CN115556743B - Intelligent bus anti-collision system and method - Google Patents
Intelligent bus anti-collision system and method Download PDFInfo
- Publication number
- CN115556743B CN115556743B CN202211172610.0A CN202211172610A CN115556743B CN 115556743 B CN115556743 B CN 115556743B CN 202211172610 A CN202211172610 A CN 202211172610A CN 115556743 B CN115556743 B CN 115556743B
- Authority
- CN
- China
- Prior art keywords
- collision
- obstacle
- vehicle
- azimuth
- reminding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000000007 visual effect Effects 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims description 100
- 238000011156 evaluation Methods 0.000 claims description 25
- 230000004888 barrier function Effects 0.000 claims description 15
- 230000002093 peripheral effect Effects 0.000 claims description 11
- 238000004088 simulation Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 6
- 230000008034 disappearance Effects 0.000 claims description 5
- 238000003708 edge detection Methods 0.000 claims description 4
- 230000002265 prevention Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000003111 delayed effect Effects 0.000 claims description 3
- 238000006748 scratching Methods 0.000 abstract 1
- 230000002393 scratching effect Effects 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B60W2420/408—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention provides an intelligent bus anti-collision system and method, wherein the system comprises the following steps: the surrounding range monitoring module is used for acquiring obstacle images in the surrounding range of the vehicle by adopting a camera and early warning collision risk in real time; the obstacle recognition module is used for detecting obstacles by adopting an ultrasonic sensor, a millimeter wave radar and blind area detection equipment and recognizing collision targets in real time; the alarm reminding module is used for reminding a driver in an audible and visual alarm mode according to collision risk or collision target; and the decision control module is used for controlling the braking and the accelerator of the vehicle through the electronic control braking system according to the collision risk or the collision target. According to the invention, the camera, the ultrasonic sensor, the millimeter wave radar and the blind area detection equipment are utilized to identify and monitor the obstacles around the vehicle, the driver is reminded through audible and visual alarm, and the control system is used for controlling the brake and the accelerator, so that the accidents such as scratching, collision and collapse can be effectively reduced, and the driving safety level of the bus is improved.
Description
Technical Field
The invention relates to the technical field of intelligent safety of vehicles, in particular to an intelligent bus anti-collision system and method.
Background
At present, with the increase of urban traffic road vehicles, especially in the early and late peak period, the number of vehicles and pedestrians on the road is increased rapidly, and the risk of safe running of the vehicles is increased; in the running process of the urban buses in the bus lane, when pedestrians, vehicles, road guardrails and other obstacles are encountered, if the drivers are mishandled, the probability of traffic safety accidents is increased, so that the life safety of people and the safe running of the vehicles are threatened; in order to effectively avoid collision and pertinently avoid the obstacles, an intelligent bus anti-collision system and method are needed.
Disclosure of Invention
The invention provides an intelligent bus anti-collision system and method, which utilize a camera, an ultrasonic sensor, a millimeter wave radar and blind area detection equipment to identify and monitor obstacles around a vehicle, remind a driver through audible and visual alarm, and control a brake and an accelerator through a control system, so that the accidents such as scraping, collision and collapse can be effectively reduced, and the driving safety level is improved.
The invention provides an intelligent bus anti-collision system, which comprises:
the surrounding range monitoring module is used for acquiring obstacle images in the surrounding range of the vehicle by adopting a camera and early warning collision risk in real time;
the obstacle recognition module is used for detecting obstacles by adopting an ultrasonic sensor, a millimeter wave radar and blind area detection equipment and recognizing collision targets in real time;
the alarm reminding module is used for reminding a driver in an audible and visual alarm mode according to collision risk or collision target;
and the decision control module is used for controlling the braking and the accelerator of the vehicle through the electronic control braking system according to the collision risk or the collision target.
Further, the peripheral range monitoring module comprises an obstacle image acquisition unit, a collision risk judging unit and an obstacle image processing unit;
the obstacle image acquisition unit is used for dividing an obstacle image based on region detection and then edge detection, numbering the divided image and obtaining a numbered obstacle image;
the collision risk judging unit is used for dividing and setting a risk area and a collision early warning dividing line for the blank image in the peripheral range of the vehicle; covering the barrier image with the marked number on the blank image for judgment, and judging that the barrier image with the marked number has collision risk if the barrier image with the marked number is covered on a risk area or an image part crossing a collision early warning dividing line;
the obstacle image processing unit is used for storing the obstacle images with marked numbers, which have collision risks, in real time and uploading the obstacle images to the bus driving safety management and control cloud platform.
Further, the obstacle recognition module comprises an azimuth setting unit, an azimuth judging unit and an azimuth determining unit;
the azimuth setting unit is used for respectively selecting front, rear, left and right vehicle body plane central points of the bus, and left front, left rear, right front and right rear vehicle body plane intersection points, and setting a corresponding azimuth coordinate system based on the vehicle body plane central points and the vehicle body plane intersection points;
the azimuth judging unit is used for judging the azimuth range of the obstacle based on an azimuth coordinate system;
the azimuth determining unit is used for determining the azimuth of the obstacle according to the distance from the obstacle to the center point of the plane of the vehicle body or the intersection point of the plane of the vehicle body and the azimuth range where the obstacle is located.
