CN115376361A - Vehicle rear-end collision early warning method and device, storage medium and electronic equipment - Google Patents
Vehicle rear-end collision early warning method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The invention provides a vehicle rear-end collision early warning method, a vehicle rear-end collision early warning device, a computer readable storage medium and electronic equipment, which belong to the technical field of vehicle control and specifically comprise the following steps: acquiring a first relative speed and a first collision duration corresponding to a first preset duration of a first vehicle and a second vehicle; determining a first dynamic critical time based on the first relative speed and first preset information; and if the first relative speed, the first collision duration and the first dynamic critical time accord with a first preset condition, generating first early warning information. According to the technical scheme provided by the invention, the first dynamic critical time for generating the first early warning information is dynamically set according to the first relative speed, so that the first dynamic critical time has real-time performance, the real-time scenes of the first vehicle are different, and the first dynamic critical time is different, so that the early warning accuracy can be improved, and the phenomenon of frequent early warning is avoided.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle rear-end collision warning method, apparatus, storage medium, and electronic device.
Background
With the rapid development of social economy, automobiles become more and more popular, and bring convenience to people and cause more and more traffic accidents, and in the traffic accidents, rear-end accidents are one of the main forms of traffic accidents. In order to prevent rear-end accidents, an early warning method is arranged on a vehicle, the distance between the current vehicle and a rear vehicle is usually determined, and early warning is performed when the distance is smaller than a set threshold value.
Disclosure of Invention
The invention provides a vehicle rear-end collision early warning method, a vehicle rear-end collision early warning device, a computer readable storage medium and electronic equipment, and aims to solve the technical problem that an existing vehicle rear-end collision early warning method is low in accuracy.
In a first aspect, a vehicle rear-end collision early warning method is provided, which specifically comprises the following steps:
acquiring a first relative speed and a first collision duration corresponding to a first preset duration of a first vehicle and a second vehicle;
determining a first dynamic critical time based on the first relative speed and first preset information;
and if the first relative speed, the first collision duration and the first dynamic critical time accord with a first preset condition, generating first early warning information.
In a second aspect, a vehicle rear-end collision early warning device is provided, which specifically comprises the following modules:
the acquisition processing module is used for acquiring a first relative speed and a first collision time length of the first vehicle and the second vehicle corresponding to each other within a first preset time length;
the time determining module is used for determining a first dynamic critical time based on the first relative speed and first preset information;
and the early warning processing module is used for generating first early warning information if the first relative speed, the first collision duration and the first dynamic critical time meet a first preset condition.
In a third aspect, a computer-readable storage medium is provided, which stores a computer program for executing the vehicle rear-end collision warning method described above.
In a fourth aspect, an electronic device is provided, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for reading the executable instructions from the memory and executing the instructions to realize the vehicle rear-end collision early warning method.
Compared with the prior art, the vehicle rear-end collision early warning method, the vehicle rear-end collision early warning device, the computer readable storage medium and the electronic equipment at least have the following beneficial effects:
according to the technical scheme, first relative speed and first collision duration corresponding to a first vehicle and a second vehicle within first preset duration are obtained, then first dynamic critical time is determined according to the first relative speed and the first preset information, and whether first early warning information is generated or not is judged further by utilizing the first relative speed, the first collision duration, the first dynamic critical time and first preset conditions. The first dynamic critical time for determining the generation of the first early warning information is dynamically set according to the first relative speed, so that the first dynamic critical time has real-time performance, the real-time scenes of the first vehicle are different, and the first dynamic critical time is different, so that the accuracy of early warning can be improved, the phenomenon of frequent early warning caused by too large threshold setting and the phenomenon of poor early warning effect caused by too small threshold setting when a fixed threshold is set are avoided, the accuracy of early warning of rear-end collision of the vehicle is improved, and the experience of a user is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the description of the present invention will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings may be obtained according to the drawings without inventive labor.
Fig. 1 is a first flowchart illustrating a vehicle rear-end collision warning method according to an exemplary embodiment of the present invention;
FIG. 2 is a second flowchart illustrating a vehicle rear-end collision warning method according to an exemplary embodiment of the present invention;
FIG. 3 is a third flowchart illustrating a vehicle rear-end collision warning method according to an exemplary embodiment of the present invention;
FIG. 4 is a fourth flowchart illustrating a vehicle rear-end collision warning method according to an exemplary embodiment of the present invention;
FIG. 5 is a fifth flowchart illustrating a vehicle rear-end collision warning method according to an exemplary embodiment of the present invention;
fig. 6 is a sixth schematic flowchart of a vehicle rear-end collision warning method according to an exemplary embodiment of the present invention;
fig. 7 is a schematic structural diagram of a vehicle rear-end collision warning device according to an exemplary embodiment of the present invention;
fig. 8 is a block diagram of an electronic device provided in an exemplary embodiment of the invention.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of the embodiments of the present invention.
