WO2023273512A1 - Early-warning method, electronic device, and computer readable storage medium - Google Patents
Early-warning method, electronic device, and computer readable storage medium Download PDFInfo
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- WO2023273512A1 WO2023273512A1 PCT/CN2022/086697 CN2022086697W WO2023273512A1 WO 2023273512 A1 WO2023273512 A1 WO 2023273512A1 CN 2022086697 W CN2022086697 W CN 2022086697W WO 2023273512 A1 WO2023273512 A1 WO 2023273512A1
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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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
- Embodiments of the present disclosure relate to the technical field of Internet of Vehicles, and in particular, to an early warning method, electronic equipment, and a computer-readable storage medium.
- Forward collision warning means that when the main vehicle is driving on the road, there may be a risk of rear-end collision with a distant vehicle in the same lane ahead. Therefore, in order to detect the collision risk between the main vehicle and the vehicle in front in time, the related technologies usually adopt the following Method: Use the electromagnetic wave sensor to detect the yaw rate information of the vehicle. When it is determined according to the yaw rate information that the vehicle is in a turning state, adjust the monitoring range of the forward collision to the specified threshold. Within the specified threshold, if the forward obstacle collides with the When the collision time between vehicles and/or the time headway meet the warning conditions, a forward collision warning signal is generated and an alarm is given.
- the yaw rate information of the vehicle needs to be detected by an electromagnetic wave sensor, that is, a special sensing device needs to be provided, so the cost is relatively high.
- the number of forward obstacles directly affects the warning rate. If the number of forward obstacles is large, each forward obstacle must be judged whether the warning condition is satisfied, and the processing pressure is high.
- the main purpose of the embodiments of the present disclosure is to provide an early warning method, an electronic device and a computer-readable storage medium, aiming at reducing the cost and processing pressure of realizing forward collision early warning and increasing the early warning rate.
- an embodiment of the present disclosure provides an early warning method, including: acquiring the vehicle data of the main vehicle and the vehicle data of multiple remote vehicles; data, to screen out the target remote vehicle that has a potential collision risk with the main vehicle; The relative distance after time; when the relative distance is less than the preset safety distance, forward collision risk warning information is output.
- an embodiment of the present disclosure further provides an electronic device, including: at least one processor; and a memory connected to the at least one processor in communication; Instructions executed by a processor, the instructions are executed by the at least one processor, so that the at least one processor can execute the above-mentioned early warning method.
- an embodiment of the present disclosure further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above-mentioned early warning method is realized.
- Fig. 1 is a flow chart of the early warning method mentioned in the embodiment of the present disclosure
- FIG. 2 is a flowchart of the implementation process of step 102 mentioned in the embodiment of the present disclosure
- Fig. 3 is a schematic diagram of the distribution of the main vehicle and candidate remote vehicles in the lane mentioned in the embodiment of the present disclosure
- FIG. 4 is a flowchart of an implementation of step 104 mentioned in an embodiment of the present disclosure.
- FIG. 5 is a flow chart of the implementation of step 103 mentioned in the embodiment of the present disclosure.
- FIG. 6 is a flow chart of the implementation of step 503 mentioned in the embodiment of the present disclosure.
- Fig. 7 is a schematic diagram of the geometric relationship between the positions of the main vehicle and the remote vehicle mentioned in the embodiment of the present disclosure
- Fig. 8 is a schematic diagram of another geometric relationship between the positions of the main vehicle and the remote vehicle mentioned in the embodiment of the present disclosure.
- Fig. 9 is a schematic diagram of the geometric relationship between the positions of the main vehicle and the remote vehicle in the straight road scene mentioned in the embodiment of the present disclosure.
- FIG. 10 is a flow chart of the implementation of step 202 mentioned in the embodiment of the present disclosure.
- Fig. 11 is a schematic structural diagram of an electronic device mentioned in an embodiment of the present disclosure.
- the embodiments of the present disclosure relate to an early warning method, which is mainly used to provide early warning for possible forward collisions.
- Forward collision early warning means that when the main vehicle is driving on the road, there may be a rear-end collision with a distant vehicle in the same lane directly ahead. Therefore, in order to timely detect the collision risk between the main vehicle and the vehicle in front, this embodiment provides an early warning method, which can be applied to electronic equipment.
- the electronic device is set on the main vehicle, for example, it may be a V2X device on the main vehicle.
- the vehicle-to-everything (V2X) technology is the key technology of the future intelligent transportation system, which enables communication between vehicles, vehicles and base stations, and base stations.
- the electronic device can also be an on-board unit (On board Unit, referred to as: OBU), a driving recorder and other on-board equipment, or it can also be a terminal device such as a mobile phone and a tablet computer. Both the on-board device and the terminal device can be An application program for realizing the early warning method in this embodiment is stored.
- OBU On board Unit
- a driving recorder and other on-board equipment
- a terminal device such as a mobile phone and a tablet computer.
- Both the on-board device and the terminal device can be An application program for realizing the early warning method in this embodiment is stored.
- the implementation details of the early warning method in this embodiment will be described in detail below, and the following content is only implementation details provided for easy understanding, and is not necessary for implementing this solution.
- the flowchart of the early warning method may refer to FIG. 1 , which may include, but not limited to, the following steps.
