CN117864121B - Distance dynamic monitoring method, system, equipment and storage medium - Google Patents
Distance dynamic monitoring method, system, equipment and storage medium Download PDFInfo
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Abstract
The application discloses a distance dynamic monitoring method, a system, equipment and a storage medium, wherein the method comprises the steps of making a vehicle safety distance model according to vehicle safety braking parameters, a driver reaction speed and outdoor environment data; acquiring front vehicle driving data and rear vehicle driving data; detecting a front vehicle distance and a rear vehicle distance; inputting the front vehicle driving data and the rear vehicle driving data into a vehicle safety distance model, and identifying and acquiring corresponding early warning distance values and braking distance values; outputting a deceleration early warning prompt when the distance between the front vehicle and the vehicle is smaller than or equal to the early warning distance value and larger than the braking distance value; when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking; when the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, the rear-end collision probability of the rear target vehicle is calculated, and when the rear-end collision probability is larger than the rear-end collision threshold value, a safety alarm prompt is output; the application has the effects of reminding drivers of potential safety hazards in time during running and improving the running safety performance of vehicles.
Description
Technical Field
The present application relates to the field of internet technologies, and in particular, to a method, a system, an apparatus, and a storage medium for dynamically monitoring a distance.
Background
With the continuous development of the economic level, the quantity of the reserved automobiles is continuously increased, and how to ensure the safe driving of the automobiles is an important point of attention, so that the automobile rear-end collision is a common traffic accident; the reasons for the rear-end collision of the automobile are subjective reasons such as insufficient driving experience, fatigue driving, insufficient concentration and the like of the driver, and objective reasons for the driver not to keep a good safe vehicle distance in the running process of the automobile; the safe distance is a distance required for the rear vehicle to travel from the front vehicle in order to avoid an unexpected collision with the front vehicle.
In the actual driving process, although the standard value of the safety distance is regulated for the driver in traffic, different drivers have certain differences in driving speed and braking response time when actually driving; and because of the reasons such as slower reaction speed or fatigue driving of some drivers, the situation that the driver does not react enough to timely make a rear-end collision also exists under the condition of the safe vehicle distance of the standard value; how to keep proper safe vehicle distance under various road environments and different driving speeds, the driving experience of the driver is used for estimating unavoidable errors, potential safety hazards are easily brought, and the safety is poor; there is room for improvement.
Disclosure of Invention
In order to timely remind a driver of potential safety hazards caused by a driving distance during driving and improve the driving safety performance of a vehicle, the application provides a distance dynamic monitoring method, a system, equipment and a storage medium.
In a first aspect, the object of the application is achieved by the following technical scheme:
a distance dynamic monitoring method, comprising:
a current vehicle safety distance model is established according to the vehicle safety braking parameters, the driver reaction speed and the outdoor environment data;
Acquiring dynamic driving data of a vehicle and a front target vehicle to obtain different front vehicle driving data; acquiring dynamic driving data of a vehicle and a rear target vehicle to obtain different rear vehicle driving data; detecting a front vehicle distance between the vehicle and a front target vehicle, and detecting a rear vehicle distance between the vehicle and a rear target vehicle;
inputting different front vehicle driving data and rear vehicle driving data into a vehicle safety distance model, and identifying and acquiring a safety distance interval corresponding to dynamic driving data, wherein the safety distance interval comprises an early warning distance value and a braking distance value;
When the distance between the front vehicle and the vehicle is smaller than or equal to the early warning distance value and larger than the braking distance value, controlling the vehicle terminal to output a deceleration early warning prompt; when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking;
when the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, the rear-end collision probability corresponding to the rear target vehicle is calculated by using the vehicle safety distance model, and when the rear-end collision probability is larger than a preset rear-end collision threshold value, the vehicle terminal is controlled to output a safety alarm prompt.
By adopting the technical scheme, after the vehicle safety distance model is formulated through the vehicle safety braking parameters related to the vehicle and the personal historical response speed of the driver, the vehicle safety distance model is adjusted and optimized based on the outdoor environment data (such as rainfall and environment visibility) related to the outside environment of the vehicle, so that the vehicle safety distance model related to the historical response speed of the driver and the outdoor environment data is obtained; the vehicle safety distance model obtains safety distance intervals based on different road running environments and different driver reaction speeds, and the dynamic running data comprises running speed data and relative running speed data between two vehicles; the safe distance interval is a real-time safe distance threshold interval obtained by dynamic monitoring analysis based on dynamic running data of a current running vehicle, a front target vehicle and a rear target vehicle, so that safe vehicle distances which are required to be kept with the front vehicle and the rear vehicle under different running speeds based on the current road running environment are obtained.
Specifically, when the driver drives, the distance between the driving vehicle and the front target vehicle is kept to be larger than the early warning distance value, namely, the current driver keeps to drive at a proper safe vehicle distance; further, continuously monitoring a front vehicle distance between a current running vehicle and a front target vehicle and a rear vehicle distance between the current running vehicle and the rear target vehicle, and when the front vehicle distance is smaller than or equal to an early warning distance value and larger than a braking distance value, representing that the distance between the current running vehicle and the front target vehicle is close, and not keeping a good safety vehicle distance, at the moment, outputting a deceleration early warning prompt by a vehicle terminal (for example, an automobile display and voice equipment), and timely reminding a driver of keeping the good safety vehicle distance, such as deceleration running; when the distance between the front vehicle and the front target vehicle is smaller than the braking distance value, the distance between the front vehicle and the front target vehicle is too short, the probability of rear-end collision of the front vehicle is too high, and the braking motor of the front vehicle performs forced braking, so that the safety of vehicle running is improved; further, when the distance between the rear target vehicle and the current running vehicle is short and the rear-end collision probability of the rear target vehicle is high, the control vehicle terminal sends a safety alarm prompt to the driver, and the driver of the current vehicle is timely reminded of accelerating running or lane changing and the like; therefore, potential safety hazards (including no safety distance maintenance, rear-end collision early warning and the like) existing in the driving distance of the driver are timely reminded in the driving process of the vehicle, and the driving safety performance of the vehicle is improved.
The present application is in a preferred example: the method for preparing the current vehicle safety distance model according to the vehicle safety braking parameters, the driver reaction speed and the outdoor environment data specifically comprises the following steps:
Obtaining an initial vehicle safety distance model according to vehicle safety braking parameters, a driver reaction speed and a preset vehicle safety distance model;
The preset vehicle safety distance model is as follows:
Let the running speed of the running vehicle be The relative speed of the own running vehicle and the front target vehicle or the own running vehicle and the rear target vehicle is/>The maximum deceleration of the running vehicle is/>The average deceleration of the front target vehicle or the rear target vehicle is/>Driver reaction time is/>Vehicle brake delay time is/>The friction coefficient between the tire and the road surface of the running vehicle is/>，/>A value of 9.8, and the minimum safety distance is/>，
Obtaining the early warning distance value through the following calculation formulas (1) and (2)Braking distance value/>：
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And optimizing and adjusting the initial vehicle safety distance model based on the detected outdoor environment data to obtain a current vehicle safety distance model.
By adopting the technical scheme, the reaction speed of the driver is represented by the reaction time of the driver; based on the current running speed of the vehicle, the relative speed of the vehicle and the front target vehicle, the response time of the driver, the safety braking parameters (such as the maximum deceleration of the vehicle and the braking delay time of the vehicle) and the like, substituting the data into the formula to calculate the early warning distance valueAnd braking distance value/>The vehicle safety distance model which is attached to the actual vehicle safety braking parameters and the response speed of the driver is obtained, so that the proper safety vehicle distance can be conveniently analyzed and calculated according to the dynamic running data of the vehicle, and the calculation accuracy of the safety vehicle distance can be improved.
The present application is in a preferred example: the outdoor environment data comprises environment visibility and weather information values; the method for optimizing and adjusting the initial vehicle safety distance model based on the detected outdoor environment data to obtain a current vehicle safety distance model specifically comprises the following steps:
The initial vehicle safety distance model is optimized and adjusted based on the detected outdoor environment data by adopting the following formulas (3) and (4):
setting the optimized early warning distance value as The optimized braking distance value is/>Calculating a first adjustment parameter/> from the environmental visibility data，/>，/>For the environmental visibility, calculating a second adjustment parameter/>, based on the weather information values，/>，/>Is weather information numerical value,/>The rule of the numerical values of (2) is determined as: sunny day,/>=1; Little to moderate rain,/>=2; As large as storm,/>=3; Snow day,/>=9；
；
。
By adopting the technical scheme, the influence of different road running environments on the friction coefficient of the tire and the road surface of the vehicle is different, even under the same driving speed and the same braking operation of the emergency response time of the driver, the static braking distance and the actual braking distance of the vehicle are different, for example, under the same driving speed of 70KM/H and the emergency response braking time of the driver of 1.5S, the static braking distance of a normal dry road surface is 32M, the total actual braking distance is 61M, the static braking distance of an icing road surface is 107M, and the total actual braking distance is 136M; therefore, corresponding safe vehicle distances are required to be calculated based on different road driving environments, and a driver is reminded of keeping the safe vehicle distances in time so as to further improve the safety performance of vehicle driving; specifically, after an initial vehicle safety distance model is obtained based on formulas (1) and (2), the initial vehicle safety distance model is optimized and adjusted based on outdoor environment data in combination with formulas (3) and (4), so that corresponding early warning distance values and braking distance values are obtained based on different outdoor environment data; thereby being convenient for triggering the deceleration early warning prompt and the safety warning prompt in time later.
The present application is in a preferred example: when the distance between the front vehicle and the vehicle is smaller than or equal to the early warning distance value and larger than the braking distance value, controlling the vehicle terminal to output a deceleration early warning prompt; when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking, and specifically comprising the following steps:
when the front vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, controlling a vehicle terminal to output voice prompt information, and displaying first color early warning information on a vehicle display;
And when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the driver to tighten the safety belt, controlling the vehicle to forcedly brake, and displaying second color early warning information on a vehicle display.
By adopting the technical scheme, the deceleration early warning prompt comprises two prompt modes of sending voice prompt information and color early warning information prompt of a vehicle display to a driver; meanwhile, when the forced braking is carried out, color early warning information reminding can be carried out on the vehicle display, and different warning information can be distinguished through different colors, so that the early warning prompt information can be accurately pushed.
The present application is in a preferred example: in the formula (1) and the formula (3), the friction coefficient of the road surfaceThe value of (2) is carried out according to the wet and slippery degree of the road surface, and the value is as follows: when asphalt pavement is dried,/>The value is 0.65-0.99; when the road surface is wet and slippery,The value is 0.3-0.65; when ice and snow road surface,/>The value is 0.05-0.3.
Through adopting above-mentioned technical scheme, road surface coefficient of friction is relevant with road surface wet slip degree, when calculating the safe car distance between vehicle and the preceding target vehicle, the safe car distance between vehicle and the rear target vehicle, calculate according to the wet slip degree on actual road surface of traveling to the numerical value in the safe distance interval of real road surface of traveling is met in real time to whether the monitoring vehicle keeps at suitable safe car distance with preceding car, rear vehicle to the monitoring effect is better.
In a second aspect, the object of the present application is achieved by the following technical solutions:
a distance dynamic monitoring system, comprising: the safety model making module is used for making a current vehicle safety distance model according to the vehicle safety braking parameters, the driver reaction speed and the outdoor environment data;
the data acquisition detection module is used for acquiring dynamic driving data of the vehicle and a front target vehicle to obtain different front vehicle driving data; acquiring dynamic driving data of a vehicle and a rear target vehicle to obtain different rear vehicle driving data; detecting a front vehicle distance between the vehicle and a front target vehicle, and detecting a rear vehicle distance between the vehicle and a rear target vehicle;
the distance interval identification module is used for inputting different front vehicle driving data and different rear vehicle driving data into the vehicle safety distance model, and identifying and acquiring a safety distance interval corresponding to the dynamic driving data, wherein the safety distance interval comprises an early warning distance value and a braking distance value;
The front vehicle early warning prompt module is used for controlling the vehicle terminal to output a deceleration early warning prompt when the front vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value; when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking;
And the rear-end collision early warning module is used for calculating the rear-end collision probability corresponding to the rear target vehicle by using the vehicle safety distance model when the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, and controlling the vehicle terminal to output a safety warning prompt when the rear-end collision probability is larger than a preset rear-end collision threshold value.
By adopting the technical scheme, after the vehicle safety distance model is formulated through the vehicle safety braking parameters related to the vehicle and the personal historical response speed of the driver, the vehicle safety distance model is adjusted and optimized based on the outdoor environment data (such as rainfall and environment visibility) related to the outside environment of the vehicle, so that the vehicle safety distance model related to the historical response speed of the driver and the outdoor environment data is obtained; the vehicle safety distance model obtains safety distance intervals based on different road running environments and different driver reaction speeds, and the dynamic running data comprises running speed data and relative running speed data between two vehicles; the safe distance interval is a real-time safe distance threshold interval obtained by dynamic monitoring analysis based on dynamic running data of a current running vehicle, a front target vehicle and a rear target vehicle, so that safe vehicle distances which are required to be kept with the front vehicle and the rear vehicle under different running speeds based on the current road running environment are obtained.
Specifically, when the driver drives, the distance between the driving vehicle and the front target vehicle is kept larger than the early warning distance value, namely the current driver keeps driving at a proper safe vehicle distance; further, continuously monitoring a front vehicle distance between a current running vehicle and a front target vehicle and a rear vehicle distance between the current running vehicle and the rear target vehicle, and when the front vehicle distance is smaller than or equal to an early warning distance value and larger than a braking distance value, representing that the distance between the current running vehicle and the front target vehicle is close, and not keeping a good safety vehicle distance, at the moment, outputting a deceleration early warning prompt by a vehicle terminal (for example, an automobile display and voice equipment), and timely reminding a driver of keeping the good safety vehicle distance, such as deceleration running; when the distance between the front vehicle and the front target vehicle is smaller than the braking distance value, the distance between the front vehicle and the front target vehicle is too short, the probability of rear-end collision of the front vehicle is too high, the braking motor of the running vehicle performs forced braking, and the running safety of the vehicle is improved; further, when the distance between the rear target vehicle and the current running vehicle is short and the rear-end collision probability of the rear target vehicle is high, the control vehicle terminal sends a safety alarm prompt to the driver, and the driver of the current vehicle is timely reminded of accelerating running or lane changing and the like; therefore, potential safety hazards (including no safety distance maintenance, rear-end collision early warning and the like) existing in the driving distance of the driver are timely reminded in the driving process of the vehicle, and the driving safety performance of the vehicle is improved.
The present application is in a preferred example: the front vehicle early warning and prompting module comprises:
The first early warning prompt sub-module is used for controlling the vehicle terminal to output voice prompt information and displaying first color early warning information on the vehicle display when the front vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value;
and the second early warning prompt sub-module is used for controlling the driver to tighten the safety belt when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to forcedly brake and displaying second color early warning information on a vehicle display.
By adopting the technical scheme, the deceleration early warning prompt comprises two prompt modes of sending voice prompt information and color early warning information prompt of a vehicle display to a driver; meanwhile, when the forced braking is carried out, color early warning information reminding can be carried out on the vehicle display, and different warning information can be distinguished through different colors, so that the early warning prompt information can be accurately pushed.
In a third aspect, the object of the present application is achieved by the following technical solutions:
An in-vehicle apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the distance dynamic monitoring method described above when executing the computer program.
In a fourth aspect, the object of the present application is achieved by the following technical solutions:
a computer readable storage medium storing a computer program which when executed by a processor implements the steps of the distance dynamic monitoring method described above.
In summary, the present application includes at least one of the following beneficial technical effects:
1. When the driver drives, the distance between the driving vehicle and the front target vehicle is kept to be larger than the early warning distance value, namely the current driver keeps to drive at a proper safe distance; further, continuously monitoring a front vehicle distance between a current running vehicle and a front target vehicle and a rear vehicle distance between the current running vehicle and the rear target vehicle, and when the front vehicle distance is smaller than or equal to an early warning distance value and larger than a braking distance value, representing that the distance between the current running vehicle and the front target vehicle is close, and not keeping a good safety vehicle distance, at the moment, outputting a deceleration early warning prompt by a vehicle terminal (for example, an automobile display and voice equipment), and timely reminding a driver of keeping the good safety vehicle distance, such as deceleration running; when the distance between the front vehicle and the front target vehicle is smaller than the braking distance value, the distance between the front vehicle and the front target vehicle is too short, the probability of rear-end collision of the front vehicle is too high, and the braking motor of the front vehicle performs forced braking, so that the safety of vehicle running is improved; further, when the distance between the rear target vehicle and the current running vehicle is short and the rear-end collision probability of the rear target vehicle is high, the control vehicle terminal sends a safety alarm prompt to the driver, and the driver of the current vehicle is timely reminded of accelerating running or lane changing and the like; thereby realizing the effect of timely reminding drivers of potential safety hazards (including not keeping the safe distance, rear-end collision early warning and the like) existing due to the distance of the driving vehicles in the process of driving the vehicles and improving the safety performance of the driving vehicles;
2. the different road running environments have different influences on the friction coefficient of the tires of the vehicle and the road surface, and even under the same driving speed and the same braking operation of the driver in the same emergency response time, the static braking distance, the actual braking distance and the like of the vehicle are different, for example, under the same driving speed of 70KM/H and the emergency response braking time of the driver of 1.5S, the static braking distance of a normal dry road surface is 32M, the total actual braking distance is 61M, the static braking distance of an icing road surface is 107M, and the total actual braking distance is 136M; therefore, corresponding safe vehicle distances are required to be calculated based on different road driving environments, and a driver is reminded of keeping the safe vehicle distances in time so as to further improve the safety performance of vehicle driving; specifically, after an initial vehicle safety distance model is obtained based on formulas (1) and (2), the initial vehicle safety distance model is optimized and adjusted based on outdoor environment data in combination with formulas (3) and (4), so that corresponding early warning distance values and braking distance values are obtained based on different outdoor environment data; thereby being convenient for triggering the deceleration early warning prompt and the safety warning prompt in time later;
3. the road friction coefficient is related to the road wet slip degree, and when the safe vehicle distance between the vehicle and the front target vehicle and the safe vehicle distance between the vehicle and the rear target vehicle are calculated, the wet slip degree of the actual running road surface is calculated so as to update the numerical value of the safe distance interval conforming to the actual running road surface in real time, thereby being convenient for monitoring whether the vehicle, the front vehicle and the rear vehicle are kept at proper safe vehicle distances or not, and having better monitoring effect.
Drawings
FIG. 1 is a flow chart of a distance dynamic monitoring method according to an embodiment of the application;
FIG. 2 is a flowchart of step S4 in a distance dynamic monitoring method according to an embodiment of the present application;
Fig. 3 is a schematic diagram of an apparatus in an embodiment of the application.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings.
In an embodiment, as shown in fig. 1, the application discloses a distance dynamic monitoring method, which specifically comprises the following steps:
s1: and a current vehicle safety distance model is established according to the vehicle safety braking parameters, the driver reaction speed and the outdoor environment data.
In the present embodiment, the vehicle safety braking parameters include a maximum acceleration of the vehicle, a maximum deceleration of the vehicle, and a vehicle braking delay time, the vehicle safety braking parameters being determined by the vehicle model; the driver reaction speed is represented by the historical average reaction time of the driver, and the reaction time of the driver can be detected at fixed time intervals, such as at 2-month intervals. The outdoor environment data comprise environment visibility, rainfall data and weather information values; outdoor environment data can be obtained in real time by inquiring weather data of the position area where the vehicle is located; and detecting the outdoor environment visibility according to the visibility value in the weather data.
In the present embodiment, the calculation formula of the reaction time of the driver is: reaction time of driver = time from issuing brake command to stopping of vehicle-distance travelled from issuing brake command to stopping of vehicle/(speed before braking 5/36); the normal reaction time is about 0.1 to 0.5S under the general condition. The response time of the driver is 1-3S when the driver is frightened by the crisis, the initial response time of the driver is set to be 1.4S in the embodiment, and the specific value is updated based on the fixed time period and the actual response time of the driver.
Specifically, after a vehicle safety distance model is formulated through vehicle safety braking parameters related to a vehicle and outdoor environment data (such as rainfall and environment visibility) related to the outside environment of the vehicle, the vehicle safety distance model is adjusted and optimized based on the personal historical reaction speed of a driver, and a vehicle safety distance model related to the historical reaction speed of the driver is obtained.
S2: acquiring dynamic driving data of a vehicle and a front target vehicle to obtain different front vehicle driving data; acquiring dynamic driving data of a vehicle and a rear target vehicle to obtain different rear vehicle driving data; a front vehicle distance between the vehicle and a front target vehicle is detected, and a rear vehicle distance between the vehicle and a rear target vehicle is detected.
In the present embodiment, the dynamic travel data includes travel speed data and relative travel speed data between two vehicles; the front vehicle driving data are obtained by measuring the speed through an electronic radar arranged at the head part of the vehicle, and the rear vehicle driving data are obtained by measuring the speed through an electronic radar arranged at the tail part of the vehicle.
Specifically, the vehicle safety distance model is arranged in a vehicle terminal, and the vehicle terminal is a vehicle display; the distance of the front vehicle is measured by a distance meter arranged at the front part of the vehicle (comprising a laser distance meter and an infrared distance meter); the distance between the rear vehicle and the vehicle terminal is measured by a distance meter arranged at the tail part of the vehicle, and the distance meter is in communication connection with the vehicle terminal so as to transmit the detected distance between the front vehicle and the rear vehicle to the vehicle terminal in real time.
S3: different front vehicle driving data and rear vehicle driving data are input into a vehicle safety distance model, safety distance intervals corresponding to dynamic driving data are identified and acquired, and the safety distance intervals comprise early warning distance values and braking distance values.
In the embodiment, a safe distance interval corresponding to the current running vehicle and the front target vehicle is obtained through adjustment of the optimized vehicle safe distance model and calculation by combining with the front vehicle running data; the safety distance intervals correspondingly calculated by different front vehicle driving data are different.
Similarly, the safety distance interval corresponding to the current running vehicle and the rear target vehicle is obtained through adjustment of the optimized vehicle safety distance model and calculation by combining with the rear vehicle running data; the safe distance interval is a real-time safe distance threshold interval obtained by dynamic monitoring analysis based on dynamic running data of the current running vehicle, the front target vehicle and the rear target vehicle, so that the numerical value of the safe vehicle distance which is required to be kept with the front vehicle and the rear vehicle under different running speeds based on the current road running environment is obtained.
Specifically, the pre-warning distance value and the braking distance value corresponding to the front vehicle are compared in real time based on the detected front vehicle distance, so that the magnitude of the front vehicle distance, the pre-warning distance value and the braking distance value are compared; and comparing the rear vehicle distance with the pre-warning distance value and the braking distance value corresponding to the rear vehicle in real time based on the detected rear vehicle distance and the pre-warning distance value and the braking distance value so as to compare the rear vehicle distance with the pre-warning distance value and the braking distance value.
S4: when the distance between the front vehicle and the vehicle is smaller than or equal to the early warning distance value and larger than the braking distance value, controlling the vehicle terminal to output a deceleration early warning prompt; and when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking.
In the embodiment, the vehicle terminal is controlled to send the deceleration early warning prompt to remind in a mode that the vehicle display sends an early warning signal; the forced braking is to control the braking motor of the current running vehicle to force braking so that the vehicle is rapidly decelerated until the vehicle stops.
Specifically, when the driver drives, the distance between the driving vehicle and the front target vehicle is kept larger than the early warning distance value, namely the current driver keeps driving at a proper safe vehicle distance; when the distance between the front vehicle and the front target vehicle is smaller than or equal to the early warning distance value and larger than the braking distance value, the distance between the front vehicle and the front target vehicle is short, the safety distance is not kept, and at the moment, the vehicle terminal (referred to as an automobile display) outputs a deceleration early warning prompt to prompt a driver to keep the safety distance in time, such as deceleration driving. When the distance between the front vehicle and the front target vehicle is smaller than the braking distance value, the distance between the front vehicle and the front target vehicle is too short, the probability of rear-end collision of the front vehicle is too high, the braking motor of the running vehicle performs forced braking, and the safety of running of the vehicle is improved.
S5: when the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, the rear-end collision probability corresponding to the rear target vehicle is calculated by using the vehicle safety distance model, and when the rear-end collision probability is larger than a preset rear-end collision threshold value, the vehicle terminal is controlled to output a safety alarm prompt.
In this embodiment, when the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, it is indicated that the distance between the rear target vehicle and the current vehicle is relatively short.
Specifically, in order to reduce the situation that the number of safety warning prompts of a rear vehicle is too large so that the driver of the current vehicle is distracted and potential safety hazards are increased, the application is arranged when the distance between the rear target vehicle and the current running vehicle is short and the rear-end collision probability of the rear vehicle target vehicle is high, and controls the vehicle terminal to send the safety warning prompts to the driver so as to prompt the driver of the current vehicle to accelerate running or change lanes and the like in time; therefore, potential safety hazards (including keeping no safety distance, rear-end collision early warning and the like) existing in the driver are timely reminded in the process of driving the vehicle, and the effect of safety performance of vehicle driving is improved.
Specifically, the following formula is calculated for the rear-end collision probability: the time mark is set to be t,Is the distance between the target vehicle and the current running vehicle after the moment t,/>For the speed of the current running vehicle at the moment t,/>For the speed of the target vehicle behind the moment t,/>For/>Average speed of target vehicle after moment, wherein/>The time is the set duration for continuously detecting the dynamic running data of the rear vehicle target vehicle, and the embodiment sets/>10S; when the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, t is set to be 1 st second at this time, and the running acceleration change condition of the rear vehicle target vehicle is continuously monitored at the follow-up time, so that two situations exist at this time:
The first case is The condition that the rear-end vehicle runs at an acceleration or uniform speed is represented, and the rear-end collision probability/>, of the rear-end vehicle is determinedThe calculation formula of (2) is
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The second case isThe condition that the running of the rear vehicle target vehicle is decelerated at the moment is represented, and/>, firstly, calculation is carried outAverage distance/>, of rear vehicle target vehicles in timeSetting/>, when the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance valueFor the 1 st second:
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Determining rear-end collision probability of rear-end vehicle The calculation formula of (2) is
。
In one embodiment, in step S1, a current vehicle safe distance model is formulated according to vehicle safe braking parameters, driver reaction speed and outdoor environment data; the method specifically comprises the following steps:
S11: obtaining an initial vehicle safety distance model according to vehicle safety braking parameters, a driver reaction speed and a preset vehicle safety distance model; the preset vehicle safety distance model is as follows:
Let the running speed of the running vehicle be The relative speed of the own running vehicle and the front target vehicle or the own running vehicle and the rear target vehicle is/>The maximum deceleration of the running vehicle is/>The average deceleration of the front target vehicle or the rear target vehicle is/>Driver reaction time is/>Vehicle brake delay time is/>The friction coefficient between the tire and the road surface of the running vehicle is/>，/>The value is 9.8,/>For a custom minimum safe distance, in this embodiment,/>The value is 3 meters.
Obtaining the early warning distance value through the following calculation formulas (1) and (2)Braking distance value/>：
；
。
In particular, the road surface friction coefficientThe value of (2) is carried out according to the wet and slippery degree of the road surface, and the value is as follows: when asphalt pavement is dried,/>The value is 0.65-0.99; when a road surface is wet,/>The value is 0.3-0.65; when ice and snow road surface,/>The value is 0.05-0.3; in this example, the road surface friction coefficient/>The value of (a) is based on the average speed of the vehicle in a certain time period (such as the average speed in each minute), such as the speed of 40KM/H in the case of dry asphalt pavement,/>The value is 0.99; at a vehicle speed of 60KM/H,/>The value is 0.93; at a vehicle speed of 80KM/H,/>Values of 0.88, etc./>The specific value of (2) can be customized.
Specifically, the pre-warning distance value is calculated by substituting data such as the current running speed of the vehicle, the relative speed of the vehicle and the front target vehicle, the response time of the driver, the safety braking parameter of the vehicle (such as the maximum deceleration of the vehicle and the braking delay time of the vehicle) and the like into the formulaAnd braking distance value/>The vehicle safety distance model which is fit with the actual vehicle safety braking parameters and the response speed of the driver is obtained, so that the proper safety distance is convenient to analyze and calculate based on the dynamic running data of the vehicle, and the calculation accuracy of the safety distance is improved.
S12: and optimizing and adjusting the initial vehicle safety distance model based on the detected outdoor environment data to obtain the current vehicle safety distance model.
In this embodiment, the outdoor environment data includes environment visibility and weather information values; calculating corresponding braking distance influence values based on different environmental visibility and different weather information values, and carrying out early warning on the corresponding braking distance influence valuesAnd braking distance value/>Under the condition of (1), increasing a braking distance influence value to perform optimization adjustment to obtain a current vehicle safety distance model; the calculated safe distance is more in line with the actual driving environment based on the influence of different environmental factors, so that the calculation accuracy of the safe distance is improved.
In one embodiment, in step S12, the optimization adjustment is performed on the initial vehicle safety distance model based on the detected outdoor environment data to obtain the current vehicle safety distance model, which specifically includes:
s121: the initial vehicle safety distance model is optimized and adjusted based on the detected outdoor environment data by adopting the following formulas (3) and (4):
In this embodiment, the outdoor environment data includes environment visibility and weather information values.
Setting the optimized early warning distance value asThe optimized braking distance value is/>Calculating a first adjustment parameter/> from the environmental visibility data，/>，/>For the environmental visibility, calculating a second adjustment parameter/>, based on the weather information values，/>， />Is weather information numerical value,/>The rule of the numerical values of (2) is determined as: sunny day,/>=1; Little to moderate rain,/>=2; As large as storm,/>=3; Snow day,/>=9；
；
。
Specifically, the influence of different road running environments on the friction coefficient of the tires of the vehicle and the road surface is different, even under the same driving speed and the same braking operation of the driver in the emergency response time, the static braking distance and the actual braking distance of the vehicle are different, for example, under the same driving speed of 70KM/H and the emergency response braking time of the driver of 1.5S, the static braking distance of a normal dry road surface is 32M, the total actual braking distance is 61M, the static braking distance of an icy road surface is 107M, and the total actual braking distance is 136M; therefore, the corresponding safe vehicle distance needs to be calculated based on different road driving environments, and a driver is timely reminded of keeping the safe vehicle distance so as to further improve the safety performance of vehicle driving.
In the embodiment, after an initial vehicle safety distance model is obtained based on formulas (1) and (2), the initial vehicle safety distance model is optimized and adjusted based on outdoor environment data in combination with formulas (3) and (4), so that corresponding early warning distance values and braking distance values are obtained based on different outdoor environment data; thereby being convenient for triggering the deceleration early warning prompt and the safety warning prompt in time later.
In one embodiment, as shown in fig. 2, in step S4, when the distance between the front vehicle and the vehicle is less than or equal to the pre-warning distance value and greater than the braking distance value, the vehicle terminal is controlled to output a deceleration pre-warning prompt; when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking, and specifically comprising the following steps:
S41: when the distance between the front vehicle and the vehicle is smaller than or equal to the early warning distance value and larger than the braking distance value, the vehicle terminal is controlled to output voice prompt information, and the early warning information of the first color is displayed on the vehicle display.
S42: when the distance between the front vehicle and the vehicle is smaller than the braking distance value, the driver is controlled to tighten the safety belt, the vehicle is controlled to forcedly brake, and the second color early warning information is displayed on the vehicle display.
In this embodiment, the deceleration early warning prompt includes two prompt modes, namely, sending voice prompt information to the driver and prompting the vehicle display with first color early warning information; meanwhile, when the forced braking is carried out, a second color information prompt is carried out on the display of the vehicle; in practical application, the first color early warning information can be set to yellow, and the second color early warning information can be set to red; different alarm information is distinguished through different colors, so that the early warning prompt information can be accurately pushed.
It should be understood that the sequence number of each step in the above embodiment does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not be construed as limiting the implementation process of the embodiment of the present application.
In one embodiment, a distance dynamic monitoring system is provided, where the distance dynamic monitoring system corresponds to the distance dynamic monitoring method in the above embodiment.
A distance dynamic monitoring system comprises a safety model making module, a data acquisition detection module, a distance interval identification module, a front vehicle early warning prompt module and a rear vehicle rear-end collision early warning module. The detailed description of each functional module is as follows:
the safety model making module is used for making a current vehicle safety distance model according to the vehicle safety braking parameters, the driver reaction speed and the outdoor environment data;
the data acquisition detection module is used for acquiring dynamic driving data of the vehicle and a front target vehicle to obtain different front vehicle driving data; acquiring dynamic driving data of a vehicle and a rear target vehicle to obtain different rear vehicle driving data; detecting a front vehicle distance between the vehicle and a front target vehicle, and detecting a rear vehicle distance between the vehicle and a rear target vehicle;
The distance interval identification module is used for inputting different front vehicle driving data and rear vehicle driving data into the vehicle safety distance model, and identifying and acquiring a safety distance interval corresponding to the dynamic driving data, wherein the safety distance interval comprises an early warning distance value and a braking distance value;
The front vehicle early warning prompt module is used for controlling the vehicle terminal to output a deceleration early warning prompt when the front vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value; when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking;
The rear-end collision early warning module is used for calculating the rear-end collision probability corresponding to the rear target vehicle by using the vehicle safety distance model when the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, and controlling the vehicle terminal to output the safety warning prompt when the rear-end collision probability is larger than the preset rear-end collision threshold value.
Optionally, the front vehicle early warning and prompting module includes:
The first early warning prompt sub-module is used for controlling the vehicle terminal to output voice prompt information and displaying first color early warning information on the vehicle display when the distance between the front vehicle and the vehicle is smaller than or equal to the early warning distance value and larger than the braking distance value;
and the second early warning prompt sub-module is used for controlling the driver to tighten the safety belt when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to forcedly brake and displaying second color early warning information on a vehicle display.
For specific limitations on the distance dynamic monitoring system, reference may be made to the above limitation on a distance dynamic monitoring method, which is not described herein; all or part of each module in the distance dynamic monitoring system can be realized by software, hardware and a combination thereof; the above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, an in-vehicle apparatus is provided, which may be a server, and an internal structure thereof may be as shown in fig. 3. The in-vehicle device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the in-vehicle device is configured to provide computing and control capabilities. The memory of the in-vehicle apparatus includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the vehicle-mounted equipment is used for storing a vehicle safety distance model, dynamic driving data, a safety distance interval and the like. The network interface of the vehicle-mounted device is used for communicating with an external terminal through network connection. The computer program is executed by a processor to implement a distance dynamic monitoring method.
In one embodiment, there is provided an in-vehicle apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
S1: a current vehicle safety distance model is established according to the vehicle safety braking parameters, the driver reaction speed and the outdoor environment data;
s2: acquiring dynamic driving data of a vehicle and a front target vehicle to obtain different front vehicle driving data; acquiring dynamic driving data of a vehicle and a rear target vehicle to obtain different rear vehicle driving data; detecting a front vehicle distance between the vehicle and a front target vehicle, and detecting a rear vehicle distance between the vehicle and a rear target vehicle;
S3: inputting different front vehicle driving data and rear vehicle driving data into a vehicle safety distance model, and identifying and acquiring a safety distance interval corresponding to dynamic driving data, wherein the safety distance interval comprises an early warning distance value and a braking distance value;
S4: when the distance between the front vehicle and the vehicle is smaller than or equal to the early warning distance value and larger than the braking distance value, controlling the vehicle terminal to output a deceleration early warning prompt; when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking;
s5: when the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, the rear-end collision probability corresponding to the rear target vehicle is calculated by using the vehicle safety distance model, and when the rear-end collision probability is larger than a preset rear-end collision threshold value, the vehicle terminal is controlled to output a safety alarm prompt.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
S1: a current vehicle safety distance model is established according to the vehicle safety braking parameters, the driver reaction speed and the outdoor environment data;
s2: acquiring dynamic driving data of a vehicle and a front target vehicle to obtain different front vehicle driving data; acquiring dynamic driving data of a vehicle and a rear target vehicle to obtain different rear vehicle driving data; detecting a front vehicle distance between the vehicle and a front target vehicle, and detecting a rear vehicle distance between the vehicle and a rear target vehicle;
S3: inputting different front vehicle driving data and rear vehicle driving data into a vehicle safety distance model, and identifying and acquiring a safety distance interval corresponding to dynamic driving data, wherein the safety distance interval comprises an early warning distance value and a braking distance value;
S4: when the distance between the front vehicle and the vehicle is smaller than or equal to the early warning distance value and larger than the braking distance value, controlling the vehicle terminal to output a deceleration early warning prompt; when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking;
s5: when the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, the rear-end collision probability corresponding to the rear target vehicle is calculated by using the vehicle safety distance model, and when the rear-end collision probability is larger than a preset rear-end collision threshold value, the vehicle terminal is controlled to output a safety alarm prompt.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme described in the foregoing embodiments can be modified or some of the features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (7)
1. A method for dynamically monitoring distance, comprising:
a current vehicle safety distance model is established according to the vehicle safety braking parameters, the driver reaction speed and the outdoor environment data;
Acquiring dynamic driving data of a vehicle and a front target vehicle to obtain different front vehicle driving data; acquiring dynamic driving data of a vehicle and a rear target vehicle to obtain different rear vehicle driving data; detecting a front vehicle distance between the vehicle and a front target vehicle, and detecting a rear vehicle distance between the vehicle and a rear target vehicle;
inputting different front vehicle driving data and different rear vehicle driving data into the vehicle safety distance model, and identifying and acquiring a safety distance interval corresponding to the dynamic driving data, wherein the safety distance interval comprises an early warning distance value and a braking distance value;
When the distance between the front vehicle and the vehicle is smaller than or equal to the early warning distance value and larger than the braking distance value, controlling the vehicle terminal to output a deceleration early warning prompt; when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking;
When the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, calculating the rear-end collision probability corresponding to the rear target vehicle by using the vehicle safety distance model, and when the rear-end collision probability is larger than a preset rear-end collision threshold value, controlling the vehicle terminal to output a safety warning prompt;
The method for preparing the current vehicle safety distance model according to the vehicle safety braking parameters, the driver reaction speed and the outdoor environment data specifically comprises the following steps:
Obtaining an initial vehicle safety distance model according to vehicle safety braking parameters, a driver reaction speed and a preset vehicle safety distance model;
The preset vehicle safety distance model is as follows:
The running speed of the own running vehicle is v, the relative speed of the own running vehicle and a front target vehicle or the own running vehicle and a rear target vehicle is v rel, the maximum deceleration of the own running vehicle is a 1, the average deceleration of the front target vehicle or the rear target vehicle is a 2, the driver response time is t 1, the vehicle braking delay time is t 2, the friction coefficient of the tire of the own running vehicle and the road surface is mu 0, the g takes a value of 9.8, the minimum safety distance is d 0,
The pre-warning distance value d y and the braking distance value d z are obtained through the following calculation formulas (1) and (2):
Optimizing and adjusting the initial vehicle safety distance model based on the detected outdoor environment data to obtain a current vehicle safety distance model;
the outdoor environment data comprises environment visibility and weather information values; the method for optimizing and adjusting the initial vehicle safety distance model based on the detected outdoor environment data to obtain a current vehicle safety distance model specifically comprises the following steps:
The initial vehicle safety distance model is optimized and adjusted based on the detected outdoor environment data by adopting the following formulas (3) and (4): the optimized early warning distance value is d 'y, the optimized braking distance value is d' z, the first adjusting parameter G 1 is calculated according to the environmental visibility data, K t is the environmental visibility, and the second adjustment parameter G 2,G2 =v×0.348×n is calculated according to the weather information value, where N is the weather information value, and the rule of the value of N is determined as follows: on sunny days, n=1; small to medium rain, n=2; as large as heavy rain, n=3; on snowy days, n=9;
2. The method for dynamically monitoring the distance according to claim 1, wherein the vehicle terminal is controlled to output a deceleration pre-warning prompt when the preceding vehicle distance is smaller than or equal to the pre-warning distance value and larger than the braking distance value; when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking, and specifically comprising the following steps:
when the front vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, controlling a vehicle terminal to output voice prompt information, and displaying first color early warning information on a vehicle display;
And when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the driver to tighten the safety belt, controlling the vehicle to forcedly brake, and displaying second color early warning information on a vehicle display.
3. The method for dynamically monitoring the distance according to claim 1, wherein in the formula (1) and the formula (3), the value of the road surface friction coefficient μ 0 is determined according to the road surface wet skid degree, and the value is as follows: when the asphalt pavement is dried, mu 0 takes a value of 0.65-0.99; mu 0 takes a value of 0.3 to 0.65 when the road surface is wet; when the road is on ice and snow road, mu 0 takes a value of 0.05-0.3.
4. A distance dynamic monitoring system, comprising:
the safety model making module is used for making a current vehicle safety distance model according to the vehicle safety braking parameters, the driver reaction speed and the outdoor environment data;
the data acquisition detection module is used for acquiring dynamic driving data of the vehicle and a front target vehicle to obtain different front vehicle driving data; acquiring dynamic driving data of a vehicle and a rear target vehicle to obtain different rear vehicle driving data; detecting a front vehicle distance between the vehicle and a front target vehicle, and detecting a rear vehicle distance between the vehicle and a rear target vehicle;
the distance interval identification module is used for inputting different front vehicle driving data and different rear vehicle driving data into the vehicle safety distance model, and identifying and acquiring a safety distance interval corresponding to the dynamic driving data, wherein the safety distance interval comprises an early warning distance value and a braking distance value;
The front vehicle early warning prompt module is used for controlling the vehicle terminal to output a deceleration early warning prompt when the front vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value; when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to perform forced braking;
The rear-end collision early warning module is used for calculating the rear-end collision probability corresponding to a rear target vehicle by using the vehicle safety distance model when the rear vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value, and controlling the vehicle terminal to output a safety warning prompt when the rear-end collision probability is larger than a preset rear-end collision threshold value;
The safety model making module is specifically used for obtaining an initial vehicle safety distance model according to vehicle safety braking parameters, a driver reaction speed and a preset vehicle safety distance model;
The preset vehicle safety distance model is as follows:
The running speed of the own running vehicle is v, the relative speed of the own running vehicle and a front target vehicle or the own running vehicle and a rear target vehicle is v rel, the maximum deceleration of the own running vehicle is a 1, the average deceleration of the front target vehicle or the rear target vehicle is a 2, the driver response time is t 1, the vehicle braking delay time is t 2, the friction coefficient of the tire of the own running vehicle and the road surface is mu 0, the g takes a value of 9.8, the minimum safety distance is d 0,
The pre-warning distance value d y and the braking distance value d z are obtained through the following calculation formulas (1) and (2):
Optimizing and adjusting the initial vehicle safety distance model based on the detected outdoor environment data to obtain a current vehicle safety distance model;
the outdoor environment data comprises environment visibility and weather information values; the method for optimizing and adjusting the initial vehicle safety distance model based on the detected outdoor environment data to obtain a current vehicle safety distance model specifically comprises the following steps:
The initial vehicle safety distance model is optimized and adjusted based on the detected outdoor environment data by adopting the following formulas (3) and (4): the optimized early warning distance value is d 'y, the optimized braking distance value is d' z, the first adjusting parameter G 1 is calculated according to the environmental visibility data, K t is the environmental visibility, and the second adjustment parameter G 2,G2 =v×0.348×n is calculated according to the weather information value, where N is the weather information value, and the rule of the value of N is determined as follows: on sunny days, n=1; small to medium rain, n=2; as large as heavy rain, n=3; on snowy days, n=9;
5. The distance dynamic monitoring system according to claim 4, wherein the front vehicle early warning prompt module comprises:
The first early warning prompt sub-module is used for controlling the vehicle terminal to output voice prompt information and displaying first color early warning information on the vehicle display when the front vehicle distance is smaller than or equal to the early warning distance value and larger than the braking distance value;
and the second early warning prompt sub-module is used for controlling the driver to tighten the safety belt when the distance between the front vehicle and the vehicle is smaller than the braking distance value, controlling the vehicle to forcedly brake and displaying second color early warning information on a vehicle display.
6. An in-vehicle device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of a distance dynamic monitoring method according to any one of claims 1 to 3 when the computer program is executed by the processor.
7. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of a distance dynamic monitoring method according to any one of claims 1 to 3.
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