With the rapid development of social economy, automobiles become more and more popular, and bring convenience to people and cause more and more traffic accidents, and in the traffic accidents, rear-end accidents are one of the main forms of traffic accidents. In order to prevent rear-end accidents, an early warning method is arranged on a vehicle, the distance between the current vehicle and a rear vehicle is usually determined, and early warning is performed when the distance is smaller than a set threshold value. In order to solve the technical problem of low accuracy of the existing vehicle rear-end collision early warning method, the invention provides the following exemplary method, device, electronic equipment, computer program product and readable storage medium.
Exemplary method
Fig. 1 is a schematic flow chart of a vehicle rear-end collision warning method according to an exemplary embodiment of the present invention, which specifically includes the following steps:
In one embodiment, the first vehicle is a vehicle of the vehicle, the second vehicle is an adjacent vehicle located on the same lane as the first vehicle, for example, the second vehicle is a vehicle behind the first vehicle. The first preset duration is the length of the preset time interval and may be set to 0.1s, for example. The first relative speed refers to the relative speed of the first vehicle and the second vehicle within a first preset time period, and the first collision time period refers to the time required for the first vehicle and the second vehicle to have a collision accident at the first relative speed at the current relative distance.
In an embodiment, the first preset information refers to preset information for acquiring the first dynamic critical time, for example, the first preset information may be a preset formula or a preset mapping table, and when the first relative speed is acquired, the first relative speed is input into the preset formula or the first dynamic critical time is acquired by querying the preset mapping table, where the first dynamic critical time is a threshold value used for determining whether to generate the first warning information.
In an embodiment, the first relative speed, the first collision duration and the first dynamic critical time are screened through a first preset condition, the first relative speed, the first collision duration and the first dynamic critical time which may cause a collision accident are screened, and first early warning information is generated to perform early warning. For example, the first preset condition may be that the first relative speed is greater than zero and the first collision duration is less than the first dynamic critical time, or may be other conditions, such as that the first relative speed is greater than zero and the ratio of the first collision duration to the first dynamic critical time is less than a set value.
In the above embodiment, the first dynamic critical time is dynamically changed according to the first relative speed, and is different according to different first relative speeds, that is, different first relative speeds correspond to different first dynamic critical times, so that it is also real-time that whether the first relative speed, the first collision duration, and the first dynamic critical time meet the first preset condition, that is, the generation of the first warning information is determined according to a real-time scene in which the first vehicle is located, and has higher accuracy.
In an exemplary embodiment of the present invention, the acquiring a first relative speed and a first collision duration of the first vehicle and the second vehicle within a first preset duration in step 101 includes:
step 1011, sequentially acquiring a first relative distance and a second relative distance between a first vehicle and a second vehicle, wherein a time interval between the acquisition of the first relative distance and the acquisition of the second relative distance is a first preset time length;
step 1012, determining a first relative speed based on the first relative distance, the second relative distance and the first preset time length;
and 1013, determining a first collision duration based on the second relative distance and the first relative speed.
In the above embodiment, a first preset time period is preset (e.g., set to 0.1 s), the relative distance between the first vehicle and the second vehicle is obtained every first preset time period, the obtained relative distances before and after one first preset time period are respectively a first relative distance d1 and a second relative distance d2, then the ratio of the difference between the first relative distance d1 and the second relative distance d2 to the first preset time period is used to determine a first relative speed s1, s1= (d 1-d 2)/0.1 m/s, and further the ratio of the second relative distance d2 to the first preset time period is used to determine a first collision time period t1= d2/s1. Specifically, two frames of images with a first preset time interval can be obtained through the camera, and the relative distance between the first vehicle and the second vehicle in the two frames of images is identified to obtain the first relative speed and the first collision time. It is of course also possible to install a radar sensing device on the first vehicle, and to determine the relative distance between the first vehicle and the second vehicle at intervals of a first predetermined duration, in order to find out the first relative speed and the first collision duration.
