WO2018059103A1 - Procédé et système en fonction d'informations de déplacement de véhicules précédents dans la même direction pour avertissement précoce de situations d'urgence - Google Patents

Procédé et système en fonction d'informations de déplacement de véhicules précédents dans la même direction pour avertissement précoce de situations d'urgence Download PDF

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Publication number
WO2018059103A1
WO2018059103A1 PCT/CN2017/094902 CN2017094902W WO2018059103A1 WO 2018059103 A1 WO2018059103 A1 WO 2018059103A1 CN 2017094902 W CN2017094902 W CN 2017094902W WO 2018059103 A1 WO2018059103 A1 WO 2018059103A1
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vehicle
information
cloud server
individual
feedback information
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PCT/CN2017/094902
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English (en)
Chinese (zh)
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董易伟
刘肖琛
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蔚来汽车有限公司
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Publication of WO2018059103A1 publication Critical patent/WO2018059103A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication

Definitions

  • the invention relates to the field of driving safety, and in particular to an emergency warning method and system based on the same driving information of a forward vehicle.
  • ADAS Advanced Driver Assistant System
  • ADAS mainly uses various sensors installed in the vehicle to collect environmental data inside and outside the vehicle by sensing the surrounding environment at any time during the driving process of the vehicle, and to identify, detect and track static and dynamic objects of the collected environmental data. And combined with the navigation map data to perform the corresponding calculation and analysis on the results of identification, detection and tracking.
  • the results of the calculations and analysis are presented in a form intended to give the driver a pre-examined information that is facing or potentially dangerous. Under the premise that the driver can obtain dangerous information in advance, the safety of driving the car can be effectively improved by paying attention or changing the driving behavior.
  • ADASs are based on environmental information (such as roads, obstacles, etc.) provided by various sensors and suppliers, and improve driving safety based on the acquired environmental information within the scope of the vehicle.
  • environmental information such as roads, obstacles, etc.
  • the ADAS alone cannot effectively improve the vehicle. safety.
  • the technical problem to be solved by the present invention is how to make the vehicle obtain feedback information within a range of a larger driving environment.
  • an emergency warning method based on the same driving information of the preceding vehicle includes:
  • Each node module mounted on the vehicle individual obtains location information of the individual vehicle and at least one vehicle data
  • Each node module uploads location information and at least one vehicle data to the cloud server respectively;
  • the cloud server obtains, according to the location information, a relative position of a plurality of vehicle individuals traveling in the same direction on the same road;
  • the cloud server is capable of generating feedback information based on the vehicle data, and transmitting the feedback information to a node module of the vehicle data generating the feedback information and a vehicle individual corresponding to the node module traveling in the same direction on the same road The node module of all vehicles in the rear.
  • the cloud server sets a threshold for each of the at least one type of vehicle data, and when any of the vehicle data reaches a corresponding threshold, generates The feedback information corresponding to the threshold.
  • the cloud server is configured with at least one threshold for each type of vehicle data, when the vehicle data reaches any one of at least one threshold corresponding to the data. At the same time, feedback information corresponding to the threshold is generated.
  • a set size is used as a limiting condition, under which all vehicles traveling on the same road behind any individual vehicle form a rear vehicle sequence of the individual vehicle.
  • the cloud server sends the feedback information to a node module of the vehicle data that generates the feedback information and a node module of a vehicle rear sequence of the vehicle individual corresponding to the node module.
  • the set size is a set road length.
  • the vehicle data includes:
  • Various types of vehicle parameters that can be characterized by one or more of the various types of vehicle information that can characterize the vehicle's safety status.
  • the feedback information is early warning information
  • the early warning information includes early warning information in the form of a prompt and early warning information in the form of an instruction.
  • an emergency warning system based on the same driving information of the preceding vehicle.
  • the system includes a cloud server and a plurality of node modules in communication with the cloud server;
  • Each of the node modules is mounted on a vehicle individual for acquiring location information and vehicle data of the individual vehicle, and uploading the location information and the vehicle data to the cloud server;
  • the cloud server is configured to obtain, according to the location information, a relative location of multiple vehicle individuals traveling in the same direction on the same road;
  • the cloud server is configured to send feedback information generated according to the vehicle data to a node module of vehicle data that generates the feedback information, and each vehicle behind the vehicle individual corresponding to the node module in the same direction on the same road individual.
  • the cloud server is configured to send feedback information to a node module of the vehicle data that generates the feedback information, and a vehicle rear sequence of the vehicle individual corresponding to the node module, where The car sequence is determined by:
  • the set size is a set road length.