- Step 101 Obtain vehicle data of the main vehicle and vehicle data of multiple remote vehicles;
- Step 102 According to the vehicle data of the main vehicle and the vehicle data of a plurality of remote vehicles, screen out the target remote vehicle that has a potential collision risk with the main vehicle;
- Step 103 Determine whether the target remote vehicle and the main vehicle are located in the same lane; if yes, execute step 104, otherwise the process ends;
- Step 104 Predict the relative distance between the target remote vehicle and the main vehicle after a preset safety time
- Step 105 When the relative distance is less than the preset safety distance, output forward collision risk warning information.
- the target remote vehicles that have potential collision risks with the main vehicle are first screened out, and then based on the screened target vehicles, The remote car decides whether to issue forward collision risk warning information, which greatly relieves the processing pressure.
- the embodiment of the present disclosure is equivalent to the early warning judgment based on the safety time and the safety distance, and the accuracy of the early warning is also higher.
- special sensing equipment is not required to realize the early warning, so the cost can be reduced, and the applicability of the early warning algorithm to general vehicles (such as vehicles not equipped with special sensing equipment) is improved.
- the vehicle data may include driving data of the vehicle during driving, such as Global Positioning System (Global Positioning System, GPS) data, speed, acceleration, heading angle, driving route, etc. of the vehicle.
- the acceleration may include lateral acceleration and longitudinal acceleration, and the longitudinal acceleration may also be referred to as lateral acceleration.
- the vehicle data of the host vehicle may include any combination of the following: GPS data of the host vehicle, speed of the host vehicle, acceleration of the host vehicle, driving route of the host vehicle, and the like.
- the vehicle data of the remote vehicle may include any combination of the following: GPS data of the remote vehicle, speed of the remote vehicle, acceleration of the remote vehicle, driving route of the remote vehicle, etc.
- HV Hossion Vehicle
- RV Remote Vehicle
- HV can be understood as a target vehicle equipped with an on-board unit and running an application program
- RV can be understood as a background vehicle that cooperates with HV and can regularly broadcast V2X messages.
- the V2X device on the main vehicle may acquire the vehicle data of the main vehicle, and acquire the vehicle data of each remote vehicle.
- the vehicle data of the remote vehicle may be sent to the first V2X device by a V2X device obtained on the remote vehicle (hereinafter referred to as the second V2X device). That is to say, the second V2X device may send the vehicle data of the remote vehicle to the first V2X device through the V2X technology.
- the vehicle data of the host vehicle may include: GPS data of the host vehicle, and the first V2X device may obtain the data of the host vehicle, and then calculate the heading angle, speed and acceleration of the host vehicle according to the GPS data.
- the GPS data may include latitude and longitude information of multiple consecutive frames
- the first V2X device may calculate the heading angle of the main vehicle according to the latitude and longitude information of multiple consecutive frames, and obtain the speed and speed of the main vehicle according to the latitude and longitude information and time information of multiple consecutive frames. acceleration.
- the vehicle data of the remote vehicle includes the heading angle, speed and acceleration of the remote vehicle.
- the first V2X device can analyze the heading angle, speed and acceleration of the remote vehicle from the vehicle data of the remote vehicle.
- the second V2X device can obtain the GPS data of the remote car, and then calculate the heading angle, speed and acceleration of the remote car according to the GPS data of the remote car, and then send the calculated heading angle, speed and acceleration of the remote car through V2X. to the first V2X device, so that the first V2X device can directly obtain the heading angle, speed and acceleration of the remote vehicle, avoiding the first V2X device needing calculations to obtain the heading angle, speed and acceleration of the distant vehicle, which is conducive to alleviating the Computational pressure of a V2X device.
- the vehicle data of the remote vehicle includes the GPS data of the remote vehicle
- the first V2X device may receive the GPS data of the remote vehicle, and then calculate the heading angle, speed and acceleration of the remote vehicle according to the GPS data of the remote vehicle.
- the second V2X device can obtain the GPS data of the remote car, and then send the GPS data of the remote car to the first V2X device through V2X, so that the first V2X device can calculate the distance of the remote car based on the received GPS data of the remote car. heading angle, velocity and acceleration.
- the first V2X device may filter out a target remote vehicle that has a potential collision risk with the host vehicle according to the vehicle data of the host vehicle and the vehicle data of each remote vehicle.
- the target remote vehicle can be screened out according to the relationship between the heading angle of the main vehicle and the heading angles between the remote vehicles, and the distance relationship between the main vehicle and the remote vehicles.
- step 102 may be implemented through the following steps:
- Step 201 According to the vehicle data of the main vehicle and the vehicle data of multiple remote vehicles, determine multiple candidate distant vehicles traveling in the same direction as the main vehicle;
- Step 202 Calculate the separation distance between the main vehicle and multiple candidate remote vehicles
- Step 203 The candidate faraway vehicle whose separation distance from the main vehicle is within a preset distance range is regarded as a target faraway vehicle having a potential collision risk with the main vehicle.
- the possibility of potential collision risk between the candidate main vehicle and the main vehicle with the separation distance within the preset range is relatively high , therefore, based on the two conditions of whether it is traveling in the same direction as the host vehicle and whether the distance from the host vehicle is within the preset distance range, the distant target vehicle that may have a potential collision risk with the host vehicle can be accurately screened out.
