CN117456753A - Safety early warning method and system between vehicles - Google Patents
Safety early warning method and system between vehicles Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/091—Traffic information broadcasting
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
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Abstract
The application relates to the field of traffic control systems, and particularly discloses a safety early warning method and a system between vehicles, wherein the method comprises the following steps: acquiring front vehicle braking information in the front vehicle braking process, wherein the front vehicle braking information comprises position information, speed information, course angle information and brake pedal angle information; determining a front vehicle braking state based on the front vehicle braking information, the front vehicle braking state including an emergency braking state and a non-emergency braking state; establishing a front vehicle coordinate system, and acquiring movement information of a target obstacle and movement information of a rear vehicle; generating rear vehicle early warning information based on the front vehicle braking state, the target obstacle movement information and the rear vehicle movement information; and broadcasting the rear vehicle early warning information to the vehicle. By considering the perception capability characteristics of drivers under different working conditions and fusing the quantized perception capability of the intelligent network-connected automobile, the road traffic environment perception can be effectively realized, and meanwhile, the requirements of early warning accuracy, early warning timeliness and resource occupation rationality are met.
Description
Technical Field
The application relates to the field of traffic control systems, in particular to a safety early warning method and system between vehicles.
Background
And the V2X communication technology realizes information communication among various road traffic such as vehicles, road sides and the like and related elements of intelligent network-connected automobiles in a wireless communication mode, thereby realizing the multi-level traffic national construction targets including traffic safety, traffic efficiency, green low carbon and the like. Generally, V2X applications are divided into two major categories, namely Day 1 applications and Day 2 applications, and the Day 1 application scene adopts BSM, RSI, RSM, SPaT, MAP five types of information to realize basic services such as over-the-horizon broadcasting of related road sign signs such as various warnings, prohibition, traffic management and the like; and the Day 2 application scene adopts a perception information data sharing strategy to expand the perception capability of the intelligent network-connected vehicle and a driver to the road traffic environment, so that advanced scenes such as collaborative perception, collaborative decision control and the like are realized.
However, the development of intelligent internet-connected vehicles is a continuous evolution process, and on one hand, the target recognition capability and understanding capability of the current intelligent internet-connected vehicles on road traffic environment are still to be improved; on the other hand, the wide application of the automatic driving technology is yet to be verified, and in the future, a human driver is still the main body for implementing the driving control of the vehicle. In order to effectively improve the accuracy of the early warning information, it is also necessary to incorporate a human driver into the information circuit, and it should be mainly to provide auxiliary driving information to the human driver.
Currently, the road traffic network in China is becoming perfect, the number of various motor vehicles is rapidly increased, the V2X communication technology is an important trend of realizing 'everything interconnection' in the vehicle field, the necessity of wireless information elements is considered, and the reasonable application of wireless channel resources is a key factor necessary for realizing scene functions.
However, the correlation between the transmission timing and the transmission necessity of the current context awareness information is weak, and the wireless communication slot resources are excessively used, which results in that the necessary security margin cannot be reserved in the required scenario.
Disclosure of Invention
In order to solve the above problems, the present application provides a method and a system for safety pre-warning between vehicles, wherein the method comprises:
acquiring front vehicle braking information in the front vehicle braking process, wherein the front vehicle braking information comprises position information, speed information, course angle information and brake pedal angle information; determining a front vehicle braking state based on the front vehicle braking information, wherein the front vehicle braking state comprises an emergency braking state and a non-emergency braking state; establishing a front vehicle coordinate system, and acquiring movement information of a target obstacle and movement information of a rear vehicle; generating rear vehicle early warning information based on the front vehicle braking state, the target obstacle movement information and the rear vehicle movement information; and broadcasting the rear vehicle early warning information to the vehicle.
In one example, the determining the front vehicle brake status based on the front vehicle brake information specifically includes: determining acceleration information of a front vehicle based on speed information of the front vehicle; and determining the front vehicle braking state based on the acceleration information and the brake pedal angle information.
In one example, the determining the front vehicle braking state based on the acceleration information and the brake pedal angle information specifically includes: if the acceleration of the front vehicle is larger than a preset first threshold value and the angle of a brake pedal is larger than a preset second threshold value, the front vehicle is in an emergency braking state; and if the acceleration of the front vehicle is smaller than the preset first threshold value or the brake pedal angle is smaller than the preset second threshold value, the front vehicle is in a non-emergency braking state.