  • the emergency situation warning method based on the same driving information of the preceding vehicle of the present invention collects the information of the individual vehicles traveling in the same direction on the same road through the cloud server, so that the vehicle is obtained based on the vehicle and a certain range in front of the vehicle. Feedback information for the car sequence. Therefore, the vehicle is in a driving environment capable of obtaining a large driving environment that affects the driving safety of the vehicle. Under the premise of information, sufficient time is reserved for taking appropriate driving behavior, which effectively improves driving safety.
  • the present invention also provides an emergency warning system based on the same driving information of the preceding vehicle that can obtain the same technical effect.
  • FIG. 1 is a block diagram showing the structure of an emergency warning system based on the same driving information of the preceding vehicle according to an embodiment of the present invention.
  • FIG. 1 is a block diagram showing the structure of an emergency warning system based on the same driving information of the preceding vehicle according to an embodiment of the present invention.
  • the present invention provides an emergency warning system based on the same driving information of the forward vehicle, which sets setting information between individual vehicle bodies on the same road and traveling in one direction within the set range by the cloud server. Bring together to make each vehicle
  • the individual (the vehicle) can realize the sharing of the feedback information based on the setting information of all the preceding vehicles (the preceding vehicle sequence) traveling within a certain range in front of the vehicle.
  • each vehicle individual of the shared unit will have at least one set vehicle information (eg may include acceleration/brake force, steering signal, etc.) or
  • the vehicle parameters derived from the vehicle information are uploaded to the cloud server in time, and the cloud server sets for each set vehicle information and/or vehicle parameters.
  • the front car of the server sends the corresponding feedback information
  • the feedback information may be an early warning information such as an alarm, a voice prompt, a text prompt, etc., and an early warning information such as an instruction such as reverse, brake, and deceleration may be explicitly given.
  • the driver can make a driving behavior corresponding to the feedback information such as a deceleration, a turn, or an emergency brake. That is to say, in the present invention, the vehicle can obtain feedback information based on the vehicle and the preceding vehicle sequence of the vehicle. Based on the obtained feedback information for a larger range of driving environment, driving safety is improved by timely controlling the driving behavior of the vehicle.
  • the early warning system mainly includes a cloud server and a plurality of node modules that communicate with the cloud server. among them:
  • the node module is mounted on the corresponding vehicle individual, and is mainly used to acquire location information and vehicle data of the individual vehicle, and upload corresponding location information and vehicle data to the cloud server.
  • the location information can be implemented by a GPS positioning system, or can be implemented by other reasonable choices that can obtain coordinate information similar to a single vehicle individual.
  • the node module has a transmitting module and a receiving module.
  • the sending module is mainly used for uploading the location data of the vehicle individual and the set type of vehicle data to the cloud server
  • the receiving module is mainly used for receiving the cloud server for the vehicle data and belonging to the sharing right of the vehicle. Feedback.
  • the set vehicle data uploaded by the sending module may be directly obtained types of vehicle information related to vehicle safety, or may be based on the vehicle information and capable of characterizing the safety state of the vehicle.
  • vehicle information related to vehicle safety or may be based on the vehicle information and capable of characterizing the safety state of the vehicle.
  • vehicle parameters Various vehicle parameters.
  • the cloud server as the core control center is mainly used for receiving vehicle data uploaded by each node module in real time through the sending module, and can generate feedback information based on the vehicle data, and further send the feedback information to the node module and the row for uploading the vehicle data.
  • a node module of a rearrangement sequence of the node module is also disposed behind a vehicle body configured with the node module. Therefore, in theory, the vehicle can use the feedback information of the vehicle through the cloud server to benefit all the rear vehicle sequences configured with the node modules running behind the vehicle.
  • the cloud server has a corresponding threshold for each type of vehicle data. For any vehicle individual, when any vehicle information or vehicle parameters uploaded by the vehicle to the cloud server reaches or exceeds a corresponding threshold, the cloud server sends the corresponding feedback information to the vehicle and to the rear of the vehicle.
  • a node module on a certain range of the following vehicle sequence, each node module receives the feedback information through the receiving module, and the driver of each vehicle individual can make a corresponding driving behavior according to the feedback information, thereby improving driving by evading the corresponding emergency situation Safety.
  • the car will share the feedback information sent to the cloud server for the vehicle data, that is, the vehicle can obtain feedback information based on the vehicle and the forward sequence traveling in front of the vehicle.
  • each vehicle individual has at least one identity as the identity of the following vehicle.