- the vehicle data may include a heading angle
- the first V2X device may determine each candidate remote vehicle traveling in the same direction as the main vehicle according to the heading angle of the main vehicle and the heading angles of each remote vehicle; wherein, the heading angle of the main vehicle
- the included angle between the heading direction represented by the angle and the heading direction represented by the heading angle of the candidate remote vehicle is within a preset included angle range.
- the preset included angle range can be set according to actual needs, for example, it can be obtained through experimental testing.
- multiple sets of experiments can be carried out. In each set of experiments, the heading angles of two vehicles traveling in the same direction are measured.
- the included angle between the characterized heading directions, and then according to the multiple included angles obtained from multiple sets of experimental results, the included angle range is obtained as the preset included angle range.
- the preset included angle range may be -45° to 45°. -45° to 45° is determined to be more accurate in the same direction.
- the preset angle range is not limited to this. For example, it can also be -40° to 40°, -50° to 50° etc.
- the obtained heading angle of the remote vehicle in the target state is the heading angle of the remote vehicle in the target state before entering the target state; wherein, the target state
- These include: stationary conditions and/or conditions where the speed is below a preset speed threshold.
- the preset speed threshold can be set according to actual needs, and is intended to indicate that the vehicle speed is low. That is to say, if the remote vehicle is stationary or driving at a low speed, considering that the heading angle information cannot be directly calculated from the latitude and longitude coordinates of the vehicle when it is stationary or the heading angle calculated when driving at low speed is unreliable, the most recent effective heading angle of the remote vehicle can be used. It is guaranteed that the distant car that is originally stationary can also get a heading angle to participate in the early warning of the risk of forward collision.
- the separation distance calculated in step 202 may be a vertical distance, a horizontal distance, or a relative distance.
- the first V2X device may calculate the longitudinal distance between the host vehicle and multiple candidate remote vehicles according to the vehicle data of the host vehicle and the vehicle data of multiple candidate remote vehicles.
- the longitudinal distance can be understood as the projection distance of the connection line between two vehicles in the length direction of the lane
- the lateral distance related to the longitudinal distance can be understood as the projection distance of the connection line between two vehicles in the width direction of the lane distance.
- the main vehicle is located at point X1 in the lane
- the candidate distant vehicle is located at point X2 in the lane.
- the longitudinal distance between the main vehicle and the candidate distant vehicle can be the distance between X1X0, and the lateral distance can be X2X0
- the distance between X1 and X2 can be called the relative distance or straight-line distance between the main vehicle and the candidate remote vehicle.
- the vehicle data includes GPS data
- the GPS data may specifically be latitude and longitude information.
- the first V2X device may calculate the longitudinal distance between the host vehicle and the candidate remote vehicle according to the latitude and longitude information of the host vehicle and the latitude and longitude information of the candidate remote vehicle.
- the latitude and longitude information can be specifically the latitude and longitude coordinates.
- the first V2X device can first convert the latitude and longitude coordinates of the main vehicle and the longitude and latitude coordinates of the candidate remote vehicles into rectangular coordinates in the Cartesian coordinate system, and then according to the Cartesian coordinates of the main vehicle and the candidate distant vehicles Calculate the longitudinal distance between the main vehicle and the candidate remote vehicle.
- the first V2X device can compare the longitudinal distance between each candidate remote vehicle and the host vehicle with the preset distance range, and then use the candidate remote vehicles within the preset distance range as the sum
- the host vehicle has a potential collision risk with the target distant vehicle.
- the preset distance range can be set according to actual needs, for example, it can be set as 0 to 200 meters, but it is not limited to this in specific implementation.
- the first V2X device may determine whether the target remote vehicle and the host vehicle are located in the same lane according to the lateral distance between the target remote vehicle and the host vehicle and the width of the lane. For example, if the lateral distance between the main vehicle and the target distant vehicle is less than or equal to the width of the lane, it can be determined that the main vehicle and the target distant vehicle are in the same lane; if the lateral distance between the main vehicle and the target distant vehicle is greater than the width of the lane , it can be determined that the host vehicle and the target distant vehicle are not in the same lane.
- the width of the lane can be preset, and the width of the lane where the main vehicle is located can also be directly recognized.
- the lane width mainly considers factors such as "design vehicle speed, vehicle type, intersection, and reconstruction and expansion conditions".
- the lane width is generally 2.8 to 3.75 meters. If the lane width is preset, then this A person skilled in the art may select one of 2.8 to 3.75 meters as the preset lane width and store it in the first V2X device. In some implementation manners, the preset lane width may also be obtained according to a received MAP message.
- the lateral distance between the host vehicle and the target distant vehicle is less than or equal to one-third of the width of the lane, it can be determined that the host vehicle and the target distant vehicle are in the same lane, otherwise it can be determined that the host vehicle and the target distant vehicle are farther apart. Cars are not in the same lane. If the main vehicle and the target distant vehicle are not in the same lane, it can be considered that there is no forward collision risk between the main vehicle and the target distant vehicle.
- the vehicle data includes GPS data
- the GPS data may specifically be latitude and longitude information.
- the first V2X device may calculate the lateral distance between the host vehicle and the candidate remote vehicle according to the latitude and longitude information of the host vehicle and the latitude and longitude information of the target remote vehicle.
- the latitude and longitude information can be specifically latitude and longitude coordinates.