In one example, the generating the rear vehicle early warning information based on the front vehicle braking state, the target obstacle movement information, and the rear vehicle movement information specifically includes: generating first rear vehicle early warning information based on the front vehicle braking state; and generating second rear vehicle early warning information based on the target obstacle movement information and the rear vehicle movement information.
In one example, the generating the first rear vehicle early warning information based on the front vehicle braking state specifically includes: if the front vehicle braking state is an emergency braking state, generating first rear vehicle early warning information; the first rear vehicle early warning information comprises movement information of the target obstacle in the front vehicle coordinate system and front vehicle braking information.
In one example, the generating the second rear vehicle early warning information based on the target obstacle movement information and the rear vehicle movement information specifically includes: if the front vehicle braking state is a non-emergency braking state, determining the meeting time of the target obstacle and the rear vehicle based on the target obstacle movement information and the rear vehicle movement information; if the meeting time is lower than a preset third threshold value, inquiring whether the front driver gives out an early warning or not; generating the second rear vehicle early warning information based on the query result; the second rear vehicle early warning information comprises movement information of the target obstacle in the front vehicle coordinate system and front vehicle braking information.
In one example, after the broadcasting the rear vehicle warning information to the rear vehicle, the method further includes: establishing a rear vehicle coordinate system, and determining motion state information of the target obstacle in the rear vehicle coordinate system based on the rear vehicle early warning information; determining the meeting time of the target obstacle and the rear vehicle based on the motion state information and the rear vehicle motion information; and if the meeting time is lower than a preset fourth threshold value, giving an early warning to the rear car driver.
In one example, the broadcasting the rear vehicle early warning information to the vehicle backward specifically includes: and broadcasting the rear vehicle early warning information to the vehicle backwards through a V2X technology, and broadcasting BSM information at the frequency of 10Hz, wherein the BSM information comprises the front vehicle braking information.
The application also provides a safety precaution system between vehicles, which is characterized by comprising:
the vehicle-mounted display and decision subsystem is used for processing the received vehicle-mounted perception information, providing early warning information for a driver and sending driver perception data sharing confirmation information to the perception data sharing subsystem; the vehicle-mounted sensing subsystem is used for receiving vehicle-mounted satellite navigation information of the vehicle; for receiving vehicle forward and rearward vision sensor information; the method is used for processing forward and backward visual perception information; the control device is used for receiving control input information of a brake pedal of a driver; and is also configured to send the information to the on-board display and decision subsystem; the perception data sharing subsystem is used for receiving the processing results of the driver perception data sharing confirmation information and the vehicle-mounted perception information; the system is used for generating a perception shared data message which accords with the V2X technology application layer standard and sending the perception shared data message to the vehicle subsystem backwards through the V2X technology; the backward vehicle subsystem is used for receiving the perception shared data information, storing vehicle-mounted early warning mode information and sending early warning information to a backward driver.
The method provided by the application has the following beneficial effects: firstly, under the condition that the vehicle is not braked emergently, the driver is permitted to participate in sensing data sharing decision, the environment sensing and situation judging capability of the driver of the front vehicle can be effectively utilized, the early warning sensing accuracy is improved, and meanwhile, the dependence of the intelligent network-connected automobile on road side infrastructure under the condition that the intelligent network-connected automobile senses the front vehicle or is shielded by other obstacles is reduced.
Secondly, distinguishing front vehicle running states such as abnormal emergency braking, normal braking and the like, effectively utilizing the sensing capability of the front vehicle, and under the abnormal emergency braking condition, not increasing the driving task of a front vehicle driver, and sending sensing environment sharing information by adopting the sensing capability of the front vehicle environment; under the running state conditions of normal braking and the like, the sensing judgment capability of the front vehicle driver is adopted. By the mechanism, the timely transmission of the environment sensing information under different conditions is realized, and the excessive occupation of frequent transmission to wireless communication air interface time slot resources is reduced.