In a possible implementation manner, the first preset information is set as a braking distance formula and a dynamic critical time determination formula, where the braking distance formula and the dynamic critical time determination formula are as follows:
c1= v/2g μ; formula (1)
y = c1/v = v/2g μ/v = v/2g μ; formula (2)
Wherein c1 represents a braking distance; g =9.8m/s 2 (ii) a v represents the speed, unit is m/s; mu represents the friction parameter between the tire and the ground; y characterizes the dynamic critical time. When v takes s1, y1= s1/2g μ is obtained, y1 being the first dynamic critical time obtained according to equation (2). At this time, the first preset condition may be set that the first relative speed is greater than zero, the first collision duration is greater than zero, and the first collision duration is less than the first dynamic critical time, that is, if s1>0, and 0<t1<y 1s, first early warning information is generated, and because the first dynamic critical time in the first preset condition is dynamically changed, whether the first early warning information is generated or not is determined according to the real-time scene of the first vehicle, so that the method has real-time performance, and the accuracy of generating the first early warning information is high. After the first early warning information is generated, warning sound or warning light can be emitted according to the first early warning information to remind the second vehicle to keep a safe distance from the first vehicle, so that the occurrence of collision accidents is avoided.
Since weather has an effect on the friction parameter between the tire and the ground, in an exemplary embodiment of the invention, as shown in fig. 2, the method further comprises:
and 104, acquiring weather data corresponding to the current position of the first vehicle.
Step 102 determines a first dynamic critical time based on the first relative velocity and first preset information, comprising:
In the above embodiment, the current position refers to position information of the first vehicle at the current time, and when the first vehicle is in the driving process, the current position is continuously changed along with the change of the current time, so that the acquired weather data has real-time performance and high accuracy. Specifically, the weather data may be acquired in real time through the wireless device, or periodically through the wireless device. And presetting a weather parameter mapping relation in the first preset information, so that after the weather data are obtained, a target friction parameter is determined by inquiring the weather parameter mapping relation, wherein the target friction parameter refers to a friction parameter selected according to the weather data. For example, the preset weather parameter mapping relationship is: light rain, friction parameter 0.2; medium rain, friction parameter 0.18; heavy rain, friction parameter 0.15; snow with a friction parameter of 0.1; snow with a friction parameter of 0.09; heavy snow with a friction parameter of 0.08; if the weather data corresponding to the current position of the first vehicle is obtained as the small snow, the target friction parameter can be determined to be 0.1, wherein a third preset formula can be shown as a formula (1) and a formula (2), the determined target friction parameter and the first relative speed are input into the third preset formula, and then the first dynamic critical time can be determined.
In an exemplary embodiment of the present invention, as shown in fig. 3, the method further includes:
and 105, acquiring the safety parameters set by the user.
Step 102 determines a first dynamic critical time based on the first relative velocity and first preset information, comprising:
In the above embodiment, since the driving levels of the users are different, in order to meet the requirements of different users, the users are allowed to set the safety parameters, the users set different safety parameters, and the determined first dynamic critical time is different. Specifically, the safety parameter 0< = p < =5s set by the user, where the default value of p is 0, and if the safety parameter p is set by the user, the following dynamic critical time determination formula may exist:
y = v/2g μ + p; formula (3)
When v is s1, y2= s1/2g μ + p is obtained, and y2 is the first dynamic critical time obtained according to equation (3). Setting up first preset condition and setting up to first relative speed and being greater than zero, it is long to be greater than zero when first collision, and it is long to be less than first dynamic critical time when first collision, if s1>0 promptly, and 0 are once and when t1 is once and y2 s, can generate first early warning information to output this first early warning information, send warning sound or warning light according to this first early warning information, remind second vehicle and first vehicle to keep safe distance, avoid the emergence of collision accident.
In an exemplary embodiment of the invention, the method includes: acquiring weather data corresponding to the current position of the first vehicle; acquiring safety parameters set by a user; determining a first dynamic critical time based on the first relative speed and first preset information, including: determining a target friction parameter based on the weather data and a weather parameter mapping relation in first preset information; and inputting the first relative speed, the target friction parameter and the safety parameter into a fourth preset formula to determine a first dynamic critical time, wherein the fourth preset formula can be shown as a formula (1) and a formula (3).