- the first V2X device can first convert the latitude and longitude coordinates of the main vehicle and the target remote vehicle into rectangular coordinates in a Cartesian coordinate system, and then use the Cartesian coordinates of the main vehicle and the target remote vehicle to Calculate the lateral distance between the main vehicle and the target remote vehicle.
- the embodiment of the present disclosure is equivalent to obtaining the GPS data of the vehicle itself for early warning judgment, without the need for road test equipment to obtain information, and without installing radar and cameras.
- the cost is reduced, and on the other hand, the difficulty of algorithm development is reduced.
- the host vehicle after preprocessing the vehicle data, the host vehicle obtains the vehicle data of remote vehicles that may have potential collision risks, and then performs same-lane detection on these remote vehicles that may have potential collision risks. There is a risk of forward collision between the main vehicle and the distant vehicle in the same lane, and there is no risk of forward collision between the main vehicle and the distant vehicle not in the same lane. Therefore, by judging the same lane, the vehicle with forward collision risk with the main vehicle can be further accurately screened out from distant vehicles with potential collision risk.
- the first V2X device may predict the relative distance between the target remote vehicle and the host vehicle after a preset safety time according to the vehicle data of the target remote vehicle and the vehicle data of the host vehicle.
- the preset safety time can be set according to actual needs, for example, it can be set to 3 seconds, but it is not limited to this in specific implementation.
- the vehicle data includes: heading angle, acceleration, and speed.
- the implementation of step 104 can refer to FIG. 4 , which can include:
- Step 401 Determine the relative position information between the target remote vehicle and the main vehicle at the current moment
- Step 402 Calculate the target remote vehicle according to the relative position information at the current moment, the heading angle of the main vehicle, the acceleration of the main vehicle, the speed of the main vehicle, the heading angle of the target remote vehicle, the acceleration of the target remote vehicle, and the speed of the target remote vehicle Relative position information with the main vehicle after the preset safety time;
- Step 403 Predict the relative distance between the target remote vehicle and the host vehicle after the preset safety time according to the relative position information of the target remote vehicle and the host vehicle after the preset safety time.
- the relative position information includes a lateral distance and a longitudinal distance.
- the first V2X device may calculate the relative distance between the target remote vehicle and the host vehicle according to the latitude and longitude information of the target remote vehicle and the latitude and longitude information of the host vehicle.
- Distance dis according to the relative distance and an included angle ⁇ , the horizontal distance and the longitudinal distance between the target remote vehicle and the main vehicle at the current moment are obtained, and the included angle ⁇ is the distance between the location point of the target remote vehicle and the location point of the main vehicle The angle between the connecting line and the true north direction of the main vehicle's location point.
- the lateral distance x i and longitudinal distance y i between the target remote vehicle and the main vehicle at the current moment can be calculated by the following formula:
- the relative position information includes the lateral distance and the longitudinal distance
- the acceleration includes the lateral acceleration and the longitudinal acceleration.
- the relative position information of the target remote vehicle and the main vehicle after a preset safety time can be calculated by the following formula:
- x f and y f are respectively the lateral distance and longitudinal distance between the target remote vehicle and the main vehicle after the preset safety time
- x i and y i are the lateral distance and the current distance between the target remote vehicle and the main vehicle respectively.
- v RV and v HV are the speed of the target remote vehicle and the speed of the main vehicle respectively
- ⁇ and ⁇ are the heading angles of the target remote vehicle and the heading angle of the main vehicle respectively
- a yRV and a xRV are the distances of the target remote vehicle Longitudinal acceleration and lateral acceleration
- a yHV and a xHV are the longitudinal acceleration and lateral acceleration of the main vehicle respectively
- t is the preset safety time.
- the first V2X device can predict the relative distance between the target remote vehicle and the main vehicle after the preset safety time according to the horizontal and vertical distances between the target remote vehicle and the main vehicle after the preset safety time, for example, by The following formula obtains the relative distance L between the target distant vehicle and the main vehicle after the preset safety time:
- the first V2X device can compare the relative distance calculated in step 104 with the preset safety distance, and if the relative distance is smaller than the preset safety distance, send forward collision risk warning information to remind the host vehicle to avoid in time Forward collision risk.
- the preset safety distance can be set according to actual needs, for example, it can be set to 5 meters, but in specific implementation, it is not limited thereto.
- the relative position information of the target remote vehicle and the main vehicle at the current moment, and the respective headings of the target remote vehicle and the main vehicle are combined Angle, acceleration, and speed are conducive to accurately predicting the traveling trend of the target remote vehicle and the main vehicle, so as to accurately predict the relative distance between the target remote vehicle and the main vehicle after the preset safety time, so as to improve the accuracy of early warning.
- the early warning method can be applied to the forward collision risk warning in the straight road scene and the forward collision risk warning in the curve scene at the same time.
- the specific implementation of determining whether the target remote vehicle and the main vehicle are located in the same lane in step 103 above can refer to FIG. 5 , which may include, but is not limited to, the following steps:
- Step 501 Obtain the heading angle of the main vehicle, and obtain the heading angle of the target remote vehicle;
- Step 502 Determine the location of the main vehicle and the location of the target remote vehicle
- Step 503 According to the heading angle of the main vehicle, the heading angle of the target remote vehicle, the location of the main vehicle and the location of the target remote vehicle, determine the lateral distance between the main vehicle and the target remote vehicle;
- Step 504 According to the lateral distance and the width of the preset lane, it is confirmed whether the host vehicle and the target remote vehicle are located in the same lane.