In summary, by considering the perception capability characteristics of the driver under different working conditions and fusing the quantized perception capability of the intelligent network-connected automobile, the vehicle safety early warning function machine system based on the V2X technology is formed, and the reasonable requirements of early warning accuracy, early warning timeliness and resource occupation can be met while the road traffic environment perception between vehicles is effectively realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic interaction diagram of a safety warning system between vehicles according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for safety precaution between vehicles according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a safety warning device between vehicles in an embodiment of the present application.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
Fig. 1 is an interaction schematic diagram of a safety pre-warning system between vehicles according to one or more embodiments of the present disclosure.
The system comprises a vehicle-mounted display and decision subsystem, a vehicle-mounted perception subsystem, a perception data sharing subsystem and a backward vehicle subsystem.
The vehicle-mounted display and decision subsystem is used for running an information fusion algorithm to process various received vehicle-mounted perception information, controlling display output of early warning information according to the received vehicle-mounted perception information, providing early warning information for a driver, and sending an information fusion algorithm processing result to the perception data sharing subsystem to assist in forming perception data sharing information. The vehicle-mounted display and decision subsystem is provided with an information fusion algorithm module, a display control module and a vehicle-mounted display module. The method comprises the steps of receiving satellite navigation information of a vehicle and braking operation fine information of a driver through an information fusion algorithm module, executing an information fusion processing algorithm, extracting running scene characteristics of the vehicle, particularly information such as sudden stop during running of the vehicle, vehicle standstill, slow stop of the vehicle and the like, and generating early warning data information, particularly including early warning type information, early warning grade information and the like through fusion with processing results of forward and backward target recognition and motion tracking algorithms; receiving display data information through a display control module, and generating display control information, wherein the display control information comprises text control information, graphic control information, frequency control information and the like; and receiving display control information through the vehicle-mounted display module and displaying and presenting to a driver.
The vehicle-mounted sensing subsystem is used for receiving vehicle-mounted satellite navigation information of the vehicle; for receiving vehicle forward and rearward vision sensor information; the method is used for running a target recognition and motion tracking algorithm to process forward and backward visual perception information; the control device is used for receiving control input information of a brake pedal of a driver; and is also used to send such information to the on-board display and decision subsystem.
The vehicle-mounted sensing subsystem is provided with a vehicle-mounted satellite navigation receiver, a receiver antenna, a backward target recognition and motion tracking algorithm module, a backward vision sensor, a forward target recognition and motion tracking algorithm module, a forward vision sensor, a brake pedal angle sensor and a brake pedal.
Receiving the navigation satellite constellation radio frequency signals through a receiver antenna and transmitting the navigation satellite constellation radio frequency signals to a vehicle-mounted satellite navigation receiver; the method comprises the steps that a vehicle-mounted satellite navigation receiver processes received navigation satellite constellation radio frequency signals to obtain vehicle motion state information, specifically vehicle position information, vehicle speed information, vehicle course angle information and the like, and sends the information to a vehicle-mounted display and decision subsystem; acquiring image information of a backward road traffic environment of a vehicle through a backward vision sensor, and sending the image information to a backward target recognition and motion tracking algorithm module; the backward target recognition and motion tracking algorithm module is used for running a target recognition and motion tracking algorithm, processing backward road traffic environment image information, outputting moving target state information, specifically comprising moving target type information, moving target relative position information, moving target relative motion track information and the like, and sending the information to the vehicle-mounted display and decision subsystem; acquiring image information of a backward road traffic environment of a vehicle through a forward vision sensor, and transmitting the image information forward to a target recognition and motion tracking algorithm module; the forward target recognition and motion tracking algorithm module is used for running a target recognition and motion tracking algorithm, processing forward road traffic environment image information, outputting moving target state information, specifically comprising moving target type information, moving target relative position information, moving target relative motion track information and the like, and sending the information to the vehicle-mounted display and decision subsystem; the brake pedal angle sensor is used for acquiring brake pedal operation information of a driver, specifically comprising brake pedal angle information and the like, and transmitting the information to the vehicle-mounted display and decision subsystem.