Further, the azimuth determining unit comprises azimuth determining of fixed obstacle, movement obstacle and burst obstacle;
adopting a preset azimuth determining model to determine the distance and azimuth range of the obstacle, and generating fixed obstacle azimuth data;
adopting a combined positioning mode, respectively selecting the obstacle distance and azimuth angle range corresponding to the T-2 moment and the T, T +2 moment according to a preset time period T, and generating movement obstacle azimuth data after combination;
and once the distance and azimuth range of the burst obstacle reach the preset distance critical value and azimuth range critical value, taking the preset distance critical value and azimuth range critical value as the burst obstacle azimuth data.
Further, the alarm reminding module comprises a step-by-step alarm reminding unit and a dynamic alarm reminding unit;
the step-by-step alarm reminding unit is used for carrying out step-by-step alarm reminding according to different collision risk grades; the step-by-step alarm reminding comprises early warning content reminding and obstacle position flashing reminding; the early warning content reminding comprises reminding of obstacle items, obstacle orientations, obstacle risk grades and countermeasures; the obstacle position flashing reminding comprises the steps of displaying the azimuth outline of the obstacle on a safe driving control display screen in the vehicle through an azimuth plane graph and reminding in a flashing mode;
the dynamic alarm reminding unit is used for carrying out uninterrupted real-time dynamic reminding according to the occurrence or disappearance condition of the collision target and the existence or release condition of the collision risk.
Further, the determining of the level of collision risk includes:
performing a simulation experiment of collision between the vehicle and the obstacle to obtain simulation collision data of the vehicle;
acquiring historical collision data of the vehicle according to a collision accident big data platform of the vehicle;
drawing and generating a motion track before and after the collision of the vehicle based on the simulated collision data and the historical collision data, and selecting a plurality of motion track turning points before the collision;
establishing a plurality of collision risk grade values according to collision data corresponding to turning points of the motion trail;
and setting a collision risk level interval and a collision risk level type according to the collision risk level value.
Further, the decision control module comprises a forward control unit and a backward control unit;
the forward control unit is used for controlling the engine not to generate thrust after a driver presses an accelerator pedal of the vehicle when collision risk exists in front of the vehicle or a collision target exists;
the backward control unit is used for controlling the vehicle braking equipment to emergently brake when the collision risk exists behind the vehicle or a collision target appears.
Further, the vehicle safety driving system also comprises a cloud platform management and control module which is used for managing and controlling the vehicle safety driving condition;
the cloud platform management and control module comprises a data receiving unit, a safety management and control unit and a comprehensive evaluation unit;
the data receiving unit is used for receiving collision processing data sent by the vehicle and updating a collision processing database; the collision processing data comprise obstacle early warning images, obstacle azimuth data and collision target data processed by a driver;
the safety control unit is used for analyzing the collision processing data, evaluating the collision processing based on a preset collision processing evaluation standard and obtaining an evaluation result;
the comprehensive evaluation unit is used for evaluating the vehicle performance and the driver level according to a preset evaluation index based on the collision processing database and the evaluation result.
Further, the method also comprises a collision processing strategy generation module, which is used for generating a collision processing strategy based on the collision processing data, and specifically comprises the following steps:
acquiring probability values of the obstacles appearing in all directions around the vehicle, and acquiring a first direction corresponding to the maximum value of the probability values; acquiring collision risk level values corresponding to all the obstacles in the first direction, and acquiring a plurality of obstacles corresponding to the highest level of the collision risk level values;
acquiring a proportion value of the plurality of obstacles which are successfully processed by a driver and are occupied by all the plurality of obstacles, and acquiring a processing mode of the driver when the proportion value is more than 80%, so as to generate a first processing mode set;
generating a collision processing reference strategy based on the first processing mode set, and generating a plurality of collision processing branch strategies according to the collision processing reference strategy; and summarizing the collision processing reference strategy and the collision processing branch strategy to generate a collision processing strategy.
The invention provides an intelligent bus anti-collision method, which comprises the following steps:
s1: a camera is adopted to acquire an obstacle image in the peripheral range of the vehicle, and collision risks are early warned in real time;
s2: detecting obstacles by adopting an ultrasonic sensor, a millimeter wave radar and blind area detection equipment, and identifying collision targets in real time;
s3: reminding a driver in an audible and visual alarm mode according to collision risk or collision target;
s4: the electronically controlled braking system is used to control the brakes and throttle of the vehicle according to the risk of collision or the collision target.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a bus intelligent anti-collision system;
FIG. 2 is a schematic diagram of a barrier identification module of the intelligent bus anti-collision system;
fig. 3 is a schematic diagram of steps of an intelligent anti-collision method for buses.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The invention provides an intelligent bus anti-collision system, as shown in figure 1, comprising:
the surrounding range monitoring module is used for acquiring obstacle images in the surrounding range of the vehicle by adopting a camera and early warning collision risk in real time;
the obstacle recognition module is used for detecting obstacles by adopting an ultrasonic sensor, a millimeter wave radar and blind area detection equipment and recognizing collision targets in real time;
the alarm reminding module is used for reminding a driver in an audible and visual alarm mode according to collision risk or collision target;
and the decision control module is used for controlling the braking and the accelerator of the vehicle through the electronic control braking system according to the collision risk or the collision target.