- the embodiment of the disclosure in the process of judging the same lane, it is not necessary to obtain driving road pictures through the camera, the cost is relatively low, and the calculation of the lateral distance based on the angle, position and other information is equivalent to the calculation of the lateral distance based on the geometric method.
- the lateral distance obtained by the method based on visual recognition in the technology is more reliable and less difficult.
- the embodiment of the present disclosure avoids the inaccurate fitting curve obtained by fitting the historical track points, thereby avoiding the inaccuracy of the same-vehicle judgment result caused by the inaccurate fitting curve. That is, the embodiments of the present disclosure can improve the accuracy and reliability of same-lane judgment, reduce the cost and difficulty of realizing same-lane judgment, thereby reducing the cost and difficulty of forward collision risk warning.
- step 501 the way of obtaining the heading angle of the host vehicle and the heading angle of the target remote vehicle can refer to the relevant introduction about obtaining the heading angle in the above-mentioned embodiments, and to avoid repetition, details are not repeated here.
- the first V2X device may determine the location of the host vehicle and the location of the target remote vehicle. Wherein, the location may be represented by latitude and longitude information.
- the first V2X device can determine the location of the main vehicle according to the GPS data of the main vehicle, the first V2X device can obtain the GPS data of the target remote vehicle from the received V2X data sent by the second V2X device, and The data determines where the target remote vehicle is located.
- the first V2X device can determine the lateral distance between the host vehicle and the target remote vehicle according to the heading angle of the host vehicle, the heading angle of the target remote vehicle, the location of the host vehicle, and the location of the target remote vehicle .
- the heading angle of the main vehicle, the heading angle of the target remote vehicle, the location of the main vehicle and the location of the target remote vehicle can reflect the straight-line distance (also called the relative distance) between the main vehicle and the target remote vehicle, the lateral distance
- the first V2X device can calculate the lateral distance between the main vehicle and the target remote vehicle according to the geometric relationship.
- step 503 may be as shown in Figure 6, including:
- Step 601 Calculate the distance of the first straight line connecting the position of the main vehicle and the position of the target remote vehicle;
- Step 602 Determine the first angle between the north direction of the main vehicle's location and the first straight line
- Step 603 Determine the lateral distance between the host vehicle and the target remote vehicle according to the heading angle of the host vehicle, the heading angle of the target distant vehicle, the distance of the first straight line and the first included angle.
- FIG. 7 a schematic diagram of the geometric relationship between the positions of the main vehicle and the target remote vehicle, ie, FIG. 7 , will be described below.
- the host vehicle (HV) is located at point B 1
- the target remote vehicle 1 (RV1) is located at A 1
- the target remote vehicle 2 (RV2) is located at G. That is, the lane in FIG. 7 is a curved road, and there are three vehicles on the curved road, namely, the main vehicle, the target distant vehicle 1 and the target distant vehicle 2.
- the vehicle that needs to be warned is on a curve with the same curvature, which can be approximately considered to be on a circular arc;
- the vehicle Under normal circumstances, the vehicle basically runs along the centerline of the lane, that is, the heading coincides with the arc tangent.
- the judgment of the same lane can still be realized. After several simulation tests, when the difference between the curvature radii of the two roads is within 50m, the judgment is more accurate.
- Point G represents RV2 in the adjacent lane of RV1, and runs in parallel with RV1 in the same direction, that is, the speed of RV2 is in the same direction as that of RV1 and the line A 1 G passes through the center of the arc; two concentric arcs represent adjacent Centerline of the lane.
- the first V2X device may calculate the distance of the first straight line connecting the location of the host vehicle and the location of the target remote vehicle according to the GPS data of the host vehicle and the GPS data of the target remote vehicle, This distance can be understood as the relative distance between the main vehicle and the target remote vehicle.
- the GPS data of the host vehicle may include the latitude and longitude information of the host vehicle
- the GPS data of the target remote vehicle may include the latitude and longitude information of the remote vehicle
- the first V2X device may calculate the first straight line according to the latitude and longitude information of the host vehicle and the latitude and longitude information of the target remote vehicle distance. Referring to Fig.
- the distance of the first straight line can be between A1 and B1.
- the first V2X device may determine a first included angle between the true north direction of the host vehicle's location and the above-mentioned first straight line.
- the included angle ⁇ of the straight line (A 1 B 1 ) ⁇ AB 1 A 1 .
- ⁇ can also be referred to as the starting angle of the shortest path h of RV1 and HV.
- the first included angle obtained in step 602 is: the included angle between the true north direction (vector w) of position B1 and the straight line ( B1G ) ⁇ AB 1 G.
- the first V2X device may, under the constructed first geometric model for calculating the lateral distance, according to the heading angle of the host vehicle, the heading angle of the target remote vehicle, the distance of the first straight line and the first included angle , to determine the lateral distance between the main vehicle and the target remote vehicle; wherein, the first geometric model is based on the location of the main vehicle, the location of the target remote vehicle, the speed direction of the main vehicle, the speed direction of the target remote vehicle, and the location of the main vehicle The true north direction of the position of the target vehicle is constructed.
- the first geometric model can be obtained through pre-construction and stored in the first V2X device, so that the first V2X device can calculate the lateral distance between the host vehicle and the remote vehicle according to the first geometric model.