The perception data sharing subsystem is used for receiving the perception data sharing confirmation information of the driver and the information fusion algorithm processing result information; and the system is used for generating a perception shared data message of the composite V2X technology application layer standard and sending the perception shared data message to the vehicle subsystem through the V2X technology. The perception shared data subsystem is provided with an information sending confirmation module, a perception shared data generation module and a V2X communication module. The information sending confirmation module is used for receiving early warning data information sent by the vehicle-mounted display and decision subsystem, receiving early warning permission information sent by a driver and sending the early warning permission information to the perception sharing data generation module; the early warning data information is converted into application information of a composite V2X technical standard through a perception shared data generation module, and the application information is sent to a V2X communication module; the perception sharing information and BSM information are broadcast and sent to the surrounding environment of the vehicle through the V2X communication module, the perception sharing information specifically comprises target type information, target relative position information and the like of a potential safety hazard moving target, and the BSM information is compounded with a V2X technical industry standard protocol and comprises information such as vehicle position, speed, course angle and the like.
And the backward vehicle subsystem is used for receiving the perception shared data information, storing vehicle-mounted early warning mode information and sending early warning information to a backward driver. The backward vehicle subsystem is provided with a rear driver, a vehicle-mounted information early warning module and a V2X communication module. Receiving perception sharing information and BSM information sent by forward vehicle broadcasting through a V2X communication module, and sending the perception sharing information and BSM information to a vehicle-mounted information early warning module; the vehicle-mounted information early warning module receives and processes the early warning information to obtain early warning information of the rear vehicle, wherein the early warning information comprises early warning target type information, early warning target relative position information and the like, and the early warning information comprises early warning image information, early warning sound information and the like.
Aiming at the defects of the intelligent network-connected automobile on the environment sensing capability and the design of an environment sensing message application mechanism, the invention aims to form a vehicle safety early warning function and system based on the V2X technology by adopting a vehicle-mounted display and decision subsystem, a vehicle-mounted sensing subsystem, a sensing data sharing subsystem and a backward vehicle subsystem. The functional machine system can provide environment perception shared information for various intelligent network vehicles and drivers thereof in road traffic environment, and assist the drivers with limited vision and the intelligent network vehicles with sensors for perception and shielding to timely early warn potential safety hazard targets perceived by the front vehicles, so that necessary safety measures are taken.
As shown in fig. 2, a specific embodiment of a method for early warning safety between vehicles according to the present invention will be described by taking a case where a driver observes that a pedestrian crosses a road and takes a brake vehicle as an example:
the driver of the front vehicle is assumed to drive the vehicle to run and the innermost lane, and the vehicle is braked in time due to the fact that pedestrians are observed to cross the road, and the vehicle is blocked from the view of the right rear vehicle and the driver thereof, particularly the right rear vehicle and the driver thereof, during and after the vehicle is braked, so that the blocking of the observation of the rear human driver and the perception of the vehicle-mounted sensor thereof is formed.
Some input parameters or intermediate results in the flow allow for manual intervention adjustments to help improve accuracy. The implementation of the analysis method according to the embodiment of the present application may be a terminal device or a server, which is not particularly limited in this application. For ease of understanding and description, the following embodiments are described in detail with reference to a server.
It should be noted that the server may be a single device, or may be a system composed of a plurality of devices, that is, a distributed server, which is not specifically limited in this application.
As shown in fig. 2, an embodiment of the present application provides a method, including:
s201: front vehicle braking information in the front vehicle braking process is acquired, wherein the front vehicle braking information comprises position information, speed information, course angle information and brake pedal angle information.
Front vehicle position from start of braking to end of brakingSpeed->Course angleEqual information, brake pedal angle +.>The information is continuously transmitted to an information fusion algorithm module of the vehicle-mounted display and decision subsystem through the vehicle-mounted perception subsystem.
Wherein, the subscriptRepresenting a local navigation coordinate system,/->Wherein->The coordinate axis points to the local horizontal east direction, +.>The coordinate axes point to a local horizontal north, i.e. "east-north" coordinate system.
S202: based on the front vehicle braking information, a front vehicle braking state is determined, the front vehicle braking state including an emergency braking state and a non-emergency braking state.
In one embodiment, in determining the braking state of the front vehicle, it is necessary to determine acceleration information of the front vehicle based on the speed information of the front vehicle, and then determine the front vehicle braking state based on the acceleration information and the brake pedal angle information.