In an exemplary embodiment of the present invention, the first dynamic critical time includes a minimum critical time and an alarm critical time, and step 102 determines the first dynamic critical time based on the first relative speed and the first preset information, including:
step 1024, determining the minimum critical time based on the first relative speed and a first preset formula in first preset information;
and 1025, determining alarm critical time based on the first relative speed, the preset reaction time in the first preset information and a second preset formula in the first preset information.
In the above embodiment, the first dynamic critical time is divided into the minimum critical time and the warning critical time, where the warning critical time is a time threshold for starting to perform the early warning, and the minimum critical time is a limit threshold of the early warning in the case of performing the early warning, that is, the most urgent early warning. When the alarm critical time is set, the reaction time of the person is considered and is set in advance, so that when the alarm critical time is determined, the alarm critical time is set according to the first relative speed, the preset reaction time in the first preset information and the second preset formula in the first preset information. Specifically, the first predetermined formula may be formula (1) and formula (2) when the minimum critical time is set, and if the first relative speed s1 is input into formula (2), y1= s1/2g μ is obtained, and then y1 represents the minimum critical time. When the alarm critical time is set, the preset reaction time is 1s, and then the safety distance formula and the alarm critical time determination formula are as follows:
c2= c1+ r = v/2g μ +1 × s; formula (4)
x = c2/v = v/2g μ +1; formula (5)
Wherein c2 represents the safety distance, r represents the reaction distance, x represents the alarm critical time, the first relative speed s1 is input into the formula (5) to obtain x1= s1/2g mu +1, and x1 represents the alarm critical time obtained according to the formula (5). At this time, different first early warning information contents can be determined according to the relationship among the first relative speed, the first collision duration, the minimum critical time and the alarm critical time. That is to say, when the first dynamic critical time includes the minimum critical time and the alarm critical time, the content of the first preset condition may also be set in multiple levels, and the first warning information with different contents is determined and generated for different levels. For example, the first preset condition is that the first relative speed is greater than zero, the first collision duration is greater than zero and is less than the alarm critical time, and at this time, the first early warning information is to emit a warning sound and a warning light; the first preset condition further includes that the first relative speed is greater than zero, the first collision duration is greater than zero and less than the minimum critical time, and at this time, the first early warning information is a lane change voice prompt. Of course, the alarm critical time determination formula may also consider the safety parameters set by the user, and then the alarm critical time determination formula is as follows:
x = c2/v = v/2g μ +1+ p; formula (6)
When v is s1, x2= s1/2g mu +1+ p is obtained, and x2 represents the alarm critical time obtained according to the formula (6); when s1>0, and 0 t1 and n 2 s, determining the content as first early warning information for emitting warning sound and warning light; when s1 is larger than 0 and 0-t 1s, determining that the content is the first early warning information of lane change.
In an exemplary embodiment of the present invention, as shown in fig. 4, the method further includes:
and 107, outputting the first early warning information based on the early warning level.
In the above embodiment, when the relationship between the first collision duration and the first dynamic threshold time is different, the warning levels are different, wherein the warning levels include, but are not limited to, the sound level of the warning sound and the emitting frequency of the warning light. And after the early warning level is determined, outputting first early warning information by using the early warning level. For example, when the first collision duration is less than the first dynamic critical time, as the absolute value of the difference between the first collision duration and the first dynamic critical time is larger, the higher the warning level is, the larger the warning sound is, and the more frequent the warning light is emitted.
In a possible implementation manner, the method further includes determining a display color corresponding to the display content in the vehicle-mounted display screen of the first vehicle based on the first relative speed, the first collision duration and the first dynamic critical time. Specifically, the display content in the vehicle-mounted display screen of the first vehicle includes: if the first relative speed is less than zero or greater than zero, the first collision duration is greater than zero and greater than the first dynamic critical time, the display color is green; if the first relative speed is less than zero, the first collision duration is greater than zero, and the first collision duration is less than the first dynamic critical time, the display color is red, and the deeper the red color is, the higher the possibility of a collision accident between the first vehicle and the second vehicle is.
In an exemplary embodiment of the present invention, as shown in fig. 5, the method further includes:
and 108, if the first relative speed, the first collision duration and the first dynamic critical time meet second preset conditions, acquiring a second relative speed and a second collision duration corresponding to a first vehicle and a third vehicle within a second preset duration, wherein the third vehicle and the second vehicle are respectively located on the front side and the rear side of the first vehicle.