- the lateral distance between the main vehicle and the target remote vehicle can be obtained simply and quickly through the first geometric model.
- the position of the host vehicle is B 1
- the position of the target distant vehicle is A 1
- the velocity direction of the host vehicle vector v
- the target distant vehicle The velocity direction (vector u), the true north direction (vector w) of position B 1
- the true north direction (vector a) of position A 1 can be constructed to obtain the first geometric model as follows:
- dis lateral is the lateral distance
- ⁇ is the heading angle of the main vehicle
- ⁇ is the heading angle of the target remote vehicle
- dis1 is the distance of the first straight line
- ⁇ 1 (marked as ⁇ in the figure) is the first included angle.
- dis1 is h in Figure 7
- dis1 is l in Figure 7.
- the values of ⁇ , ⁇ , ⁇ 1, and dis1 may be substituted into the above-mentioned first geometric model to calculate the lateral distance between the host vehicle and the target distant vehicle.
- HV and RV1 are located in the same lane, and the lateral distance between them is 0; HV and RV2 are located in different lanes, and the lateral distance between them is GA 1 .
- the first heading angle ⁇ , the second heading angle ⁇ and the included angle ⁇ satisfy the following relationship:
- the heading angle of HV is ⁇
- the heading angle of RV2 is ⁇
- ⁇ B 1 GA 1 90°- ⁇ '+ ⁇
- the linear distance dis1 between HV and RV2 is B 1 G. According to the sine law, the lateral distance A 1 G between HV and RV2 is:
- the first geometric model is used to calculate the lateral distance between the main vehicle and the distant target vehicle in the curve scene, and is used to calculate the lateral distance between the main vehicle and the distant target vehicle in the straight road scene.
- Distance that is, the above-mentioned judging method for the same lane is also applicable to judging the same lane for vehicles in the straight road.
- the above-mentioned embodiment introduces that the first geometric model is used to calculate the lateral distance between the main vehicle and the target distant vehicle in the curved road scene.
- the following mainly introduces that the first geometric model is also used to calculate the main vehicle and the target vehicle in the straight road scene. Lateral distance between distant vehicles.
- the above-mentioned first geometric model for calculating the lateral distance obtained from a general circular arc is also applicable It is used to calculate the lateral distance between two vehicles in a straight road.
- point A represents the location of the main vehicle HV
- point B represents the location of RV1 in the same lane as the HV
- point C represents the location of RV2 in a different lane from the HV.
- the transverse distance between HV and RV1 should be 0 in theory; the transverse distance between HV and RV2 should be BC in theory.
- the above-mentioned first geometric model is also applicable to the calculation of the lateral distance between vehicles in the straight road by calculating the lateral distance through the above-mentioned first geometric model.
- the heading angle of HV is ⁇
- the heading angle of RV1 is ⁇
- the starting angle ⁇ of the shortest path between HV and RV1 that is, the angle between the true north direction where HV is located and the straight line AB
- the relative distance dis1 AB between the two cars of HV and RV1
- the values of ⁇ , ⁇ , ⁇ , and dis1 can be substituted into the above-mentioned first geometric model.
- the course angle of HV is ⁇
- the course angle of RV2 is ⁇
- ⁇ ⁇
- the starting angle of the shortest path from HV to RV2 is ⁇ (that is, the direction of true north where HV is located and the straight line
- the calculation process is as follows :
- the first geometric model in the embodiment of the present disclosure is not only applicable to the calculation of the lateral distance between vehicles in a curve, but also applicable to the calculation of the lateral distance between vehicles in a straight road, so that the scene in this embodiment has strong applicability, Can be applied to most roads.
- the embodiments of the present disclosure can be used for the curve scene and the straight road scene Using the same geometric model to calculate the lateral distance saves computing power and reduces the difficulty and cost of judging the same lane, thereby reducing the cost and difficulty of forward collision risk warning.
- the above step 202 calculates the longitudinal distance between the main vehicle and each candidate remote vehicle.
- the implementation can refer to Figure 10, including:
- Step 1001 Obtain the heading angle of the main vehicle, and obtain the heading angles of each candidate remote vehicle;
- Step 1002 Determine the location of the main vehicle and the locations of multiple candidate remote vehicles
- Step 1003 Determine the longitudinal distance between the host vehicle and multiple candidate remote vehicles according to the heading angle of the main vehicle, the heading angles of multiple candidate remote vehicles, the location of the main vehicle, and the locations of multiple candidate remote vehicles.
- steps 1001 to 1002 are substantially the same as the way of obtaining the heading angle and the way of determining the position mentioned in steps 501 to 502 mentioned above, and to avoid repetition, details are not repeated here.
- the first V2X device can respectively calculate the distance between the position of the main vehicle and the positions of the candidate remote vehicles and the distance of the second straight line, and determine the distance between the true north of the position of the main vehicle and the second straight line.
- the longitudinal distance between the main vehicle and each candidate remote vehicle is determined according to the heading angle of the main vehicle, the heading angles of each candidate remote vehicle, the distance of the second straight line, and the second included angle.
- the first V2X device may, under the second geometric model constructed for calculating the longitudinal distance, according to the heading angle of the main vehicle, the heading angles of each candidate remote vehicle, the distance of the second straight line, and the second included angle , to determine the longitudinal distance between the main vehicle and each candidate distant vehicle; wherein, the second geometric model is based on the position of the main vehicle, the position of the candidate distant vehicle, the speed direction of the main vehicle, the speed direction of the candidate remote vehicle, the main vehicle The true north direction of the position and the true north direction of the position where the candidate remote vehicle is located are constructed.