Further, when determining a braking state, if the acceleration of the front vehicle is greater than a preset first threshold value and the brake pedal angle is greater than a preset second threshold value, the front vehicle is in an emergency braking state;
and if the acceleration of the front vehicle is smaller than the preset first threshold value or the brake pedal angle is smaller than the preset second threshold value, the front vehicle is in a non-emergency braking state.
By passing throughTime of day data and +.>Time difference can be known +.>Vehicle acceleration information->Thereby combining the brake pedal angle at the present moment +.>The information and the threshold information set in advance are comprehensively judged to obtain a conclusion of the vehicle braking state, and the vehicle braking is judged to belong to an emergency braking state (/ -in)>) Or non-emergency braking state->。
S203: and establishing a front vehicle coordinate system, and acquiring movement information of the target obstacle and movement information of a rear vehicle.
At the same time, the front vehicle-mounted forward vision sensor collects vehicle forward video information and performs a target recognition and motion tracking algorithm, for example, using a ResNet network, to extract moving target information in a forward range in real time, including pedestrian information crossing a road.
For this purpose, a front vehicle coordinate system is established in which the coordinate axes point in the direction of the right side of the front vehicle and the coordinate axes point in the forward direction of the vehicle (assuming that the vehicle heading vector and the vehicle forward direction remain identical, i.e. the vehicle does not sideslip), i.e. a "right-forward" coordinate system. Information such as speed, heading angle, etc. of the pedestrian crossing the road in the preceding vehicle coordinate system can be determined thereby. The motion trail of pedestrians can also be predicted by adopting a correlation algorithm such as a SHENet algorithm.
Similarly, the vehicle-mounted forward vision sensor of the rear vehicle collects vehicle backward video information, performs a target recognition and motion tracking algorithm, analyzes the forward and backward directions of the front vehicle, particularly the motion state of the vehicle in a side backward road traffic environment, and specifically comprises information such as backward target type, backward target distance and the like, namely information such as middle and backward motion target information, speed, course angle, distance and the like in a front vehicle coordinate system.
S204: and generating rear vehicle early warning information based on the front vehicle braking state, the target obstacle movement information and the rear vehicle movement information.
In one embodiment, when generating the rear vehicle warning information, it is necessary to generate first rear vehicle warning information based on the front vehicle braking state and generate second rear vehicle warning information based on the target obstacle movement information and the rear vehicle movement information.
When first rear vehicle early warning information is generated, if the front vehicle braking state is an emergency braking state, the first rear vehicle early warning information is generated; the first rear vehicle warning information includes movement information of the target obstacle in a front vehicle coordinate system and front vehicle braking information.
If the front vehicle braking state is a non-emergency braking state, determining the meeting time of the target obstacle and the rear vehicle based on the target obstacle movement information and the rear vehicle movement information; if the meeting time is lower than a preset third threshold value, inquiring whether a front driver gives an early warning or not; generating second rear vehicle early warning information based on the query result; the second rear vehicle warning information includes movement information of the target obstacle in the front vehicle coordinate system and front vehicle braking information.
If the vehicle is judged according to the running state of the vehicle, the vehicle is braked stably, and the vehicle belongs to a non-emergency braking state. The vehicle-mounted display and decision subsystem fuses the forward crossing road pedestrian motion state information and the backward motion target information to judge whether collision risk exists between the crossing road pedestrian and the nearest backward motion vehicle, for example, the vehicle-mounted display and decision subsystem can judge by adopting the relative motion meeting time of the crossing road pedestrian and the nearest backward motion vehicle, and particularly calculates the relative speed of the crossing road pedestrian and the nearest backward motion vehicle>And relative distance->The meeting time can be obtainedIf its absolute value is smaller than the threshold +.>And giving a trigger inquiry to the driver, and judging by the driver of the front vehicle.
The current car driver further observes and confirms pedestrians crossing the road according to the early warning triggering inquiry displayed by the vehicle-mounted display module, and confirms the sending of early warning information.
After receiving the confirmation of the driver of the front vehicle, the perception data sharing subsystem converts the processing result of the information fusion algorithm module into perception sharing data, and specifically comprises the steps that the pedestrians crossing the road are in the coordinate system of the front vehicleSpeed->Course angle->Information such as the vehicle is broadcast backward by V2X technology, and BSM information is broadcast at 10Hz frequency, specifically including the position of the front vehicle +.>Speed->Course angle->Etc.