In one embodiment, the first relative speed, the first collision duration and the first dynamic critical time are screened by a first preset condition, and the first relative speed, the first collision duration and the first dynamic critical time are also screened by a second preset condition, wherein a real-time scene with a higher possibility of a collision accident between the first vehicle and the second vehicle is screened by the second preset condition. For example, if the first preset condition is that the first relative speed is greater than zero and the first collision duration is less than the first dynamic critical time, the second preset condition may be that the first relative speed is greater than zero, the first collision duration is less than the first dynamic critical time, and an absolute value of a difference between the first collision duration and the first dynamic critical time is greater than a set value; if the first preset condition is that the first relative speed is greater than zero and the ratio of the first collision duration to the first dynamic critical time is smaller than a first set value, the second preset condition is that the first relative speed is greater than zero and the ratio of the first collision duration to the first dynamic critical time is smaller than a second set value, wherein the numerical value of the second set value is smaller than the first set value; if the first preset condition is that the first relative speed is greater than zero and the first collision duration is less than the alarm critical time, the second preset condition is that the first relative speed is greater than zero and the first collision duration is less than the minimum critical time.
Specifically, the preset second preset time period may be the same as the first preset time period, for example, set to 0.1s, and may also be set to be different from the first preset time period. Every second preset time interval, obtaining the relative distance between the first vehicle and the third vehicle, wherein the relative distances obtained before and after one first preset time interval are a third relative distance d3 and a fourth relative distance d4 respectively, then determining a second relative speed s2 by using the ratio of the difference value of the third relative distance d3 and the fourth relative distance d4 to the second preset time interval, wherein s2= (d 3-d 4)/0.1 m/s, and further determining a second collision time interval t2= d4/s2 by using the ratio of the fourth relative distance d4 to the second preset time interval. Specifically, two frames of images with a second preset time interval are obtained through the camera, and the relative distance between the first vehicle and the third vehicle in the two frames of images is identified to obtain the second relative speed and the second collision time. Of course, the radar sensing device may be mounted on the first vehicle, and the relative distance between the first vehicle and the third vehicle may be determined every second preset time interval to find out the second relative speed and the second collision time.
In an embodiment, the second preset information is preset information for acquiring the second dynamic critical time, for example, the second preset information may be a preset formula or a preset mapping table, and when the second relative speed is acquired, the second relative speed is input into the preset formula or the second dynamic critical time is acquired by querying the preset mapping table.
In one possible implementation manner, weather data corresponding to the current position of a first vehicle is obtained; and determining a target friction parameter based on the weather data and the weather parameter mapping relation in the second preset information, inputting the second relative speed and the target friction parameter into a preset formula in the second preset information, and determining a second dynamic critical time.
In another possible implementation manner, a safety parameter set by a user is obtained, and a second dynamic critical time is determined based on the second relative speed, the second preset information and the safety parameter.
In another possible implementation manner, the safety parameter set by the user is acquired, weather data corresponding to the current position of the first vehicle is acquired, the target friction parameter is determined based on the weather data and a weather parameter mapping relationship in the second preset information, the second relative speed, the target friction parameter and the safety parameter are input into a preset formula in the second preset information, and the second dynamic critical time is determined.
For example, the setting formula in the second setting information may adopt a safe distance formula of formula (4) and a dynamic critical time determination formula of formula (5), and take the second relative speed s2 between the first vehicle and the third vehicle to calculate the second dynamic critical time as follows:
when s2> 0:
c3= s2/2g μ + 1s 2; formula (7)
z = c1/s2= s2/2g μ +1; formula (8)
When s2< 0:
c3= s2/2g μ -1 s2; formula (9)
z = c1/s2= s2/2g μ -1; formula (10)
Wherein z represents a second dynamic critical time; c3 characterizes the safety distance.
When the safety parameter p set by the user is considered, a dynamic critical time determination formula of formula (6) is adopted, a second relative speed s2 between the first vehicle and the third vehicle is taken, and a second dynamic critical time is calculated as follows:
when s2> 0:
z = c2/s2= s2/2g μ +1+ p; formula (11)
When s2< 0:
z = c1/s2= s2/2g μ -1-p; formula (12)
And step 110, if the relation between the second collision time length and the second dynamic critical time meets a third preset condition, controlling the current speed of the first vehicle.
