relative to the self vehicle direction;
the surrounding vehicles are positioned at the left rear part of the self vehicle, and are in a forward state towards the right relative to the self vehicle direction;
the surrounding vehicle is located at the left rear of the vehicle, and is in a backward state leftward with respect to the vehicle direction.
9. A device for preventing a lateral collision of a driver training vehicle, comprising:
the vehicle information acquisition module is used for acquiring the position information and the course azimuth angle of the vehicle in real time through a vehicle-mounted GPS double antenna arranged on the vehicle, and acquiring the position information, the course azimuth angle and the motion state of the surrounding vehicle in the driving training field through a cloud server;
the vehicle motion state judgment module is used for calculating the motion state of the vehicle according to the position information and the heading azimuth;
the vehicle judgment module in the preset range is used for calculating the distance between the current vehicle and the surrounding vehicles according to the position information, the heading azimuth angle and the motion state to obtain the surrounding vehicles with the distance in the preset range;
the transverse traversing vehicle judging module is used for calculating the four-quadrant position of the surrounding vehicle with the distance within the preset range relative to the self vehicle and the heading azimuth angle relation of the surrounding vehicle and the self vehicle, and obtaining the surrounding vehicle transversely traversing relative to the self vehicle according to the heading angle relation;
the collision risk judging module is used for obtaining the motion relation between the transversely-crossed peripheral vehicles and the self-vehicle according to the four-quadrant position and the motion state information of the transversely-crossed peripheral vehicles relative to the self-vehicle, judging whether a transverse collision risk exists or not according to the motion relation, and controlling an executing mechanism to execute a preset avoidance action when the transverse collision risk exists; and the storage module is used for storing the length and width values of the vehicle, the position information, the heading azimuth angle and the motion state.
10. An electronic device comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of preventing a lateral collision of a driver training vehicle of any of claims 1 to 8.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115771506A (en) * | 2022-11-17 | 2023-03-10 | 清华大学 | Method and device for determining vehicle driving strategy based on passenger risk cognition |
| CN116071958A (en) * | 2023-01-10 | 2023-05-05 | 深圳联友科技有限公司 | Vehicle out-of-control early warning method, early warning system, controller and medium |
| CN116101278A (en) * | 2022-12-21 | 2023-05-12 | 北京百度网讯科技有限公司 | Driving training vehicle control method and device, electronic equipment and storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115771506A (en) * | 2022-11-17 | 2023-03-10 | 清华大学 | Method and device for determining vehicle driving strategy based on passenger risk cognition |
| CN116101278A (en) * | 2022-12-21 | 2023-05-12 | 北京百度网讯科技有限公司 | Driving training vehicle control method and device, electronic equipment and storage medium |
| CN116071958A (en) * | 2023-01-10 | 2023-05-05 | 深圳联友科技有限公司 | Vehicle out-of-control early warning method, early warning system, controller and medium |
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