If the vehicle is judged according to the running state of the vehicle, the vehicle is in an emergency braking state. The perceived shared data is automatically transmitted to the vehicle backwards by the perceived data sharing subsystem without the judgment of the driver of the front vehicle, specifically comprising +_ of the pedestrians crossing the road in the coordinate system of the front vehicle>Speed->Course angle->Information such as the vehicle is broadcast backward by the V2X technology, and BSM information is broadcast at the frequency of 10Hz, and the information specifically comprises the position of the front vehicleSpeed->Course angle->Etc.
S205: and broadcasting the rear vehicle early warning information to the vehicle.
The backward vehicle receives the perception shared data sent by the forward vehicle through V2X communication and receives BSM data of the forward vehicle.
To this end, a rear vehicle coordinate system is establishedWherein->The coordinate axis points to the right side of the rear vehicle, +.>The coordinate axes point to the forward direction of the vehicle (assuming that the vehicle heading vector and the forward direction of the vehicle remain consistent, i.e., the vehicle is not sideslip), i.e., the "right-forward" coordinate system.
The motion state information of the pedestrians crossing the road in the own coordinate system of the rear vehicle can be calculated through the front vehicle sensing shared data and the front vehicle BSM information, and the motion state information specifically comprises the motion state information of the pedestrians crossing the road in the own coordinate system of the rear vehicleSpeed->Course angle->Etc.
The vehicle-mounted information early warning module of the rear vehicle judges whether collision risk exists between pedestrians crossing a road and the vehicle moving in the nearest backward direction, for example, the collision risk can also be judged by adopting the time of meeting the relative movement of the pedestrians and the vehicle moving in the nearest backward direction, and the relative speed of the pedestrians and the vehicle moving in the nearest backward direction is calculatedAnd relative distance->It is possible to derive the encounter time +.>If its absolute value is smaller than the threshold +.>The early warning is sent back to the driver of the vehicle, and the early warning mode can be presented in the forms of sound, images and the like. After receiving the early warning information, the rear driver adopts necessary safety measures according to driving experience, so that road traffic safety is improved.
As shown in fig. 3, the embodiment of the present application further provides a safety precaution device between vehicles, including:
at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to:
acquiring front vehicle braking information in the front vehicle braking process, wherein the front vehicle braking information comprises position information, speed information, course angle information and brake pedal angle information; determining a front vehicle braking state based on the front vehicle braking information, wherein the front vehicle braking state comprises an emergency braking state and a non-emergency braking state; establishing a front vehicle coordinate system, and acquiring movement information of a target obstacle and movement information of a rear vehicle; generating rear vehicle early warning information based on the front vehicle braking state, the target obstacle movement information and the rear vehicle movement information; and broadcasting the rear vehicle early warning information to the vehicle.
The embodiments also provide a non-volatile computer storage medium storing computer executable instructions configured to:
acquiring front vehicle braking information in the front vehicle braking process, wherein the front vehicle braking information comprises position information, speed information, course angle information and brake pedal angle information; determining a front vehicle braking state based on the front vehicle braking information, wherein the front vehicle braking state comprises an emergency braking state and a non-emergency braking state; establishing a front vehicle coordinate system, and acquiring movement information of a target obstacle and movement information of a rear vehicle; generating rear vehicle early warning information based on the front vehicle braking state, the target obstacle movement information and the rear vehicle movement information; and broadcasting the rear vehicle early warning information to the vehicle.
All embodiments in the application are described in a progressive manner, and identical and similar parts of all embodiments are mutually referred, so that each embodiment mainly describes differences from other embodiments. In particular, for the apparatus and medium embodiments, the description is relatively simple, as it is substantially similar to the method embodiments, with reference to the section of the method embodiments being relevant.