The working principle of the technical scheme is as follows: the surrounding range monitoring module is used for acquiring obstacle images in the surrounding range of the vehicle by adopting a camera and early warning collision risk in real time;
the obstacle recognition module is used for detecting obstacles by adopting an ultrasonic sensor, a millimeter wave radar and blind area detection equipment and recognizing collision targets in real time;
the alarm reminding module is used for reminding a driver in an audible and visual alarm mode according to collision risk or collision target;
and the decision control module is used for controlling the braking and the accelerator of the vehicle through the electronic control braking system according to the collision risk or the collision target.
The beneficial effects of the technical scheme are as follows: adopt the scheme that this embodiment provided, utilize camera, ultrasonic transducer, millimeter wave radar and blind area check out test set, discernment and control vehicle periphery's barrier, remind the driver through audible and visual alarm, through control system control brake and throttle, can effectively reduce the emergence of accidents such as scratch, collision and traping, promote driving safety level.
In one embodiment, the peripheral range monitoring module comprises an obstacle image acquisition unit, a collision risk determination unit, an obstacle image processing unit;
the obstacle image acquisition unit is used for dividing an obstacle image based on region detection and then edge detection, numbering the divided image and obtaining a numbered obstacle image;
the collision risk judging unit is used for dividing and setting a risk area and a collision early warning dividing line for the blank image in the peripheral range of the vehicle; covering the barrier image with the marked number on the blank image for judgment, and judging that the barrier image with the marked number has collision risk if the barrier image with the marked number is covered on a risk area or an image part crossing a collision early warning dividing line;
the obstacle image processing unit is used for storing the obstacle images with marked numbers, which have collision risks, in real time and uploading the obstacle images to the bus driving safety management and control cloud platform.
The working principle of the technical scheme is as follows: the peripheral range monitoring module comprises an obstacle image acquisition unit, a collision risk judging unit and an obstacle image processing unit;
the obstacle image acquisition unit is used for dividing an obstacle image based on region detection and then edge detection, numbering the divided image and obtaining a numbered obstacle image;
the collision risk judging unit is used for dividing and setting a risk area and a collision early warning dividing line for the blank image in the peripheral range of the vehicle; covering the barrier image with the marked number on the blank image for judgment, and judging that the barrier image with the marked number has collision risk if the barrier image with the marked number is covered on a risk area or an image part crossing a collision early warning dividing line;
the obstacle image processing unit is used for storing the obstacle images with marked numbers, which have collision risks, in real time and uploading the obstacle images to the bus driving safety management and control cloud platform.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the image of the obstacle can be accurately obtained by acquiring the image of the obstacle, adopting the method of dividing the image and covering the contrast image, and locating the specific position of the image of the obstacle.
In one embodiment, as shown in fig. 2, the obstacle identifying module includes an azimuth setting unit, an azimuth judging unit, and an azimuth determining unit;
the azimuth setting unit is used for respectively selecting front, rear, left and right vehicle body plane central points of the bus, and left front, left rear, right front and right rear vehicle body plane intersection points, and setting a corresponding azimuth coordinate system based on the vehicle body plane central points and the vehicle body plane intersection points;
the azimuth judging unit is used for judging the azimuth range of the obstacle based on an azimuth coordinate system;
the azimuth determining unit is used for determining the azimuth of the obstacle according to the distance from the obstacle to the center point of the plane of the vehicle body or the intersection point of the plane of the vehicle body and the azimuth range where the obstacle is located.
The working principle of the technical scheme is as follows: the obstacle recognition module comprises an azimuth setting unit, an azimuth judging unit and an azimuth determining unit;
the azimuth setting unit is used for respectively selecting front, rear, left and right vehicle body plane central points of the bus, and left front, left rear, right front and right rear vehicle body plane intersection points, and setting a corresponding azimuth coordinate system based on the vehicle body plane central points and the vehicle body plane intersection points;
the azimuth judging unit is used for judging the azimuth range of the obstacle based on an azimuth coordinate system;
the azimuth determining unit is used for determining the azimuth of the obstacle according to the distance from the obstacle to the center point of the plane of the vehicle body or the intersection point of the plane of the vehicle body and the azimuth range where the obstacle is located.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the azimuth of the obstacle can be finely determined by distinguishing and determining the azimuth of the obstacle, and the azimuth angle of the obstacle can be effectively judged.
In an embodiment, the position determining unit comprises position determining of a fixed obstacle, a movement obstacle, a burst obstacle;
adopting a preset azimuth determining model to determine the distance and azimuth range of the obstacle, and generating fixed obstacle azimuth data;
adopting a combined positioning mode, respectively selecting the obstacle distance and azimuth angle range corresponding to the T-2 moment and the T, T +2 moment according to a preset time period T, and generating movement obstacle azimuth data after combination;
and once the distance and azimuth range of the burst obstacle reach the preset distance critical value and azimuth range critical value, taking the preset distance critical value and azimuth range critical value as the burst obstacle azimuth data.