  • the preceding vehicle sequence of the individual vehicle in the identity of the "rear vehicle”, may share feedback information corresponding to the vehicle data uploaded by any of the vehicle instances in the preceding vehicle sequence to the cloud server.
  • the vehicle individual also has a rear car sequence including at least one individual vehicle as the identity of the preceding vehicle.
  • the feedback information corresponding to the data uploaded by the vehicle to the cloud server can be shared to each of the following vehicle sequences. Individual vehicle.
  • the foregoing determining manners of the preceding vehicle sequence and the following vehicle sequence may be:
  • the cloud server combines the location information uploaded by the individual vehicle and combines the navigation map provided by the third party or other positional relationship between the individual vehicles that can confirm the positional relationship between the individual vehicles, and confirms that the current direction is in the same direction.
  • the cloud server can also enter Each vehicle individual is sorted in one step, such as giving each vehicle individual a number with a sequential meaning. For example, all individuals who are currently traveling in the same direction on the same road can be a group of vehicles.
  • a plurality of vehicle groups traveling on different roads in different driving directions can be obtained at the cloud server, for example, all vehicle groups that can be obtained can be stored as a vehicle group set.
  • any one of the vehicle groups may be further defined to obtain a target vehicle group that is meaningful in meaning to appropriately define the range of the driving environment in front of the vehicle.
  • a target vehicle group of a certain scale may be selected for a current vehicle group with a set size as a qualification condition, so that the vehicle individual can obtain the largest possible driving environment.
  • the feedback information ensures that the feedback information in the driving environment can have a positive and effective impact on the individual vehicle.
  • the driving behavior of the rear vehicle based on the feedback information of the preceding vehicle sequence can effectively improve the driving safety of the following vehicle.
  • the set road length can be used as a qualification condition
  • the target vehicle group covering a certain road length can be divided. For example, in the case of a single vehicle individual, it can be classified as a target vehicle group together with all vehicle individuals within 1 to 2 km ahead of which are equipped with node modules and whose node modules are in an open state.
  • the vehicle when the vehicle information and/or the vehicle parameter uploaded by any one of the preceding vehicle sequences reaches or exceeds the corresponding threshold, the vehicle (the last vehicle) can share the feedback information corresponding to the threshold through the cloud server. .
  • the reason why the vehicle group needs to be limited in size is mainly to ensure that the driving behavior of the vehicle individual based on the feedback information within a certain range can effectively achieve the purpose of effectively improving driving safety. If the road is too long, the information sharing between individual vehicles does not make much sense. For example, based on the driving behavior of the emergency braking taken by the foremost vehicle in the preceding vehicle sequence of the vehicle, the cloud server also transmits feedback information of the emergency braking to the vehicle with reference to the driving behavior. In fact, because the distance between the vehicle and the foremost vehicle is too large, the response of the vehicle based on the shared vehicle data of the preceding vehicle does not significantly improve the driving safety of the vehicle, that is, the same threshold.
  • the corresponding vehicle data exceeds a certain range of driving environment, the influence between each other will be significantly weakened or even disappeared.
  • the information sharing between individual vehicles may cause the vehicle to be insufficient to improve the driving safety through the received feedback information of the preceding vehicle sequence, as covered by the feedback information that the vehicle can obtain.
  • the range of driving environment is close to that of ADAS based solely on the driving environment of the vehicle, or it cannot be substantially better than the guidance and recommendations derived through ADAS.
  • the cloud server can set a plurality of hierarchical thresholds for the same vehicle data, and further can provide corresponding feedback information for each level of threshold, thereby further improving the driving on the basis of the refined feedback information. While also being safe, it also improves the driver's user experience. For example, when a certain vehicle data exceeds a first threshold in its threshold (such as an early warning threshold), the cloud server sends a first feedback message (such as an alert prompt) to the vehicle and its subsequent vehicle sequence; beyond the second threshold ( In the case of an emergency disposal threshold, the cloud server sends a second feedback message (emergency handling order) to the vehicle and its subsequent vehicle sequence.
  • a first threshold in its threshold such as an early warning threshold
  • the cloud server sends a first feedback message (such as an alert prompt) to the vehicle and its subsequent vehicle sequence
  • a second feedback message (emergency handling order)
  • the vehicle individual (denoted as A 0 , ie, the local vehicle) configured with the foregoing node module is used as a reference.
  • the cloud server Based on the location information of the vehicle, the cloud server will be n cars that are currently on the same road and travel within the set distance X in front of A 0 (denoted as ⁇ A 1 , A 2 , ..., A n ⁇ , ie, in front of the vehicle
  • the car sequence is formed as a target vehicle group, which is recorded as group A.