In one embodiment, a third preset condition is utilized to screen out a real-time scene with a large relative distance between the first vehicle and the third vehicle. Specifically, the third preset condition may be that the second collision duration is less than the negative second dynamic critical time or the second collision duration is greater than the second dynamic critical time. When the relationship between the second collision duration and the second dynamic critical time meets the third preset condition, it indicates that the possibility of a collision accident between the first vehicle and the third vehicle is low, so that the collision between the first vehicle and the second vehicle can be prevented by controlling the current speed of the first vehicle and changing the relative distance between the first vehicle and the third vehicle.
In the above-described embodiment, when the relationship between the first collision duration and the first dynamic critical time meets the second preset condition, the possibility of a collision accident occurring between the first vehicle and the second vehicle is high, and therefore the second relative speed and the second collision duration between the first vehicle and the third vehicle are determined to determine whether the collision accident between the first vehicle and the second vehicle can be avoided by changing the relative distance between the first vehicle and the third vehicle, and the possibility of safe driving is improved. It should be noted that, if there is no third vehicle in front of the first vehicle, the current speed of the first vehicle is controlled, the current speed of the first vehicle is increased, and a collision accident between the first vehicle and the second vehicle is avoided.
In an exemplary embodiment of the invention, the step 110, if the relationship between the second collision duration and the second dynamic critical time meets a third preset condition, controlling the current speed of the first vehicle includes:
step 1101, if the relationship between the second collision duration and the second dynamic critical time meets a third preset condition, generating an acceleration prompt message;
and step 1102, responding to an operation instruction of the user based on the acceleration prompt information, and controlling the current speed of the first vehicle.
In the above-described embodiment, when the relationship between the second collision duration and the second dynamic critical time meets the third preset condition, the relative distance between the first vehicle and the second vehicle meets the acceleration condition, and in order to avoid a collision accident between the first vehicle and the second vehicle, the current speed of the first vehicle may be automatically controlled according to the relative distance between the first vehicle and the third vehicle. At the moment, acceleration prompt information can be generated and used for reminding a user that the vehicle is about to accelerate, after the acceleration prompt information is generated, the acceleration prompt information is broadcasted in a voice mode so that a driver can operate according to the acceleration prompt information, after the user operates, an operation instruction of the user based on the acceleration prompt information is obtained, and the current speed of the first vehicle is controlled according to the operation instruction of the user. Specifically, after the user hears the acceleration prompt information, the user may not agree to perform the acceleration operation, and at this time, the user may perform the operation of stepping on the brake, and after the corresponding operation instruction is the brake instruction, the acceleration of the first vehicle is abandoned, and the current speed of the first vehicle is determined according to the control of the user on the accelerator of the vehicle. When the user hears the acceleration prompt information and does not step on the brake, the acceleration is approved by the user, the corresponding operation instruction is an acceleration instruction, the accelerator of the vehicle is controlled, the current speed of the vehicle is adjusted, the relative distance between the first vehicle and the second vehicle is increased, and the possibility of collision accidents between the first vehicle and the second vehicle is reduced.
As shown in fig. 6, in an exemplary embodiment of the invention, the method further includes:
and step 111, if the relationship between the second collision duration and the second dynamic critical time does not accord with a third preset condition, generating second early warning information.
In the above embodiment, when the relationship between the second collision duration and the second dynamic critical time does not meet the third preset condition, that is, there is a possibility of a collision accident between the first vehicle and the third vehicle, that is, the collision between the first vehicle and the second vehicle cannot be avoided by adjusting the relative distance between the first vehicle and the third vehicle, at this time, the second warning information is generated, the content of the second warning information is a lane change prompt, and after the second warning information is generated, the second warning information is played in a voice manner to prompt the user to perform lane change processing, so as to avoid the possibility of a collision accident between the first vehicle and the second vehicle.
In a possible implementation manner, after a second relative speed and a second collision duration between a first vehicle and a third vehicle are obtained, a second relative distance between the first vehicle and the second vehicle, a first relative speed and a display color of the first collision duration, which are displayed in a vehicle-mounted display screen of the first vehicle, are determined based on the first relative speed, the first collision duration and a first dynamic threshold; and determining a fourth relative distance, a second relative speed and a second collision time display color between the first vehicle and the third vehicle, which are displayed in the vehicle-mounted display screen of the first vehicle, based on the second relative speed, the second collision time and the second dynamic critical time.
Exemplary devices
Based on the same conception with the embodiment of the method, the embodiment of the invention also provides a vehicle rear-end collision early warning device.