The working principle of the technical scheme is as follows: the azimuth determining unit comprises an azimuth determining unit for determining fixed obstacles, movement obstacles and burst obstacles;
adopting a preset azimuth determining model to determine the distance and azimuth range of the obstacle, and generating fixed obstacle azimuth data;
adopting a combined positioning mode, respectively selecting the obstacle distance and azimuth angle range corresponding to the T-2 moment and the T, T +2 moment according to a preset time period T, and generating movement obstacle azimuth data after combination;
and once the distance and azimuth range of the burst obstacle reach the preset distance critical value and azimuth range critical value, taking the preset distance critical value and azimuth range critical value as the burst obstacle azimuth data.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the corresponding azimuth data acquisition is performed by distinguishing different obstacles, so that the azimuth data can be accurately acquired, and a basis is provided for targeted analysis.
In one embodiment, the alarm reminding module comprises a step-by-step alarm reminding unit and a dynamic alarm reminding unit;
the step-by-step alarm reminding unit is used for carrying out step-by-step alarm reminding according to different collision risk grades; the step-by-step alarm reminding comprises early warning content reminding and obstacle position flashing reminding; the early warning content reminding comprises reminding of obstacle items, obstacle orientations, obstacle risk grades and countermeasures; the obstacle position flashing reminding comprises the steps of displaying the azimuth outline of the obstacle on a safe driving control display screen in the vehicle through an azimuth plane graph and reminding in a flashing mode;
the dynamic alarm reminding unit is used for carrying out uninterrupted real-time dynamic reminding according to the occurrence or disappearance condition of the collision target and the existence or release condition of the collision risk.
The working principle of the technical scheme is as follows: the alarm reminding module comprises a step-by-step alarm reminding unit and a dynamic alarm reminding unit;
the step-by-step alarm reminding unit is used for carrying out step-by-step alarm reminding according to different collision risk grades; the step-by-step alarm reminding comprises early warning content reminding and obstacle position flashing reminding; the early warning content reminding comprises reminding of obstacle items, obstacle orientations, obstacle risk grades and countermeasures; the obstacle position flashing reminding comprises the steps of displaying the azimuth outline of the obstacle on a safe driving control display screen in the vehicle through an azimuth plane graph and reminding in a flashing mode;
the dynamic alarm reminding unit is used for carrying out uninterrupted real-time dynamic reminding according to the occurrence or disappearance condition of the collision target and the existence or release condition of the collision risk.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, different reminding can be timely carried out aiming at different risk levels by distinguishing different alarm modes so as to help a driver to more accurately treat the obstacle; through the omnibearing warning reminding, the driver can be helped to timely and comprehensively know the condition of the obstacle so as to process the obstacle in a targeted manner.
In one embodiment, the determining of the level of collision risk comprises:
performing a simulation experiment of collision between the vehicle and the obstacle to obtain simulation collision data of the vehicle;
acquiring historical collision data of the vehicle according to a collision accident big data platform of the vehicle;
drawing and generating a motion track before and after the collision of the vehicle based on the simulated collision data and the historical collision data, and selecting a plurality of motion track turning points before the collision;
establishing a plurality of collision risk grade values according to collision data corresponding to turning points of the motion trail;
and setting a collision risk level interval and a collision risk level type according to the collision risk level value.
The working principle of the technical scheme is as follows: the determining of the level of collision risk includes:
performing a simulation experiment of collision between the vehicle and the obstacle to obtain simulation collision data of the vehicle;
acquiring historical collision data of the vehicle according to a collision accident big data platform of the vehicle;
drawing and generating a motion track before and after the collision of the vehicle based on the simulated collision data and the historical collision data, and selecting a plurality of motion track turning points before the collision;
establishing a plurality of collision risk grade values according to collision data corresponding to turning points of the motion trail;
and setting a collision risk level interval and a collision risk level type according to the collision risk level value.
In the process of bus driving, the prevention of forward collision is the most common and important anti-collision content; the bus driver needs to perform deceleration operation from the process of finding an obstacle to stopping, and the magnitude of the deceleration determines the success or failure of collision prevention; by calculating the deceleration value of the vehicle, judging whether the collision risk exists in the vehicle speed according to the deceleration value, and sending an emergency prompt to the driver, the occurrence of collision accidents can be avoided. The calculation formula of the deceleration is as follows:
wherein q represents deceleration, D s Representing the distance between the vehicle and the obstacle ahead, D α Represents the minimum distance to be maintained between the vehicle and the obstacle in front, D β The distance travelled by the vehicle within the time taken for the camera and the ultrasonic sensor to monitor the obstacle and find the obstacle target is represented; d (D) γ The distance travelled by the vehicle is represented within the time taken for the driver to make the anti-collision processing action; d (D) δ Indicating the distance travelled by the vehicle during the time the brake is delayed; for a fixed obstacle in front, V represents the speed at which the vehicle is traveling; for an obstacle moving forward, V represents the speed difference between the vehicle and the forward obstacle moving speedA value;
the beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the collision risk level interval and the collision risk level type are determined according to the simulated collision data and the historical collision data, so that the accuracy and the effectiveness of the determination of the collision risk level can be improved; through calculating the deceleration and giving the driver emergency reminding, the driver can be further reminded of safe operation, and the anti-collision effect is improved.
In one embodiment, the decision control module comprises a forward control unit and a backward control unit;
the forward control unit is used for controlling the engine not to generate thrust after a driver presses an accelerator pedal of the vehicle when collision risk exists in front of the vehicle or a collision target exists;
the backward control unit is used for controlling the vehicle braking equipment to emergently brake when the collision risk exists behind the vehicle or a collision target appears.
