TWI650258B - Object collision prediction method and device thereof - Google Patents

Abstract

The invention relates to an object collision prediction method and a device thereof, which comprise a communication device on the vehicle receiving at least one driving information of the vehicle, and transmitting the driving information to the central processor to calculate the position according to the position, speed and heading of the driving information. The collision point between the car and the car, and the body range is generated centering on the collision point. The body range is the size of the car. According to the heading of the car, it extends twice the range of the car length of the car, and finally the center. The processor then captures a satellite offset so that the body range moves according to a satellite offset, creating a range of motion and generating a collision range based on the range of motion. According to the invention, the size of the vehicle body is added according to the collision point, and the spatial error range is used to estimate the collision range, which can effectively improve the accuracy of the estimation of the collision range.

Description

Object collision prediction method and device thereof

The present invention relates to a technique for estimating collisions, and more particularly to an object collision prediction method and apparatus therefor.

As a carrier and transportation vehicle, vehicles have already played an important and indispensable role in human life. Although the vehicle has the advantages of convenient transportation, it has relatively shortcomings. Because of the high speed of the vehicle, if there is a collision, it may cause serious traffic accidents. Traffic accidents may be caused by natural weather or man-made factors, especially human factors, so if you can effectively control human factors, you can prevent vehicles from colliding with other vehicles or pedestrians. Waiting for accidents to effectively reduce the vast majority of traffic accidents.

In view of this, devices for detecting obstacles in front to obtain the distance between the front obstacle and the vehicle to develop the warning technology have been developed successively, and the sensing device most commonly used to predict the obstacle in front is a distance sensor, such as Radar or image sensors, etc., the distance sensor mainly assists obstacles in one direction, and the image sensor is applied to wide-area visual aids. Through the above-mentioned sensors, the driver can effectively assist the driver to grasp the relative distance between the current vehicle dynamics and the obstacles, and the reminder of the warning system can reduce the occurrence of collision accidents.

In addition to using distance sensors or image sensors to determine the relative distance between vehicle dynamics and obstacles, Global Positioning System (GPS) can be used to detect obstacles and their relative to existing vehicles. Distance, however, the global satellite positioning system is easily limited to environmental factors, and often cannot detect obstacles due to atmospheric errors or current vehicles traveling to a sheltered area, and thus has limited practicality for the driver.

Furthermore, whether it is the distance between the vehicle dynamics and the obstacle obtained by the distance sensor, image sensor or global satellite positioning system, only the collision point of the vehicle and the obstacle can be calculated, but the collision occurs. The range of the point is quite small, and when the distance is obtained, the signal may be unstable due to the instability of the signal, so that the estimated collision point is easily deviated, and the position uncertainty of the collision point is high.

In view of the above, the present invention proposes an object collision prediction method and apparatus thereof to effectively overcome the above problems in view of the above-mentioned shortcomings of the prior art.

The main object of the present invention is to provide an object collision prediction method and apparatus thereof, which can determine a collision point between the vehicle and the vehicle, and add the size of the vehicle body and the spatial error range according to the collision point to estimate The collision range that may cause collisions can effectively improve the accuracy of the estimation of the collision range.

Another object of the present invention is to provide an object collision prediction method and apparatus thereof, which can gradually give a driver warning, deceleration and active braking according to the degree of danger of collision of the vehicle, so as to improve the safety of driving.

In order to achieve the above object, the present invention provides an object collision prediction method, comprising the steps of: first receiving, by a vehicle, driving information of at least one of its vehicles, wherein the driving information includes the position, speed, heading and size of the vehicle; and then the vehicle According to the position, speed and heading of the car, calculate a collision point between the car and the car; the car then generates a body range centering on the collision point, wherein the body range is defined as the size of the car. According to the heading of the car, it extends the range of the length of the car twice; finally, the car takes a satellite offset, so that the body range moves according to a satellite offset to generate a moving range, and according to the moving range Produces a collision range.

In addition, the present invention further provides an object collision predicting device that is mounted on a vehicle and can determine a possible collision range by the object collision predicting device when the vehicle may collide with the vehicle. The object collision prediction device includes a communicator for receiving a satellite offset of the vehicle and at least one driving information of the vehicle, wherein the driving information includes the position, speed, heading and size of the vehicle; The device is more electrically connected to a central processing unit, and the communicator can provide central processor driving information, so that the central processing unit calculates a collision point between the vehicle and the vehicle according to the position, the speed and the heading, and is centered on the collision point. Producing a body range, the size of the car is based on the size of the car, extending beyond the range of the car's length, and then the central processor according to the satellite offset received by the communicator, so that the body range is based on The satellite offset is moved to produce a range of motion and a range of collisions is generated based on the range of motion.

The purpose, technical content, features and effects achieved by the present invention will be more readily understood by the detailed description of the embodiments.