Fig. 7 shows a schematic structural diagram of a vehicle rear-end collision warning apparatus according to an exemplary embodiment of the present invention, including:
the obtaining processing module 71 is configured to obtain a first relative speed and a first collision duration corresponding to a first preset duration of the first vehicle and the second vehicle;
a time determining module 72, configured to determine a first dynamic critical time based on the first relative speed and first preset information;
and the early warning processing module 73 is configured to generate first early warning information if the first relative speed, the first collision duration, and the first dynamic critical time meet a first preset condition.
In an exemplary embodiment of the invention, the apparatus further comprises:
the judging and processing module is used for acquiring a second relative speed and a second collision duration of a first vehicle and a third vehicle within a second preset duration if the first relative speed, the first collision duration and the first dynamic critical time meet a second preset condition, wherein the third vehicle and the second vehicle are respectively positioned at the front side and the rear side of the first vehicle;
the time processing module is used for determining a second dynamic critical time based on the second relative speed and second setting information;
and the speed control module is used for controlling the current speed of the first vehicle if the relation between the second collision duration and the second dynamic critical time accords with a third preset condition.
In an exemplary embodiment of the present invention, the speed control module includes:
the prompt processing unit is used for generating acceleration prompt information if the relationship between the second collision duration and the second dynamic critical time meets a third preset condition;
and the speed control unit is used for responding to an operation instruction of the user based on the acceleration prompt information and controlling the current speed of the first vehicle.
In an exemplary embodiment of the invention, the apparatus further comprises:
and the information generation module is used for generating second early warning information if the relationship between the second collision duration and the second dynamic critical time does not accord with the third preset condition.
In an exemplary embodiment of the invention, the first dynamic threshold time includes a minimum threshold time and an alarm threshold time, and the time determination module includes:
a first determining unit, configured to determine a minimum critical time based on the first relative speed and a first preset formula in first preset information;
and the second determining unit is used for determining the alarm critical time based on the first relative speed, the preset reaction time in the first preset information and a second preset formula in the first preset information.
In an exemplary embodiment of the present invention, the obtaining processing module includes:
the distance acquisition unit is used for sequentially acquiring a first relative distance and a second relative distance between a first vehicle and a second vehicle, wherein the time interval for acquiring the first relative distance and the second relative distance is a first preset time length;
a speed obtaining unit, configured to determine a first relative speed based on the first relative distance, the second relative distance, and the first preset duration;
and the time length acquisition unit is used for determining a first collision time length based on the second relative distance and the first relative speed.
In an exemplary embodiment of the invention, the apparatus further comprises:
the weather obtaining module is used for obtaining weather data corresponding to the current position of the first vehicle;
the time determination module includes:
the parameter determining unit is used for determining a target friction parameter based on the weather data and a weather parameter mapping relation in the first preset information;
and the third determining unit is used for inputting the first relative speed and the target friction parameter into a third preset formula in the first preset information to determine a first dynamic critical time.
In an exemplary embodiment of the invention, the apparatus further comprises:
the parameter acquisition module is used for acquiring the safety parameters set by the user;
the time determination module is configured to determine a first dynamic critical time based on the first relative speed, first preset information, and the safety parameter.
In an exemplary embodiment of the invention, the apparatus further comprises:
the level determining module is used for determining an early warning level corresponding to the first early warning information based on the relation between the first collision duration and the first dynamic critical time;
and the information output module is used for outputting the first early warning information based on the early warning level.
Exemplary electronic device
FIG. 8 illustrates a block diagram of an electronic device in accordance with an embodiment of the present invention.
As shown in fig. 8, the electronic device 100 includes one or more processors 101 and memory 102.
The processor 101 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.
In one example, the electronic device 100 may further include: an input device 103 and an output device 104, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
Of course, for simplicity, only some of the components of the electronic device 100 relevant to the present invention are shown in fig. 8, and components such as buses, input/output interfaces, and the like are omitted. In addition, electronic device 100 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer program productComputer readable storage medium
In addition to the above-described methods and apparatus, embodiments of the present invention may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the vehicle rear-end collision warning method according to various embodiments of the present invention described in the "exemplary methods" section above of this specification.
The computer program product may write program code for carrying out operations for embodiments of the present invention 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.
Furthermore, embodiments of the present invention may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the vehicle rear-end collision warning method according to various embodiments of the present invention described in the "exemplary method" section above in this specification.
The computer-readable storage medium may take 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 include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any 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.