The working principle of the technical scheme is as follows: the decision control module comprises a forward control unit and a backward control unit;
the forward control unit is used for controlling the engine not to generate thrust after a driver presses an accelerator pedal of the vehicle when collision risk exists in front of the vehicle or a collision target exists;
the backward control unit is used for controlling the vehicle braking equipment to emergently brake when the collision risk exists behind the vehicle or a collision target appears.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the forward control unit and the backward control unit can keep the vehicle in a parking state when facing the obstacle in front of the vehicle, and prevent the vehicle from starting; under the condition of reversing, when an obstacle is encountered, the automatic emergency braking can be controlled, and the occurrence of collision is avoided.
In one embodiment, the vehicle safety driving system further comprises a cloud platform management and control module, wherein the cloud platform management and control module is used for managing and controlling the vehicle safety driving condition;
the cloud platform management and control module comprises a data receiving unit, a safety management and control unit and a comprehensive evaluation unit;
the data receiving unit is used for receiving collision processing data sent by the vehicle and updating a collision processing database; the collision processing data comprise obstacle early warning images, obstacle azimuth data and collision target data processed by a driver;
the safety control unit is used for analyzing the collision processing data, evaluating the collision processing based on a preset collision processing evaluation standard and obtaining an evaluation result;
the comprehensive evaluation unit is used for evaluating the vehicle performance and the driver level according to a preset evaluation index based on the collision processing database and the evaluation result.
The working principle of the technical scheme is as follows: the system also comprises a cloud platform management and control module which is used for managing and controlling the safe driving condition of the vehicle;
the cloud platform management and control module comprises a data receiving unit, a safety management and control unit and a comprehensive evaluation unit;
the data receiving unit is used for receiving collision processing data sent by the vehicle and updating a collision processing database; the collision processing data comprise obstacle early warning images, obstacle azimuth data and collision target data processed by a driver;
the safety control unit is used for analyzing the collision processing data, evaluating the collision processing based on a preset collision processing evaluation standard and obtaining an evaluation result;
the comprehensive evaluation unit is used for evaluating the vehicle performance and the driver level according to a preset evaluation index based on the collision processing database and the evaluation result.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the specific running condition of the bus can be mastered in time through the management and control of the cloud platform, and comprehensive evaluation is performed comprehensively so as to improve the safety running efficiency.
In one embodiment, the method further comprises a collision processing strategy generation module, which is used for generating a collision processing strategy based on the collision processing data, and specifically comprises the following steps:
acquiring probability values of the obstacles appearing in all directions around the vehicle, and acquiring a first direction corresponding to the maximum value of the probability values; acquiring collision risk level values corresponding to all the obstacles in the first direction, and acquiring a plurality of obstacles corresponding to the highest level of the collision risk level values;
acquiring a proportion value of the plurality of obstacles which are successfully processed by a driver and are occupied by all the plurality of obstacles, and acquiring a processing mode of the driver when the proportion value is more than 80%, so as to generate a first processing mode set;
generating a collision processing reference strategy based on the first processing mode set, and generating a plurality of collision processing branch strategies according to the collision processing reference strategy; and summarizing the collision processing reference strategy and the collision processing branch strategy to generate a collision processing strategy.
The working principle of the technical scheme is as follows: the system also comprises a collision processing strategy generation module, which is used for generating a collision processing strategy based on the collision processing data, and specifically comprises the following steps:
acquiring probability values of the obstacles appearing in all directions around the vehicle, and acquiring a first direction corresponding to the maximum value of the probability values; acquiring collision risk level values corresponding to all the obstacles in the first direction, and acquiring a plurality of obstacles corresponding to the highest level of the collision risk level values;
acquiring a proportion value of the plurality of obstacles which are successfully processed by a driver and are occupied by all the plurality of obstacles, and acquiring a processing mode of the driver when the proportion value is more than 80%, so as to generate a first processing mode set;
generating a collision processing reference strategy based on the first processing mode set, and generating a plurality of collision processing branch strategies according to the collision processing reference strategy; and summarizing the collision processing reference strategy and the collision processing branch strategy to generate a collision processing strategy.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the collision processing strategy is generated based on a series of data, so that the quality generated by the collision processing strategy can be ensured, and the collision target can be processed more efficiently.
The invention provides an intelligent bus anti-collision method, as shown in fig. 3, comprising the following steps:
s1: a camera is adopted to acquire an obstacle image in the peripheral range of the vehicle, and collision risks are early warned in real time;
s2: detecting obstacles by adopting an ultrasonic sensor, a millimeter wave radar and blind area detection equipment, and identifying collision targets in real time;
s3: reminding a driver in an audible and visual alarm mode according to collision risk or collision target;
s4: the electronically controlled braking system is used to control the brakes and throttle of the vehicle according to the risk of collision or the collision target.
The working principle of the technical scheme is as follows: s1: a camera is adopted to acquire an obstacle image in the peripheral range of the vehicle, and collision risks are early warned in real time;
s2: detecting obstacles by adopting an ultrasonic sensor, a millimeter wave radar and blind area detection equipment, and identifying collision targets in real time;
s3: reminding a driver in an audible and visual alarm mode according to collision risk or collision target;
s4: the electronically controlled braking system is used to control the brakes and throttle of the vehicle according to the risk of collision or the collision target.