  • a 0 can be shared by the cloud server in addition to obtaining feedback information based on the vehicle data uploaded by itself, based on ⁇ A 1 , A 2 ,..., A n ⁇ Feedback information of uploaded vehicle data. That is to say, A 0 can indirectly obtain information in the front driving environment with a road length of X through feedback information. Based on the feedback information, the driver can effectively improve driving safety by taking corresponding driving behavior.
  • the determining rule (including the vehicle information/vehicle parameter/threshold/feedback information) of the first feedback information (ie, the warning prompt) sent by the cloud server according to the first threshold may be:
  • a k (k>1) in group A occurs in the first stage of sudden braking (such as vehicle parameters derived from vehicle information, ie braking force a>1*d*k 1 N or braking acceleration b>1) *d*k 2 m/s 2 ), all vehicle individuals behind A k including A 0 will receive corresponding warning prompts.
  • d is the distance between two cars (the front car of the driving behavior of the vehicle and the preceding vehicle sequence that makes the sudden braking)
  • k 1 and k 2 are the set coefficients).
  • the vehicle data can be corrected according to environmental factors such as weather and road conditions, and more sensitive vehicle parameters are obtained, and corresponding threshold values are set for the corrected vehicle parameters, thereby refining More feedback in line with the actual situation, in order to further improve driving safety.
  • environmental factors such as weather and road conditions
  • corresponding threshold values are set for the corrected vehicle parameters, thereby refining More feedback in line with the actual situation, in order to further improve driving safety.
  • the corresponding feedback information should be appropriately enhanced compared with the normal environment.
  • the determining rule (including the vehicle information/vehicle parameter/threshold/feedback information) of the second feedback information (ie, the emergency handling instruction) sent by the cloud server according to the second threshold may be:
  • a k (k>1) in group A occurs in the second-order sharp turn (such as directly obtained vehicle information indicating the turn, ie angular velocity w> 2 rad/s), all after A k including A 0 Individual vehicles will receive a strategy such as taking a slow brake.
  • a k (k>1) in group A occurs in the second stage of emergency braking (such as the comprehensive judgment index braking force a>2*d*k 1 N, or braking acceleration b>2* d*k 2 m/s 2 ) (d is the distance between two workshops, k is the coefficient), and all vehicle individuals behind A k including A 0 will receive a strategy such as taking a slow brake.
  • emergency braking such as the comprehensive judgment index braking force a>2*d*k 1 N, or braking acceleration b>2* d*k 2 m/s 2
  • the threshold corresponding to the first-stage emergency brake and the second-stage emergency brake is set based on the distance between the two vehicles, and can also be set based on other reasonable parameters. If you can refer to the current speed of the car, calculate the time required for the car to reach the position of the sudden brake. Corresponding feedback information is given according to the length of the time.
  • the invention also provides an emergency warning method based on the same driving information of the preceding vehicle.
  • the method mainly includes:
  • Each node module mounted on the vehicle individual obtains location information of the individual vehicle and at least one vehicle data
  • Each node module uploads location information and at least one vehicle data to the cloud server respectively;
  • the cloud server obtains the relative positions of the plurality of vehicle individuals traveling in the same direction on the same road according to the received location information
  • the cloud server is capable of generating corresponding feedback information based on the received vehicle data, and transmitting the feedback information to the node module of the vehicle data generating the feedback information and driving in the same direction on the same road to the vehicle individual corresponding to the node module.
  • the information sharing of individual vehicles traveling in the same direction in the same direction is realized by the cloud server.
  • cloud services Based on the feedback information obtained by the vehicle, in addition to sending feedback information to the vehicle to make corresponding warnings, it can also benefit the rear vehicle sequence behind the vehicle.
  • the vehicle in addition to the feedback information obtained by the vehicle based on the vehicle data transmitted by the cloud server, the vehicle can also obtain the feedback information sent by the cloud server based on the preceding vehicle sequence in front of the vehicle.
  • each vehicle individual can obtain feedback information based on a certain range of the front driving environment. On the basis of this, the driving behavior corresponding to the feedback information is adopted, thereby achieving the purpose of effectively improving driving safety.
  • the process of generating the feedback information may be: the cloud server sets a threshold for each of the at least one type of vehicle data, and when any vehicle data reaches a corresponding threshold, the generation and the The feedback information corresponding to the threshold.
  • the cloud server may be configured with at least one threshold for each type of vehicle data, and generate feedback information corresponding to the threshold when the vehicle data reaches any one of at least one threshold corresponding to the data.