The basic principles of the present invention have been described above with reference to specific embodiments, but it should be noted that the advantages, effects, etc. mentioned in the present invention are only examples and are not limiting, and the advantages, effects, etc. must not be considered to be possessed by various embodiments of the present invention. Furthermore, the foregoing detailed description of the invention is provided for the purpose of illustration and understanding only, and is not intended to be limiting, since the invention will be described in any way as it would be understood by one skilled in the art.
The block diagrams of devices, apparatuses, systems involved in the present invention are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. As used herein, the words "or" and "refer to, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the apparatus, devices and methods of the present invention, the components or steps may be broken down and/or re-combined. These decompositions and/or recombinations are to be considered as equivalents of the present invention.
The previous description of the inventive aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the invention to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (12)
1. A vehicle rear-end collision early warning method is characterized by comprising the following steps:
acquiring a first relative speed and a first collision duration corresponding to a first preset duration of a first vehicle and a second vehicle;
determining a first dynamic critical time based on the first relative speed and first preset information;
and if the first relative speed, the first collision duration and the first dynamic critical time meet a first preset condition, generating first early warning information.
2. The method of claim 1, further comprising:
if the first relative speed, the first collision duration and the first dynamic critical time meet a second preset condition, obtaining a second relative speed and a second collision duration corresponding to a first vehicle and a third vehicle within the second preset duration, wherein the third vehicle and the second vehicle are respectively positioned on the front side and the rear side of the first vehicle;
determining a second dynamic critical time based on the second relative speed and second setting information;
and if the relation between the second collision time and the second dynamic critical time meets a third preset condition, controlling the current speed of the first vehicle.
3. The method of claim 2, wherein controlling the current speed of the first vehicle if the relationship between the second collision duration and the second dynamic threshold time meets a third preset condition comprises:
if the relation between the second collision duration and the second dynamic critical time meets a third preset condition, generating acceleration prompt information;
and responding to an operation instruction of a user based on the acceleration prompt information, and controlling the current speed of the first vehicle.
4. The method of claim 2, further comprising:
and if the relationship between the second collision time and the second dynamic critical time does not accord with the third preset condition, generating second early warning information.
5. The method of claim 1, the first dynamic threshold time comprising a minimum threshold time and an alarm threshold time, the determining the first dynamic threshold time based on the first relative velocity and the first preset information comprising:
determining the minimum critical time based on the first relative speed and a first preset formula in first preset information;
and determining alarm critical time based on the first relative speed, the preset reaction time in the first preset information and a second preset formula in the first preset information.
6. The method of claim 1, wherein obtaining a first relative speed and a first time period of collision of the first vehicle and the second vehicle within a first preset time period comprises:
sequentially acquiring a first relative distance and a second relative distance between a first vehicle and a second vehicle, wherein the time interval between the acquisition of the first relative distance and the acquisition of the second relative distance is a first preset duration;
determining a first relative speed based on the first relative distance, the second relative distance and the first preset duration;
determining a first collision duration based on the second relative distance and the first relative speed.
7. The method of claim 1, further comprising:
acquiring weather data corresponding to the current position of the first vehicle;
determining a first dynamic critical time based on the first relative speed and first preset information, including:
determining a target friction parameter based on the weather data and a weather parameter mapping relation in first preset information;
and inputting the first relative speed and the target friction parameter into a third preset formula in the first preset information to determine a first dynamic critical time.
8. The method of claim 1, further comprising:
acquiring safety parameters set by a user;
determining a first dynamic critical time based on the first relative speed and first preset information, including:
and determining a first dynamic critical time based on the first relative speed, first preset information and the safety parameter.
9. The method of any of claims 1-8, further comprising:
determining an early warning level corresponding to the first early warning information based on the relation between the first collision duration and a first dynamic critical time;
outputting the first early warning information based on the early warning level.
10. The utility model provides a vehicle early warning device that knocks into back which characterized in that specifically includes following module:
the acquisition processing module is used for acquiring a first relative speed and a first collision time length of the first vehicle and the second vehicle corresponding to each other within a first preset time length;
the time determining module is used for determining first dynamic critical time based on the first relative speed and first preset information;
and the early warning processing module is used for generating first early warning information if the first relative speed, the first collision duration and the first dynamic critical time meet a first preset condition.
11. A computer-readable storage medium storing a computer program for executing the vehicle rear-end collision warning method according to any one of claims 1 to 9.
12. An electronic device, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for reading the executable instructions from the memory and executing the instructions to realize the vehicle rear-end collision early warning method of any one of the claims 1 to 9.
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