The beneficial effects of the technical scheme are as follows: adopt the scheme that this embodiment provided, utilize camera, ultrasonic transducer, millimeter wave radar and blind area check out test set, discernment and control vehicle periphery's barrier, remind the driver through audible and visual alarm, through control system control brake and throttle, can effectively reduce the emergence of accidents such as scratch, collision and traping, promote driving safety level.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. An intelligent bus collision avoidance system, which is characterized by comprising:
the surrounding range monitoring module is used for acquiring obstacle images in the surrounding range of the vehicle by adopting a camera and early warning collision risk in real time;
the obstacle recognition module is used for detecting obstacles by adopting an ultrasonic sensor, a millimeter wave radar and blind area detection equipment and recognizing collision targets in real time;
the alarm reminding module is used for reminding a driver in an audible and visual alarm mode according to collision risk or collision target;
the decision control module is used for controlling the brake and the throttle of the vehicle through the electronic control brake system according to the collision risk or the collision target;
the alarm reminding module comprises a step-by-step alarm reminding unit and a dynamic alarm reminding unit;
the step-by-step alarm reminding unit is used for carrying out step-by-step alarm reminding according to different collision risk grades; the step-by-step alarm reminding comprises early warning content reminding and obstacle position flashing reminding; the early warning content reminding comprises reminding of obstacle items, obstacle orientations, obstacle risk grades and countermeasures; the obstacle position flashing reminding comprises the steps of displaying the azimuth outline of the obstacle on a safe driving control display screen in the vehicle through an azimuth plane graph and reminding in a flashing mode;
the dynamic alarm reminding unit is used for carrying out uninterrupted real-time dynamic reminding according to the occurrence or disappearance condition of the collision target and the existence or release condition of the collision risk;
the determining of the level of collision risk includes:
performing a simulation experiment of collision between the vehicle and the obstacle to obtain simulation collision data of the vehicle;
acquiring historical collision data of the vehicle according to a collision accident big data platform of the vehicle;
drawing and generating a motion track before and after the collision of the vehicle based on the simulated collision data and the historical collision data, and selecting a plurality of motion track turning points before the collision;
establishing a plurality of collision risk grade values according to collision data corresponding to turning points of the motion trail;
setting a collision risk level interval and a collision risk level type according to the collision risk level value;
the bus driver needs to perform deceleration operation from the process of finding an obstacle to stopping, and the magnitude of the deceleration determines the success or failure of collision prevention; the deceleration value of the vehicle is calculated, whether the collision risk exists in the speed of the vehicle is judged according to the deceleration value, and an emergency prompt is sent to a driver, so that collision accidents can be avoided; the calculation formula of the deceleration is as follows:
wherein ,
represents deceleration, & lt + & gt>
Indicating the distance between the vehicle and the obstacle in front, < >>
Representing the minimum distance between the vehicle and the obstacle in front that should be kept, < >>
The distance travelled by the vehicle within the time taken for the camera and the ultrasonic sensor to monitor the obstacle and find the obstacle target is represented; />
The distance travelled by the vehicle is represented within the time taken for the driver to make the anti-collision processing action; />
Indicating the distance travelled by the vehicle during the time the brake is delayed; for a front fixed obstacle +.>
Representing the speed at which the vehicle is traveling; for obstacles of forward movement, +.>
A speed difference representing a speed of movement of the vehicle and the obstacle ahead;
the system also comprises a collision processing strategy generation module, which is used for generating a collision processing strategy based on the collision processing data, and specifically comprises the following steps:
acquiring probability values of the obstacles appearing in all directions around the vehicle, and acquiring a first direction corresponding to the maximum value of the probability values; acquiring collision risk level values corresponding to all the obstacles in the first direction, and acquiring a plurality of obstacles corresponding to the highest level of the collision risk level values;
acquiring a proportion value of the plurality of obstacles which are successfully processed by a driver and are occupied by all the plurality of obstacles, and acquiring a processing mode of the driver when the proportion value is more than 80%, so as to generate a first processing mode set;
generating a collision processing reference strategy based on the first processing mode set, and generating a plurality of collision processing branch strategies according to the collision processing reference strategy; and summarizing the collision processing reference strategy and the collision processing branch strategy to generate a collision processing strategy.
2. The intelligent bus collision avoidance system of claim 1 wherein the perimeter range monitoring module comprises an obstacle image acquisition unit, a collision risk determination unit, and an obstacle image processing unit;
the obstacle image acquisition unit is used for dividing an obstacle image based on region detection and then edge detection, numbering the divided image and obtaining a numbered obstacle image;
the collision risk judging unit is used for dividing and setting a risk area and a collision early warning dividing line for the blank image in the peripheral range of the vehicle; covering the barrier image with the marked number on the blank image for judgment, and judging that the barrier image with the marked number has collision risk if the barrier image with the marked number is covered on a risk area or an image part crossing a collision early warning dividing line;
the obstacle image processing unit is used for storing the obstacle images with marked numbers, which have collision risks, in real time and uploading the obstacle images to the bus driving safety management and control cloud platform.