- the position of the main vehicle is B 1
- the position of the candidate distant vehicle is A 1
- the velocity direction of the main vehicle vector v
- the candidate distant vehicle The velocity direction (vector u), the true north direction (vector w) of position B1, and the true north direction (vector a ) of position A1 can be constructed to obtain the second geometric model as follows:
- dis longitudinal is the longitudinal distance
- ⁇ is the heading angle of the main vehicle
- ⁇ is the heading angle of the candidate remote vehicle
- dis2 is the distance of the second straight line
- ⁇ 2 (marked as ⁇ in the figure) is the second included angle.
- position A 1 is the candidate remote vehicle RV1
- position G is the candidate remote vehicle RV2
- position B 1 is the main vehicle HV. It can be seen from the figure that HV and RV1 are located in the same lane, and the longitudinal distance can be approximately replaced by A 1 B 1 ; HV and RV2 are located in different lanes, and the longitudinal distance can be approximately replaced by B 1 G.
- ⁇ is the heading angle of RV1
- ⁇ is the heading angle of HV
- ⁇ is the angle between the true north direction (vector w) of position B 1 and the straight line A 1 B 1
- dis2 is the distance between point A 1 and point B 1 relative distance.
- ⁇ can also be understood as the starting angle of the shortest path between RV1 and HV.
- ⁇ is the heading angle of RV2
- ⁇ is the heading angle of HV
- ⁇ ' is the angle between the true north direction (vector w) of position B1 and the straight line B1G
- dis2 is the distance between point G and point B1 relative distance.
- ⁇ ' can also be understood as the starting angle of the shortest path between RV2 and HV.
- the second geometric model in the embodiment of the present disclosure is not only applicable to the calculation of the longitudinal distance between vehicles in a curve, but also applicable to the calculation of the longitudinal distance between vehicles in a straight road, so that the scene applicability of this embodiment is strong, and it can Suitable for most roads.
- the embodiments of the present disclosure can be used for the curve scene and the straight road scene Using the same geometric model to calculate the longitudinal distance saves computing power and reduces the difficulty and cost of judging the same lane, thereby reducing the cost and difficulty of forward collision risk warning.
- step division of the above various methods is only for the sake of clarity of description. During implementation, it can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. ; Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but not changing the core design of the algorithm and process are all within the scope of protection of this patent.
- Embodiments of the present disclosure also relate to an electronic device, as shown in FIG. 11 , including at least one processor 1101; and a memory 1102 connected in communication with at least one processor 1101; wherein, the memory 1102 stores information that can be processed by at least one
- the instructions executed by the processor 1101 are executed by at least one processor 1101, so that the at least one processor 1101 can execute the early warning method in the above embodiment.
- the memory 1102 and the processor 1101 are connected by a bus, and the bus may include any number of interconnected buses and bridges, and the bus connects one or more processors 1101 and various circuits of the memory 1102 together.
- the bus may also connect together various other circuits such as peripherals, voltage regulators, and power management circuits, all of which are well known in the art and therefore will not be further described herein.
- the bus interface provides an interface between the bus and the transceivers.
- a transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing means for communicating with various other devices over a transmission medium.
- the data processed by the processor 1101 is transmitted on the wireless medium through the antenna.
- the antenna also receives the data and transmits the data to the processor 1101 .
- the processor 1101 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management and other control functions. And the memory 1102 may be used to store data used by the processor 1101 when performing operations.
- the embodiment of the present disclosure also provides a computer-readable storage medium storing a computer program.
- the above method embodiments are implemented when the computer program is executed by the processor.
- a storage medium includes several instructions to make a device ( It may be a single-chip microcomputer, a chip, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present disclosure.
- the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
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Abstract
An early-warning method, an electronic device, and a computer readable storage medium. The early-warning method comprises: acquiring vehicle data of a main vehicle and vehicle data of multiple far vehicles (101); selecting, according to the vehicle data of the main vehicle and the vehicle data of the multiple far vehicles, a target far vehicle having a potential collision risk with the main vehicle (102); upon determining that the target far vehicle and the main vehicle are located on the same lane (103), predicting a relative distance between the target far vehicle and the main vehicle after a preset safety time (104); and outputting forward collision risk early-warning information when the relative distance is less than a preset safety distance (105).
Description
相关申请的交叉引用Cross References to Related Applications
本公开要求享有2021年6月30日提交的名称为“预警方法、电子设备和计算机可读存储介质”的中国专利申请CN202110739230.X的优先权,其全部内容通过引用并入本公开中。This disclosure claims the priority of Chinese patent application CN202110739230.X filed on June 30, 2021, entitled "Early Warning Method, Electronic Device, and Computer-Readable Storage Medium", the entire contents of which are incorporated into this disclosure by reference.
本公开实施例涉及车联网技术领域,特别涉及一种预警方法、电子设备和计算机可读存储介质。Embodiments of the present disclosure relate to the technical field of Internet of Vehicles, and in particular, to an early warning method, electronic equipment, and a computer-readable storage medium.