  • the feedback information may be early warning information in the form of prompts or early warning information in the form of instructions.
  • the vehicle data may be various types of vehicle information that can be directly obtained and related to vehicle safety, or may be based on the information of the various types of vehicles. One or more of the various vehicle parameters that can be used to characterize the vehicle's safety status.
  • the vehicle In order to ensure that the vehicle obtains the feedback information in the proper driving environment, it can be set on the same scale (such as the road length of 1 to 2 km mentioned above). Under the limited conditions, the same road is driven on the same road. All vehicles behind a vehicle individual form a rear vehicle sequence for the individual vehicle. At this time, the cloud server can simultaneously transmit the feedback information based on the vehicle to the node module of the vehicle and its subsequent vehicle sequence.
  • the vehicle individual can selectively upload other data that is not sufficiently clearly characterized by the vehicle data directly to the cloud server. If a certain vehicle individual in the current vehicle group fails due to a fault (such as a normal fault, the vehicle cannot be driven due to being in an accident, etc.), the node module loses the right to share feedback information because it cannot communicate with the cloud server. . Since the above situation is difficult to determine by machine vision, the driver can artificially upload such information to the cloud server to enable the vehicle's individual rear car sequence to be shared to the corresponding feedback information.
  • the driver can choose to manually upload the event of the airbag to the cloud server. . It can also be added to the node module for this type of data.
  • the special sending module still takes the event that the airbag is turned on as an example, and the event can be automatically uploaded to the cloud server through the special sending module.
  • the opening mode of the node module can be set to trigger the opening of the individual vehicle accompanying the vehicle, or the starting and stopping state can be manually switched according to the actual situation according to the choice of the owner.
  • the node module in the case that the node module is in the open state, its location information, vehicle information and/or vehicle parameters are automatically and real-time transmitted to the cloud server through the sending module, and the background of the cloud server first determines the car.
  • the corresponding preceding vehicle sequence and the following vehicle sequence so that the preceding vehicle sequence is used as an information source object other than the vehicle, and the feedback information based on the preceding vehicle sequence is shared.
  • the rear car sequence is used as an information transfer object other than the car itself, so that the rear car sequence can share the feedback information based on the vehicle.
  • the vehicle can obtain the feedback information in the front driving range during the driving process, effectively overcoming the existing ADAS (only adjusting the driving behavior by detecting the vehicle environment)
  • ADAS only adjusting the driving behavior by detecting the vehicle environment
  • the present invention has at least the following advantages: the node module is conveniently arranged on the individual vehicle, and the driving environment range in which every other vehicle individual can share the feedback information can be flexibly adjusted, and the type of the vehicle data can be set according to actual conditions. Therefore, the early warning system of the present invention has good adaptability to different roads and individual vehicles.

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Abstract

La présente invention concerne un procédé et un système en fonction d'informations de déplacement de véhicules précédents dans la même direction qui permettent l'avertissement précoce de situations d'urgence. Le procédé d'avertissement précoce consiste : à acquérir, par des modules de nœud montés sur des véhicules individuels, des informations d'emplacement des véhicules individuels correspondants, et au moins un type de données de véhicule; à télécharger respectivement, par les modules de nœuds, les informations d'emplacement et ledit type de données de véhicule sur un serveur en nuage; à obtenir, par le serveur en nuage sur la base des informations d'emplacement, les emplacements relatifs des multiples véhicules individuels se déplaçant dans la même direction sur une même route; à générer, par le serveur en nuage, des informations de rétroaction sur la base des données de véhicule et à transmettre les informations de rétroaction au module de nœud des données de véhicule sur la base desquelles les informations de rétroaction sont générées ainsi qu'aux modules de nœud de tous les véhicules individuels se déplaçant dans la même direction sur la même route, derrière le véhicule individuel correspondant au module de nœud. Le procédé d'avertissement précoce permet à des véhicules individuels d'acquérir des informations de rétroaction d'une large plage d'environnement de conduite à venir, facilitant ainsi une plus grande sécurité de conduite.
PCT/CN2017/094902 2016-09-27 2017-07-28 Procédé et système en fonction d'informations de déplacement de véhicules précédents dans la même direction pour avertissement précoce de situations d'urgence WO2018059103A1 (fr)

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CN201610855859.XA CN106803359A (zh) 2016-09-27 2016-09-27 基于同向前车驾驶信息的紧急状况预警方法及系统
CN201610855859.X 2016-09-27

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CN114582147A (zh) * 2020-12-02 2022-06-03 通用汽车环球科技运作有限责任公司 倒车操作检测系统和方法
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