3. The intelligent bus collision avoidance system of claim 1 wherein the obstacle recognition module comprises a position setting unit, a position determination unit;
the azimuth setting unit is used for respectively selecting front, rear, left and right vehicle body plane central points of the bus, and left front, left rear, right front and right rear vehicle body plane intersection points, and setting a corresponding azimuth coordinate system based on the vehicle body plane central points and the vehicle body plane intersection points;
the azimuth judging unit is used for judging the azimuth range of the obstacle based on an azimuth coordinate system;
the azimuth determining unit is used for determining the azimuth of the obstacle according to the distance from the obstacle to the center point of the plane of the vehicle body or the intersection point of the plane of the vehicle body and the azimuth range where the obstacle is located.
4. A bus intelligent anti-collision system according to claim 3, wherein the position determining unit comprises a position determining unit for determining the position of a fixed obstacle, a movement obstacle or a sudden obstacle;
adopting a preset azimuth determining model to determine the distance and azimuth range of the obstacle, and generating fixed obstacle azimuth data;
adopting a combined positioning mode, respectively selecting the obstacle distance and azimuth angle range corresponding to the T-2 moment and the T, T +2 moment according to a preset time period T, and generating movement obstacle azimuth data after combination;
and once the distance and azimuth range of the burst obstacle reach the preset distance critical value and azimuth range critical value, taking the preset distance critical value and azimuth range critical value as the burst obstacle azimuth data.
5. The intelligent bus collision avoidance system of claim 1 wherein the decision control module comprises a forward control unit and a backward control unit;
the forward control unit is used for controlling the engine not to generate thrust after a driver presses an accelerator pedal of the vehicle when collision risk exists in front of the vehicle or a collision target exists;
the backward control unit is used for controlling the vehicle braking equipment to emergently brake when the collision risk exists behind the vehicle or a collision target appears.
6. The intelligent bus anti-collision system according to claim 1, further comprising a cloud platform management and control module for managing and controlling the safe driving condition of the vehicle;
the cloud platform management and control module comprises a data receiving unit, a safety management and control unit and a comprehensive evaluation unit;
the data receiving unit is used for receiving collision processing data sent by the vehicle and updating a collision processing database; the collision processing data comprise obstacle early warning images, obstacle azimuth data and collision target data processed by a driver;
the safety control unit is used for analyzing the collision processing data, evaluating the collision processing based on a preset collision processing evaluation standard and obtaining an evaluation result;
the comprehensive evaluation unit is used for evaluating the vehicle performance and the driver level according to a preset evaluation index based on the collision processing database and the evaluation result.
7. The intelligent bus anti-collision method is characterized by comprising the following steps of:
s1: a camera is adopted to acquire an obstacle image in the peripheral range of the vehicle, and collision risks are early warned in real time;
s2: detecting obstacles by adopting an ultrasonic sensor, a millimeter wave radar and blind area detection equipment, and identifying collision targets in real time;
s3: reminding a driver in an audible and visual alarm mode according to collision risk or collision target;
s4: according to collision risk or collision target, utilizing an electronic control braking system to control braking and accelerator of the vehicle;
according to different levels of collision risks, alarming and reminding step by step; the step-by-step alarm reminding comprises early warning content reminding and obstacle position flashing reminding; the early warning content reminding comprises reminding of obstacle items, obstacle orientations, obstacle risk grades and countermeasures; the obstacle position flashing reminding comprises the steps of displaying the azimuth outline of the obstacle on a safe driving control display screen in the vehicle through an azimuth plane graph and reminding in a flashing mode;
according to the occurrence or disappearance condition of the collision target and the existence or release condition of the collision risk, carrying out uninterrupted real-time dynamic reminding;
the determining of the level of collision risk includes:
performing a simulation experiment of collision between the vehicle and the obstacle to obtain simulation collision data of the vehicle;
acquiring historical collision data of the vehicle according to a collision accident big data platform of the vehicle;
drawing and generating a motion track before and after the collision of the vehicle based on the simulated collision data and the historical collision data, and selecting a plurality of motion track turning points before the collision;
establishing a plurality of collision risk grade values according to collision data corresponding to turning points of the motion trail;
setting a collision risk level interval and a collision risk level type according to the collision risk level value;
the bus driver needs to perform deceleration operation from the process of finding an obstacle to stopping, and the magnitude of the deceleration determines the success or failure of collision prevention; the deceleration value of the vehicle is calculated, whether the collision risk exists in the speed of the vehicle is judged according to the deceleration value, and an emergency prompt is sent to a driver, so that collision accidents can be avoided; the calculation formula of the deceleration is as follows:
wherein ,
represents deceleration, & lt + & gt>
Indicating the distance between the vehicle and the obstacle in front, < >>
Representing the minimum distance between the vehicle and the obstacle in front that should be kept, < >>