Please refer to the first figure, which is a system architecture diagram of the embodiment, wherein the object collision prediction device 1 is mounted on a vehicle to provide an estimated range of collisions that may occur between the vehicle and other vehicles. As shown in the first figure, the object collision prediction device 1 includes a communicator 10, which can be a wireless communicator or an internet communication device, and can continuously receive externally transmitted information to receive the position and speed transmitted by other vehicles. Driving information such as heading and size, and the communication device 10 further includes a satellite positioning receiver (not shown) for receiving global satellite positioning (GPS) information, and obtaining the position of the vehicle and the satellite offset; The central processing unit 12 is electrically connected to the communication device 10 to obtain information received by the communication device 10, and the central processing unit 12 is further electrically connected to a body information sensor 18, and the body information sensor 18 includes heading sensing. The central processing unit 12 can receive driving information such as the vehicle speed or the heading sensed by the vehicle body information sensor 18, so that the central processing unit 12 can utilize the present device (not shown) and the vehicle speed sensor (not shown). Driving information such as the position, heading and speed of the vehicle, and the communication information received by the communicator 10 to estimate the collision range between the vehicle and the vehicle, and the central processing unit 12 can further determine the distance of the vehicle from the collision range. Collision time, and issue warning or further processing according to the collision time; a warning device 14 is electrically connected to the central processing unit 12, the alarm device 14 is controlled according to the central processor 12; an automatic driving device 16 is electrically connected to the central processing unit 12. The automatic driving device 16 can control the driving of the vehicle and receive the control of the central controller 12 to perform operations such as deceleration or braking.

Referring to the first figure, the driving information of the vehicle received by the communication device 10 is obtained according to a vehicle system 20 installed on the vehicle. The vehicle system 20 includes a processor 22 and stores it. The size of the car, and the processor 22 is electrically connected to a transceiver 24 network transceiver, the processor 22 can control the transceiver 24 to transmit information to the communicator 10, and the transceiver 24 further includes a satellite positioning receiver (Fig. (not shown) to receive the global satellite positioning signal (GPS), and pass to the processor 22, so that the processor 22 obtains the current position of the current car, the processor 22 is more electrically connected to a body information sensor 26, the body The information sensor 26 includes a heading sensor (not shown) and a vehicle speed sensor (not shown). The processor 22 controls the body information sensor 26 to sense the vehicle speed and heading, and thus the processor 22 The driving information such as the size, the vehicle speed, the heading, and the position may be collected, and the processor 22 transmits the collected driving information to the object collision prediction device 1 through the transceiver 24.

After the system architecture applied in the method of the present embodiment is described, the following figure and the second to seventh figures are connected to describe the method flow of the embodiment in detail. This embodiment can be applied to the intersection of the road. In order to determine the collision range that may occur in the direction of the vehicle in a different direction of the intersection, in detail, first, the process proceeds to step S10, and the object collision prediction device 1 installed on the vehicle 30 receives the vehicle in the other direction of the intersection through the communication device 10. The driving information transmitted by the 40 car system 20, wherein the driving information includes the position, speed, heading and size of the car 40. Then, proceeding to step S12 and referring to the third figure, the central processing unit 12 of the vehicle 30 calculates a collision point between the vehicle 30 and the vehicle 40 according to the position, the vehicle speed and the heading of the vehicle 30 and the vehicle 40 thereof. The method for calculating the collision point between the vehicle and the other vehicle converts the position of the vehicle 30 and the position of the vehicle 40 into a relative plane coordinate, and then, with reference to the fourth figure, the coordinate position of the vehicle 30 is forwarded to the present. The heading of the vehicle 30 extends a straight line A of the vehicle, and extends from the coordinate position of the vehicle 40 to the direction of the vehicle 40, until the straight line A of the vehicle intersects with the straight line B of the vehicle to form a triangular geometric relationship. The intersection is the collision point C. At the same time, since the position of the vehicle 30 and the vehicle 40 has been obtained previously, the distance between the vehicle 30 and the vehicle 40 can be calculated, and the vehicle 30, the vehicle 40 and the collision point C form a triangular geometric relationship, which can effectively measure The inner angle of the vehicle 30, the vehicle 40 and the collision point C is extracted, so that the distance between the vehicle 30 and the vehicle 40 can be applied to a sine theorem to calculate the distance between the position of the vehicle and the collision range ( ).

After calculating the collision point C, proceeding to step S14 and referring to the fifth figure, the central processing unit 12 of the vehicle 30 generates a vehicle body range D centering on the collision point C, wherein the vehicle body range D is the size of the vehicle 40 thereof. According to the heading of the car 40, it extends twice the range of the length of the car 40. Next, proceeding to step S16 and referring to the sixth figure, the central processing unit 12 moves the vehicle body range D according to the satellite offset according to the satellite offset received by the communicator 10 to generate a moving range E. In the seventh figure, the central processing unit 12 generates a collision range F based on the movement range E.

After the collision range F is estimated, the process proceeds to step S18, and the CPU 12 determines the collision time between the host vehicle 30 and the collision range F, and determines the urgency of the collision based on the collision time to perform the corresponding processing.

In detail, when the vehicle is closer to the collision range, the calculated collision time will be shorter. According to the principle, the value of the first level warning time is greater than the value of the second level warning time, the second level. The value of the warning time is greater than the value of the third-level warning time. With the setting of the warning time, the embodiment can make the urgency according to the first-level warning time, the second-level warning time, and the third and warning time. Small to big distinction. Referring to the seventh and eighth figures, the step of determining the urgency to perform the corresponding processing first proceeds to step S180, and estimates the collision time between the front end G1 and the rear end G2 of the vehicle 30 and the collision range F near the side of the vehicle 30, In order to generate a front-end collision time and a tail-end collision time, the front-end collision time and the tail-end collision time are respectively brought into the following collision time equations to obtain the front-end collision time and the tail-end collision time respectively, and the collision time equation is : The front end collision time and the tail end collision time of the front end or the tail end of the relative collision range of the vehicle, For the speed of the car, The distance between the position of the vehicle and the front or rear end of the collision range.

Please continue to refer to the eighth figure. After obtaining the front end collision time or the tail end collision time, proceeding to step S182, the central processing unit 12 determines whether the front end collision time or the tail end collision time, one of which is less than a first level warning time. If not, then return to step S180 to continuously estimate the front end collision time and the tail end collision time; if yes, proceed to step S184, the central processing unit 12 controls the warning device 14 to issue a warning to remind the driver, wherein the warning device 14 can be The display displays a collision warning screen to remind the driver, or the alarm 14 can also be a sound playback device to output an alert tone to alert the driver.

After the warning is issued, the process proceeds to step S185, and the CPU 12 continues to determine whether the front end collision time or the tail end collision time is less than a second level warning time. If not, the process returns to step S180 to continue estimating the front end collision time and the tail end. The collision time; if it is, the time that the vehicle 30 is within the collision range F is shorter, and then proceeds to step S186, the central processing unit 12 sends a deceleration signal to the automatic driving device 16, so that the automatic driving device 16 controls according to the deceleration signal. The car 30 is decelerating. And proceeding to step S188, the central processing unit 12 again determines whether the front end collision time or the tail end collision time is less than a third level warning time, and if not, returns to step S180 to continuously estimate the front end collision time and the tail end collision time; When the time of the vehicle 30 from the collision range F is shorter than the time of step S186, the process proceeds to step S189, and the central processing unit 12 sends a brake signal to the automatic driving device 16 to directly control the vehicle 30 to perform braking. With the above classification, the driver can be reminded first when approaching the collision range. If the driver does not actively brake and the vehicle 30 is still approaching the collision range, the automatic driving device 16 can be controlled to perform deceleration and braking, which can effectively prevent Collision to improve the safety of driving.

In summary, the present invention can determine the collision point between the vehicle and the vehicle, and add the size of the vehicle according to the collision point and the spatial error range to estimate the collision range, which can effectively improve the estimation of the collision range. Accuracy. In addition, the invention can gradually give the driver warning, deceleration and active braking according to the degree of danger of collision, thereby improving the safety of driving.

The above is only the preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Therefore, any changes or modifications of the features and spirits of the present invention should be included in the scope of the present invention.

1‧‧‧Object collision prediction device

10‧‧‧Communicator

12‧‧‧Central processor

14‧‧‧ Warning device

16‧‧‧Automatic driving device

18‧‧‧ Body information sensor

20‧‧‧Car system

22‧‧‧ Processor

24‧‧‧ transceiver

26‧‧‧ Body information sensor

30‧‧‧Car

40‧‧‧It car

A‧‧‧The car straight line

B‧‧‧It car straight

C‧‧‧ collision point

D‧‧‧ body range

E‧‧‧Mobile range

F‧‧‧ collision range

The first figure is a block diagram of the system of the present invention. The second figure is a flow chart of the method of the present invention. The third figure is a schematic diagram of the collision point generated by the present invention. The fourth figure is a schematic diagram for judging the collision point of the present invention. The fifth figure is a schematic diagram of the generated vehicle body range of the present invention. The sixth figure is a schematic diagram of the generated moving range of the present invention. The seventh figure is a schematic diagram of the collision range generated by the present invention. The eighth figure is a flow chart of the warning mechanism method of the present invention.

Claims (14)

An object collision prediction method includes the following steps: a vehicle receives at least one driving information of the vehicle, the driving information includes the position, speed, heading and size of the vehicle; the vehicle is based on the position and heading of the vehicle The driving information of the vehicle speed, the position of the vehicle, the speed of the vehicle and the heading, calculating a collision point between the vehicle and the other vehicle; the vehicle generates a body range centering on the collision point, wherein The body range is such that the size of the vehicle extends twice the length of the vehicle according to the heading of the vehicle; and the vehicle captures a satellite offset such that the body range is based on a satellite The offset moves to produce a range of motion to produce a collision range based on the range of motion. The object collision prediction method of claim 1, wherein the calculating the collision point between the vehicle and the other vehicle comprises: converting the position of the vehicle and the position of the vehicle to a relative plane coordinate; A straight line of the vehicle is extended from the coordinates of the vehicle to the head of the vehicle, and a straight line of the vehicle is extended from the coordinates of the vehicle to the head of the vehicle until the straight line of the vehicle intersects with the vehicle. The point constitutes a triangular geometric relationship, which is the collision point. The object collision prediction method according to claim 1, further comprising estimating a collision time between the front end and the tail end of the vehicle and the collision range close to the side of the vehicle, to generate a front end collision time and a tail end collision time, When the front end collision time or the tail end collision time is less than a first level warning time, an alert is issued to alert the driver. The object collision prediction method of claim 3, wherein the front end collision time or the tail When the end collision time is less than a second-level warning time, a deceleration signal is issued to control the vehicle to decelerate. The object collision prediction method of claim 4, wherein when the front end collision time or the tail end collision time is less than a third level warning time, a brake signal is issued to control the brake of the vehicle. The object collision prediction method according to claim 5, wherein the front end collision time and the tail end collision time are respectively brought into a collision time equation to obtain the front end collision time and the tail end collision time respectively. The collision time equation is: The t _BDM is the front end collision time of the vehicle relative to the front end or the rear end of the collision range and the tail end collision time, the V _{B is} the vehicle speed of the vehicle, and the BDM is the position of the vehicle and the front end of the collision range. Or the distance from the end. An object collision prediction device is mounted on a vehicle, the object collision prediction device comprising: a communicator, receiving a satellite offset of the vehicle and at least one driving information of the vehicle, the driving information including the The position, speed, heading and size of the vehicle; and a central processing unit electrically connected to the communication device to receive the driving information of the vehicle, the central processing unit according to the position, heading and speed of the vehicle And the position of the vehicle, the speed of the vehicle, and the heading, calculating a collision point between the vehicle and the other vehicle, and generating a body range centering on the collision point, wherein the body range is the vehicle The size of the vehicle is extended by twice the range of the length of the vehicle according to the heading of the vehicle, and the central processor further shifts the body range according to the satellite according to the satellite offset received by the communicator. The amount of movement produces a range of motion to This range of motion produces a collision range. The object collision prediction device according to claim 7, wherein the step of calculating, by the central processor, the collision point between the vehicle and the other vehicle comprises: converting the position of the vehicle and the position of the vehicle to be relative a plane coordinate; and a straight line extending from the coordinates of the vehicle to the head of the vehicle, and a line extending from the coordinates of the vehicle to the head of the vehicle until the vehicle is in line with the vehicle A straight line intersects to create a crossover point to form a triangular geometric relationship, and the intersection is the collision point. The object collision prediction device according to claim 8, wherein the central processor is electrically connected to an alarm, and the central processor can estimate a collision between the front end and the rear end of the vehicle and the collision range near the side of the vehicle. Time, in order to generate a front end collision time and a tail end collision time, when the front end collision time or the tail end collision time is less than a first level warning time, a warning signal is sent to the warning device to make the warning device Alerts are given to the driver. The object collision prediction device of claim 9, wherein the central processor is more electrically connected to an automatic driving device, and when the central processor estimates the front end collision time or the tail end collision time is less than a second level warning time At this time, a deceleration signal is sent to the automatic driving device to control the vehicle to decelerate. The object collision prediction device according to claim 10, wherein the central processor estimates that the front end collision time or the tail end collision time is less than a third level warning time, then sends a brake signal to the automatic driving device to control The car brakes. The object collision prediction apparatus according to claim 11, wherein the central processor estimates the front end collision time and the tail end collision time, respectively, and carries the following collision time equations respectively to obtain the front end collision time and the tail end respectively. Collision time, the collision time equation is: The t _BDM is the front end collision time of the vehicle relative to the front end or the rear end of the collision range and the tail end collision time, the V _{B is} the vehicle speed of the vehicle, and the BDM is the position of the vehicle and the front end of the collision range. Or the distance from the end. The object collision prediction device according to claim 11, wherein the alerter is a display, the display displays a collision warning screen to remind the driver, or the alerter is a sound playback device to output a warning message to remind the driver people. The object collision prediction apparatus according to claim 7, wherein the driving information of the vehicle is issued by a vehicle system installed in the vehicle.