The devices and media provided in the embodiments of the present application are in one-to-one correspondence with the methods, so that the devices and media also have similar beneficial technical effects as the corresponding methods, and since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media are not described in detail herein.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (9)
1. A method of safety precaution between vehicles, comprising:
acquiring front vehicle braking information in the front vehicle braking process, wherein the front vehicle braking information comprises position information, speed information, course angle information and brake pedal angle information;
determining a front vehicle braking state based on the front vehicle braking information, wherein the front vehicle braking state comprises an emergency braking state and a non-emergency braking state;
establishing a front vehicle coordinate system, and acquiring movement information of a target obstacle and movement information of a rear vehicle;
generating rear vehicle early warning information based on the front vehicle braking state, the target obstacle movement information and the rear vehicle movement information;
and broadcasting the rear vehicle early warning information to the vehicle.
2. The method according to claim 1, wherein said determining a front vehicle brake status based on said front vehicle brake information, in particular comprises:
determining acceleration information of a front vehicle based on speed information of the front vehicle;
and determining the front vehicle braking state based on the acceleration information and the brake pedal angle information.
3. The method according to claim 2, wherein said determining said front vehicle braking status based on said acceleration information and said brake pedal angle information, in particular comprises:
if the acceleration of the front vehicle is larger than a preset first threshold value and the angle of a brake pedal is larger than a preset second threshold value, the front vehicle is in an emergency braking state;
and if the acceleration of the front vehicle is smaller than the preset first threshold value or the brake pedal angle is smaller than the preset second threshold value, the front vehicle is in a non-emergency braking state.
4. The method according to claim 1, wherein the generating the rear vehicle early warning information based on the front vehicle braking state, the target obstacle movement information, and the rear vehicle movement information specifically includes:
generating first rear vehicle early warning information based on the front vehicle braking state;
and generating second rear vehicle early warning information based on the target obstacle movement information and the rear vehicle movement information.
5. The method of claim 4, wherein generating the first rear vehicle warning information based on the front vehicle braking status specifically comprises:
if the front vehicle braking state is an emergency braking state, generating first rear vehicle early warning information;
the first rear vehicle early warning information comprises movement information of the target obstacle in the front vehicle coordinate system and front vehicle braking information.
6. The method of claim 4, wherein generating second rear vehicle warning information based on the target obstacle movement information and the rear vehicle movement information, specifically comprises:
if the front vehicle braking state is a non-emergency braking state, determining the meeting time of the target obstacle and the rear vehicle based on the target obstacle movement information and the rear vehicle movement information;
if the meeting time is lower than a preset third threshold value, inquiring whether the front driver gives out an early warning or not;
generating the second rear vehicle early warning information based on the query result; the second rear vehicle early warning information comprises movement information of the target obstacle in the front vehicle coordinate system and front vehicle braking information.
7. The method of claim 1, wherein after broadcasting the rear vehicle warning information to a vehicle rearward, the method further comprises:
establishing a rear vehicle coordinate system, and determining motion state information of the target obstacle in the rear vehicle coordinate system based on the rear vehicle early warning information;
determining the meeting time of the target obstacle and the rear vehicle based on the motion state information and the rear vehicle motion information;
and if the meeting time is lower than a preset fourth threshold value, giving an early warning to the rear car driver.
8. The method according to claim 1, wherein the broadcasting the rear vehicle warning information to the vehicle in the rear direction specifically comprises:
and broadcasting the rear vehicle early warning information to the vehicle backwards through a V2X technology, and broadcasting BSM information at the frequency of 10Hz, wherein the BSM information comprises the front vehicle braking information.
9. A vehicle-to-vehicle safety warning system, comprising:
the vehicle-mounted display and decision subsystem is used for processing the received vehicle-mounted perception information, providing early warning information for a driver and sending driver perception data sharing confirmation information to the perception data sharing subsystem;
the vehicle-mounted sensing subsystem is used for receiving vehicle-mounted satellite navigation information of the vehicle; for receiving vehicle forward and rearward vision sensor information; the method is used for processing forward and backward visual perception information; the control device is used for receiving control input information of a brake pedal of a driver; and is also configured to send the information to the on-board display and decision subsystem;
the perception data sharing subsystem is used for receiving the processing results of the driver perception data sharing confirmation information and the vehicle-mounted perception information; the system is used for generating a perception shared data message which accords with the V2X technology application layer standard and sending the perception shared data message to the vehicle subsystem backwards through the V2X technology;
the backward vehicle subsystem is used for receiving the perception shared data information, storing vehicle-mounted early warning mode information and sending early warning information to a backward driver.
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