The distance travelled by the vehicle within the time taken for the camera and the ultrasonic sensor to monitor the obstacle and find the obstacle target is represented; />
The distance travelled by the vehicle is represented within the time taken for the driver to make the anti-collision processing action; />
Indicating the distance travelled by the vehicle during the time the brake is delayed; for a front fixed obstacle +.>
Representing the speed at which the vehicle is traveling; for obstacles of forward movement, +.>
A speed difference representing a speed of movement of the vehicle and the obstacle ahead;
the method also comprises the step of generating a collision processing strategy based on the collision processing data, and specifically comprises the following steps:
acquiring probability values of the obstacles appearing in all directions around the vehicle, and acquiring a first direction corresponding to the maximum value of the probability values; acquiring collision risk level values corresponding to all the obstacles in the first direction, and acquiring a plurality of obstacles corresponding to the highest level of the collision risk level values;
acquiring a proportion value of the plurality of obstacles which are successfully processed by a driver and are occupied by all the plurality of obstacles, and acquiring a processing mode of the driver when the proportion value is more than 80%, so as to generate a first processing mode set;
generating a collision processing reference strategy based on the first processing mode set, and generating a plurality of collision processing branch strategies according to the collision processing reference strategy; and summarizing the collision processing reference strategy and the collision processing branch strategy to generate a collision processing strategy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211172610.0A CN115556743B (en) | 2022-09-26 | 2022-09-26 | Intelligent bus anti-collision system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211172610.0A CN115556743B (en) | 2022-09-26 | 2022-09-26 | Intelligent bus anti-collision system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115556743A CN115556743A (en) | 2023-01-03 |
| CN115556743B true CN115556743B (en) | 2023-06-09 |
Family
ID=84743068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211172610.0A Active CN115556743B (en) | 2022-09-26 | 2022-09-26 | Intelligent bus anti-collision system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115556743B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101875348B (en) * | 2010-07-01 | 2011-12-28 | 浙江工业大学 | Device for preventing faulty operation for using accelerator as brake by mistake based on computer vision |
| KR101395089B1 (en) * | 2010-10-01 | 2014-05-16 | 안동대학교 산학협력단 | System and method for detecting obstacle applying to vehicle |
| JP6465919B2 (en) * | 2017-04-14 | 2019-02-06 | 三菱電機株式会社 | Obstacle detection system |
| CA3051525A1 (en) * | 2018-08-08 | 2020-02-08 | Sohail Zangenehpour | Apparatus and method for detecting, classifying and tracking road users on frames of video data |
| CN111169444A (en) * | 2020-03-06 | 2020-05-19 | 上海峰华人工智能科技有限公司 | Collision relieving system and method for bus |
| CN111612378A (en) * | 2020-06-02 | 2020-09-01 | 腾讯科技（深圳）有限公司 | Potential collision risk prediction method and device and computer equipment |
| CN112951000B (en) * | 2021-04-02 | 2022-06-07 | 华设设计集团股份有限公司 | Large-scale vehicle blind area bidirectional early warning system |
| CN113276769B (en) * | 2021-04-29 | 2023-05-26 | 深圳技术大学 | Vehicle blind area anti-collision early warning system and method |
| CN113793533A (en) * | 2021-08-30 | 2021-12-14 | 武汉理工大学 | Collision early warning method and device based on vehicle front obstacle recognition |
-
2022
- 2022-09-26 CN CN202211172610.0A patent/CN115556743B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN115556743A (en) | 2023-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3342660A1 (en) | Sensor integration based pedestrian detection and pedestrian collision prevention apparatus and method | |
| US20210232152A1 (en) | Detecting and responding to sounds for autonomous vehicles | |
| CN112389466B (en) | Method, device and equipment for automatically avoiding vehicle and storage medium | |
| US11091173B2 (en) | Driving safety enhancing system and method for making or enabling highly accurate judgment and providing advance early warning | |
| CN111731284B (en) | Driving assistance method and device, vehicle-mounted terminal equipment and storage medium | |
| CN108263279A (en) | The pedestrian detection and pedestrian impact avoiding device and method integrated based on sensor | |
| US20050080565A1 (en) | Driver adaptive collision warning system | |
| KR101511858B1 (en) | Advanced Driver Assistance System(ADAS) and controlling method for the same | |
| CN107264521A (en) | A kind of automobile turning safety pre-warning system | |
| JP2002178864A (en) | Control device for electric automobile | |
| CN112026761A (en) | Automobile auxiliary driving method based on data sharing | |
| CN115366908B (en) | Automobile safe driving control system | |
| KR20150051551A (en) | Driver assistance systems and controlling method for the same | |
| CN114387821B (en) | Vehicle collision early warning method, device, electronic equipment and storage medium | |
| CN113085854A (en) | System and method for identifying obstacle above vehicle through radar camera | |
| EP4092633A1 (en) | Method and device for lane-changing prediction of target vehicle | |
| CN115556743B (en) | Intelligent bus anti-collision system and method | |
| KR101519215B1 (en) | Driver assistance systems and controlling method for the same | |
| KR101511864B1 (en) | An Active Cruise Control Apparatus and A Method for the same | |
| CN111591294B (en) | Early warning method for vehicle lane change in different traffic environments | |
| CN115892029A (en) | Automobile intelligent blind area monitoring and early warning system based on driver attention assessment | |
| CN114994686A (en) | Vehicle radar early warning method, device and system and vehicle | |
| CN114212097B (en) | Intelligent driving auxiliary control system and control method | |
| KR101511859B1 (en) | Lane recognition enhanced driver assistance systems and controlling method for the same | |
| CN117272690B (en) | Method, equipment and medium for extracting dangerous cut-in scene of automatic driving vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |