CN204719988U - A kind of front truck driver unsafe driving behavioral value device - Google Patents

A kind of front truck driver unsafe driving behavioral value device Download PDF

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Publication number
CN204719988U
CN204719988U CN201520453763.1U CN201520453763U CN204719988U CN 204719988 U CN204719988 U CN 204719988U CN 201520453763 U CN201520453763 U CN 201520453763U CN 204719988 U CN204719988 U CN 204719988U
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China
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vehicle
car
driver
front truck
sensor
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CN201520453763.1U
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郭应时
崔宇
王畅
付锐
袁伟
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Changan University
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Changan University
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Abstract

The utility model provides a kind of front truck driver unsafe driving behavioral value device, comprise: be arranged on vehicle wheel rotational speed device for gathering the vehicle speed sensor from the car speed of a motor vehicle, be installed on directly over front windshield for gathering the lane identification sensor from car front axle left and right wheels and lane line distance, be installed on front bumper centre for measuring the vehicle-mounted millimeter wave radar of front vehicles and this car relative position, be installed on directly over windshield for gathering front vehicle-width and the camera of lane line number between front truck and this car, data processing unit, vehicle-mounted CAN bus, an image processor, and be installed on panel board side for carrying out the car alarm of early warning to driver.The utility model, by detecting Ben Che and target vehicle, identifies the unsafe driving behavior of front vehicles driver, driver is dodged in advance, and Accident prevention occurs.

Description

A kind of front truck driver unsafe driving behavioral value device
Technical field
The utility model relates to field of automobile safety, particularly a kind of front truck driver unsafe driving behavioral value device.
Background technology
When driver's normal driving automobile, vehicle can keep stable in track, and the speed of a motor vehicle and other car speeds can not difference too large, and keep stable.But when driver distraction drives (make a phone call when such as driving, send short messages or chat etc.) or driver experience is not enough, because driver's energy is unconcentrated or poor to vehicles handling abilities, automobile can swing back and forth in track, even can travel by line ball, and speed deviation can be larger, driver is for ensureing traffic safety in addition, generally can reduce the speed of a motor vehicle, to such an extent as to frequently be overtaken other vehicles by other vehicles.Although the speed of vehicle is slow in this case, but its danger is still very large, because now the stress reaction ability of driver is relatively low, and easily occurs misoperation, danger is brought, so front vehicle will avoid this vehicle as far as possible to front vehicle.
Utility model content
In order to overcome above-mentioned prior art Problems existing, the utility model provides a kind of front truck driver unsafe driving behavioral value device, can avoid front truck, to realize safe driving when guaranteeing front truck driver unsafe driving.
In order to reach above-mentioned technical purpose, the utility model is achieved by the following technical solutions.
A kind of front truck driver unsafe driving behavioral value device, is characterized in that, comprising:
Be arranged on vehicle wheel rotational speed device for gathering the vehicle speed sensor from the car speed of a motor vehicle, be installed on directly over front windshield for gathering the lane identification sensor from car front axle left and right wheels and lane line distance, be installed on front bumper centre for measuring the vehicle-mounted millimeter wave radar of front vehicles and this car relative position, be installed on directly over windshield for gathering front vehicle-width and the camera of lane line number between front truck and this car, data processing unit, vehicle-mounted CAN bus, an image processor, and be installed on panel board side for carrying out the car alarm of early warning to driver,
The output terminal of described vehicle speed sensor is electrically connected described vehicle-mounted CAN bus; The input end of described camera output terminal electrical connection image processor; The signal input part of described data processing unit is electrically connected the output terminal of described vehicle-mounted CAN bus, the output terminal of image processor, the output terminal of millimetre-wave radar and Lane detection sensor respectively, and the signal output part of described data processing unit is electrically connected the input end of described car alarm.
Further, described front vehicles and this car relative position comprise front truck relative to the relative velocity of this car, relative distance and phasing degree.
Further, the frequency acquisition of described vehicle speed sensor, vehicle-mounted millimeter radar, lane identification sensor and camera is 10Hz, and often organizing data is synchronous acquisition.
Further, described vehicle speed sensor is magneto-electric vehicle speed sensor, and the sampling precision of described vehicle speed sensor is 0.01km/h;
Described millimetre-wave radar sensor is ESR millimetre-wave radar, and range measurement accuracy is 0.5m, and angle precision is 0.5 °;
Described Lane detection sensor is AWS Lane detection sensor;
Described camera is culminant star YJS-01USB2.0 camera;
Described image processor is Freescale series monolithic, and concrete model is S12;
Described car alarm is AD16-22SM type flashing buzzer.
The beneficial effects of the utility model by: ultimate principle of the present utility model passes through to be filled sensor to detect this vehicle speed, this car left and right wheels is at a distance of lane line distance, front vehicles is relative to the speed of this car, phasing degree and distance, front vehicle-width and lane line number between front truck and this car, comprehensive above parameter, identify the unsafe driving behavior of front vehicles driver, then recognition result is sent to car alarm, car alarm reminds driver's front vehicles to be in unsafe driving state after receiving recognition result, driver is dodged in advance, Accident prevention occurs.
Accompanying drawing explanation
A kind of front truck driver unsafe driving behavioral value structure drawing of device that Fig. 1 provides for the utility model;
Fig. 2 is a kind of front truck driver unsafe driving behavioral value method flow diagram that the utility model proposes.
Fig. 3 is the target vehicle distance lane line distance schematic diagram that the utility model embodiment proposes.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in detail.
Ultimate principle of the present utility model passes through filled sensor to detect this vehicle speed, this car left and right wheels is at a distance of lane line distance, front vehicles is relative to the speed of this car, phasing degree and distance, front vehicle-width and lane line number between front truck and this car, comprehensive above parameter, identifies the unsafe driving behavior of front vehicles driver.Then recognition result is sent to car alarm, car alarm reminds driver's front vehicles to be in unsafe driving state after receiving recognition result, driver is dodged in advance, and Accident prevention occurs.
See Fig. 1, it is a kind of front truck driver unsafe driving behavioral value structure drawing of device that the utility model provides.
As shown in Figure 1, a kind of front truck driver unsafe driving behavioral value device, is characterized in that, comprising:
Be arranged on vehicle wheel rotational speed device for gathering the vehicle speed sensor from the car speed of a motor vehicle, be installed on directly over front windshield for gathering the lane identification sensor from car front axle left and right wheels and lane line distance, be installed on front bumper centre for measuring the vehicle-mounted millimeter wave radar of front vehicles and this car relative position, be installed on directly over windshield for gathering front vehicle-width and the camera of lane line number between front truck and this car, data processing unit, vehicle-mounted CAN bus, an image processor, and be installed on panel board side for carrying out the car alarm of early warning to driver,
The output terminal of described vehicle speed sensor is electrically connected described vehicle-mounted CAN bus; The input end of described camera output terminal electrical connection image processor; The signal input part of described data processing unit is electrically connected the output terminal of described vehicle-mounted CAN bus, the output terminal of image processor, the output terminal of millimetre-wave radar and Lane detection sensor respectively, and the signal output part of described data processing unit is electrically connected the input end of described car alarm.
Further, described front vehicles and this car relative position comprise front truck relative to the relative velocity of this car, relative distance and phasing degree.
In the utility model embodiment, described vehicle speed sensor is used for the real-time speed of collection vehicle, and for the real-time speed of vehicle is sent to data processing unit by vehicle-mounted CAN bus; Described camera Real-time Collection front truck and road image, and image is sent to image processor; Described image processor processes image, obtains front vehicle-width and lane line bar logarithmic data between front truck and this car, and sends it to data processing unit; Range data for gathering this car front axle left and right wheels distance left and right lane line distance, and is sent to data processing unit by described Lane detection sensor; These data for measuring front truck relative to the relative velocity of this car, relative distance and phasing degree, and are sent to data processing unit by described millimetre-wave radar sensor; Process described in described data processing unit identification, and early warning signal is sent to car alarm.
Further, the frequency acquisition of described vehicle speed sensor, vehicle-mounted millimeter radar, lane identification sensor and camera is 10Hz, and often organizing data is synchronous acquisition.
In the utility model embodiment, described vehicle speed sensor is magneto-electric vehicle speed sensor, and the sampling precision of described vehicle speed sensor is 0.01km/h; Described millimetre-wave radar sensor is ESR millimetre-wave radar, and range measurement accuracy is 0.5m, and angle precision is 0.5 °; Described Lane detection sensor is AWS Lane detection sensor; Described camera is culminant star YJS-01USB2.0 camera; Described image processor is Freescale series monolithic, and concrete model is S12; Described car alarm is AD16-22SM type flashing buzzer.
In the utility model embodiment, each sensor carries out synchronous acquisition to information, and frequency acquisition is 10Hz,
See Fig. 2, it is a kind of front truck driver unsafe driving behavioral value method flow diagram that the utility model proposes.Front truck driver unsafe driving behavioral value is mainly comprised:
The collection of data message;
The data message gathered is processed;
The identification of target vehicle state.
In the utility model embodiment, the collection of described data message comprises: this car vehicle velocity V h; Target vehicle relative to the relative distance L of this car, relative velocity V r, phasing degree θ; The distance L of this car front axle left and right wheels distance left and right lane line l, L r; Target vehicle width H pand lane line number m between target vehicle and this car.
In the utility model embodiment, described car vehicle velocity V hgathered by the vehicle speed sensor be arranged on vehicle wheel rotational speed device; Target vehicle relative to the relative distance L of this car, relative velocity V r, phasing degree θ gathers by being arranged on the Centromedian vehicle-mounted millimeter wave radar of front bumper; The distance L of described car front axle left and right wheels distance left and right lane line l, L rgathered by the lane identification sensor be arranged on directly over front windshield; Described target vehicle width H pand between target vehicle and this car lane line number m by being arranged on the camera collection directly over windshield.
In the utility model embodiment, pass through filled sensor and detect this vehicle speed, this car front axle left and right wheels distance left and right lane line distance, front vehicles is relative to the relative distance of this car, relative velocity and phasing degree, front vehicle-width, lane line number between front truck and this car, then front truck within a certain period of time poor with the average velocity of other vehicles of front is calculated, passed vehicle number of times, front truck and lane line stable distance, front truck whether line ball or cross-line travels, identify described situation, and early warning signal is sent to car alarm, remind driver's front vehicles driver unsafe driving, driver is dodged in time, to prevent accident generation.
The concrete steps of the front truck driver unsafe driving behavioral value method that the utility model provides are as follows:
(1) data acquisition
Pass through filled sensor collection from car, target vehicle and traffic environment information, wherein vehicle speed sensor is for gathering this car vehicle velocity V h; Millimetre-wave radar sensor is for gathering the relative distance L of target vehicle relative to this car, relative velocity V r, phasing degree θ; Lane detection sensor is for gathering the distance L of this car front axle left and right wheels distance left and right lane line l, L r; Camera and image processor are for gathering target vehicle width H pand lane line number m between target vehicle and this car.The frequency acquisition of the sensor is 10Hz, and often organizing data is all synchronous acquisition.
(2) difference of target vehicle and other vehicle average velocitys
Just can calculate all car speeds in front by the above-mentioned data collected, front vehicles speed is:
V=V H+V R
Suppose that front vehicles number is K+1, other car speeds of the outer front of removing target vehicle are respectively V i(i=1,2 ... K), then the average velocity of other vehicles of front:
Target vehicle velocity is V b, then the absolute value of the difference of target vehicle and other vehicle average velocitys of front is:
V d=|V a-V b|
If the difference of target vehicle and other vehicle average speeds of front is excessive, illustrates that target vehicle velocity is too outstanding, other vehicle safeties can be affected.Classification is carried out to the difference of target vehicle and other vehicle average speeds of front:
If V d<V 0, be considered as safety, n 1=0;
If V 0≤ V d<V 1, be considered as one-level danger, n 1=1;
If V d>=V 1, be considered as secondary threat, n 1=2.
(3) number of times of overtaking other vehicles calculates
If target vehicle in the process of moving speed is too low, there will be frequent passed vehicle, if passed vehicle time
V a = 1 K &Sigma; i = 1 K V i
Number too much, can think that target vehicle danger travels.Front Overtaken Vehicle was originally L relative to the distance of this car 1, passing vehicle is L relative to the distance of this car 2if, L when starting 1-L 2>0, L after a period of time 1-L 2<0, then think that front vehicles passed vehicle once.
With time t 2for time window, calculate this time window internal object vehicle passed vehicle number of times a, and classification carried out to passed vehicle number of times:
A<a 0, then safety is thought, n 2=0;
A 0≤ a<a 1, then one-level danger is considered as, n 2=1;
A>=a 1, then secondary threat is considered as, n 2=2.
(3) track Detection of Stability
See Fig. 3, it is the target vehicle distance lane line distance schematic diagram that the utility model embodiment proposes.
When driver distraction drives or driver experience is not enough, vehicle can swing back and forth in track, if so the less stable of target vehicle in track, then think that target vehicle driver is dangerous.
Suppose that this vehicle-width is H h, lane line width is w, and lane width is W, then target vehicle apart from the distance of lane line is:
L P=Lsinθ-0.5H H-L R-w-0.5H P-W (m-1)
Wherein m be in the middle of Ben Che and target vehicle institute every lane line number, (right side is just, left side is negative, and such as two cars coexist a track, then m=0; If target vehicle is adjacent lane on the right side of this car, then m=1; If target vehicle is adjacent lane on the left of this car, then m=-1) because road is generally Four-Lane Road at most, so m=-3 ,-2 ,-1,0,1,2,3.
With time t3 for time window, calculate the standard deviation of this time window internal object vehicle distances lane line distance:
Wherein L pifor t 3time internal object vehicle distance lane line range data sequence, for t 3time internal object vehicle is apart from lane line distance average.Standard deviation is larger, then the track stability of target vehicle is poorer, and danger is larger, carries out classification to target vehicle and lane line distance method:
If SS<SS 0, then safety is considered as, n 3=0;
If SS 0≤ SS<SS 1, then one-level danger is considered as, n 3=1;
If SS>=SS 1, then secondary threat is considered as, n 3=2.
(4) line ball travels and detects
Target vehicle cross-line or line ball can travel a period of time in the process of changing, but due to the time of changing can not be oversize, so the cross-line running time of target vehicle is also within the specific limits.Cross-line running time if there is target vehicle exceeds schedule time, then think that target vehicle line ball or cross-line travel, this is that one is endangered very much
S S = 1 N 2 &Sigma; i = 1 N 2 ( L P i - L P &OverBar; ) 2
The operating mode of danger, brings danger can to other vehicles.
If target vehicle and lane line distance L pmeet L p<0 or L p>W-H p, then think target vehicle line ball or cross-line, line ball or cross-line time are t, setting-up time t 4:
If t<t 4, then think that target vehicle changes, n 4=0;
If t>=t 4, then think that target vehicle line ball or cross-line travel, n 4=2.
(5) target vehicle state identification
Complete after above-mentioned judgement n 1, n 2, n 3, n 4add up:
N=n 1+n 2+n 3+n 4
If N<2, then think that target vehicle normally travels, bring danger can not to other vehicles;
If N >=2, be then judged as target vehicle driver dangerous driving, bring danger may to other vehicles, give the alarm to alarm after situation described in processor identification, alerting driver target vehicle driver belongs to dangerous driving, and to dodge in advance, Accident prevention occurs.
A kind of front truck driver unsafe driving behavioral value method that the utility model embodiment provides and device, mainly complete front truck driver unsafe driving behavioral value, after detection completes, driver is reported to the police, driver's front truck is reminded to belong to dangerous driving, driver is dodged in advance, and Accident prevention occurs.
Above the utility model is described in detail, but the utility model is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also makes a variety of changes under the prerequisite not departing from the utility model aim.Do not depart from design of the present utility model and scope can make many other and change and remodeling.Should be appreciated that the utility model is not limited to specific embodiment, scope of the present utility model is defined by the following claims.

Claims (4)

1. a front truck driver unsafe driving behavioral value device, is characterized in that, comprising:
Be arranged on vehicle wheel rotational speed device for gathering the vehicle speed sensor from the car speed of a motor vehicle, be installed on directly over front windshield for gathering the lane identification sensor from car front axle left and right wheels and lane line distance, be installed on front bumper centre for measuring the vehicle-mounted millimeter wave radar of front vehicles and this car relative position, be installed on directly over windshield for gathering front vehicle-width and the camera of lane line number between front truck and this car, data processing unit, vehicle-mounted CAN bus, an image processor, and be installed on panel board side for carrying out the car alarm of early warning to driver,
The output terminal of described vehicle speed sensor is electrically connected described vehicle-mounted CAN bus; The input end of described camera output terminal electrical connection image processor; The signal input part of described data processing unit is electrically connected the output terminal of described vehicle-mounted CAN bus, the output terminal of image processor, the output terminal of millimetre-wave radar and Lane detection sensor respectively, and the signal output part of described data processing unit is electrically connected the input end of described car alarm.
2. a kind of front truck driver unsafe driving behavioral value device according to claim 1, is characterized in that, described front vehicles and this car relative position comprise front truck relative to the relative velocity of this car, relative distance and phasing degree.
3. a kind of front truck driver unsafe driving behavioral value device according to claim 1, it is characterized in that, the frequency acquisition of described vehicle speed sensor, vehicle-mounted millimeter radar, lane identification sensor and camera is 10Hz, and often organizing data is synchronous acquisition.
4. a kind of front truck driver unsafe driving behavioral value device according to claim 1, it is characterized in that, described vehicle speed sensor is magneto-electric vehicle speed sensor, and the sampling precision of described vehicle speed sensor is 0.01km/h;
Described millimetre-wave radar sensor is ESR millimetre-wave radar, and range measurement accuracy is 0.5m, and angle precision is 0.5 °;
Described Lane detection sensor is AWS Lane detection sensor;
Described camera is culminant star YJS-01USB2.0 camera;
Described image processor is Freescale series monolithic, and concrete model is S12;
Described car alarm is AD16-22SM type flashing buzzer.
CN201520453763.1U 2015-06-26 2015-06-26 A kind of front truck driver unsafe driving behavioral value device Expired - Fee Related CN204719988U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104916165A (en) * 2015-06-26 2015-09-16 长安大学 Front vehicle driver unsafe driving behavior detection method and device thereof
CN107038875A (en) * 2017-05-22 2017-08-11 南宁学院 A kind of automobile dynamic speed testing device based on image recognition
CN110412556A (en) * 2019-07-31 2019-11-05 吉林大学 A kind of vehicle running state appraisal procedure based on the frequency of overtaking other vehicles

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104916165A (en) * 2015-06-26 2015-09-16 长安大学 Front vehicle driver unsafe driving behavior detection method and device thereof
CN107038875A (en) * 2017-05-22 2017-08-11 南宁学院 A kind of automobile dynamic speed testing device based on image recognition
CN110412556A (en) * 2019-07-31 2019-11-05 吉林大学 A kind of vehicle running state appraisal procedure based on the frequency of overtaking other vehicles
CN110412556B (en) * 2019-07-31 2022-09-02 吉林大学 Vehicle driving state evaluation method based on overtaking frequency

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Granted publication date: 20151021

Termination date: 20160626