前向碰撞预警是指主车在道路上行驶时,可能存在与正前方同一车道的远车存在追尾碰撞风险,因此为了及时检测到主车与前方车辆存在的碰撞风险,相关技术中通常采用如下方式:通过电磁波传感器检测车辆的横摆角速度信息,当根据横摆角速度信息确定车辆处于转弯状态时,将前向碰撞的监测范围调整至指定阈值,在上述指定阈值内,若前向障碍物与车辆之间的碰撞时间和/或车头时距满足预警条件时,产生前向碰撞报警信号并进行报警。Forward collision warning means that when the main vehicle is driving on the road, there may be a risk of rear-end collision with a distant vehicle in the same lane ahead. Therefore, in order to detect the collision risk between the main vehicle and the vehicle in front in time, the related technologies usually adopt the following Method: Use the electromagnetic wave sensor to detect the yaw rate information of the vehicle. When it is determined according to the yaw rate information that the vehicle is in a turning state, adjust the monitoring range of the forward collision to the specified threshold. Within the specified threshold, if the forward obstacle collides with the When the collision time between vehicles and/or the time headway meet the warning conditions, a forward collision warning signal is generated and an alarm is given.
该方式中需要通过电磁波传感器检测车辆的横摆角速度信息,即需要设置专门的传感设备,因此成本较高。而且,前向障碍物的数量直接影预警速率,如果前向障碍物的数量较多,针对每个前向障碍物均进行是否满足预警条件的判断,处理压力较大。In this method, the yaw rate information of the vehicle needs to be detected by an electromagnetic wave sensor, that is, a special sensing device needs to be provided, so the cost is relatively high. Moreover, the number of forward obstacles directly affects the warning rate. If the number of forward obstacles is large, each forward obstacle must be judged whether the warning condition is satisfied, and the processing pressure is high.
发明内容Contents of the invention
本公开实施例的主要目的在于提出一种预警方法、电子设备和计算机可读存储介质,旨在,降低实现前向碰撞预警的成本和处理压力,提高预警速率。The main purpose of the embodiments of the present disclosure is to provide an early warning method, an electronic device and a computer-readable storage medium, aiming at reducing the cost and processing pressure of realizing forward collision early warning and increasing the early warning rate.
为实现上述目的,本公开实施例提供了一种预警方法,包括:获取主车的车辆数据和多个远车的车辆数据;根据所述主车的车辆数据和所述多个远车的车辆数据,筛选出和所述主车具有潜在碰撞风险的目标远车;在确认所述目标远车与所述主车位于同一车道后,预测所述目标远车与所述主车经过预设安全时间后的相对距离;在所述相对距离小于预设安全距离时,输出前向碰撞风险预警信息。In order to achieve the above purpose, an embodiment of the present disclosure provides an early warning method, including: acquiring the vehicle data of the main vehicle and the vehicle data of multiple remote vehicles; data, to screen out the target remote vehicle that has a potential collision risk with the main vehicle; The relative distance after time; when the relative distance is less than the preset safety distance, forward collision risk warning information is output.
为实现上述目的,本公开实施例还提供了一种电子设备,包括:至少一个处理器;以及,与所述至少一个处理器通信连接的存储器;其中,所述存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处理器执行,以使所述至少一个处理器能够执行上 述的预警方法。To achieve the above object, an embodiment of the present disclosure further provides an electronic device, including: at least one processor; and a memory connected to the at least one processor in communication; Instructions executed by a processor, the instructions are executed by the at least one processor, so that the at least one processor can execute the above-mentioned early warning method.
为实现上述目的,本公开实施例还提供了一种计算机可读存储介质,存储有计算机程序,所述计算机程序被处理器执行时实现上述的预警方法。In order to achieve the above purpose, an embodiment of the present disclosure further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above-mentioned early warning method is realized.
图1是本公开实施例中提到的预警方法的流程图;Fig. 1 is a flow chart of the early warning method mentioned in the embodiment of the present disclosure;
图2是本公开实施例中提到的步骤102的实现过程的流程图;FIG. 2 is a flowchart of the implementation process of step 102 mentioned in the embodiment of the present disclosure;
图3是本公开实施例中提到的主车与候选远车在车道中的分布示意图;Fig. 3 is a schematic diagram of the distribution of the main vehicle and candidate remote vehicles in the lane mentioned in the embodiment of the present disclosure;
图4是本公开实施例中提到的步骤104的实现方式的流程图;FIG. 4 is a flowchart of an implementation of step 104 mentioned in an embodiment of the present disclosure;
图5是本公开实施例中提到的步骤103的实现方式的流程图;FIG. 5 is a flow chart of the implementation of step 103 mentioned in the embodiment of the present disclosure;
图6是本公开实施例中提到的步骤503的实现方式的流程图;FIG. 6 is a flow chart of the implementation of step 503 mentioned in the embodiment of the present disclosure;
图7是本公开实施例中提到一种主车和远车所在位置之间的几何关系示意图;Fig. 7 is a schematic diagram of the geometric relationship between the positions of the main vehicle and the remote vehicle mentioned in the embodiment of the present disclosure;
图8是本公开实施例中提到另一种主车和远车所在位置之间的几何关系示意图;Fig. 8 is a schematic diagram of another geometric relationship between the positions of the main vehicle and the remote vehicle mentioned in the embodiment of the present disclosure;
图9是本公开实施例中提到的直道场景下主车和远车所在位置之间的几何关系示意图;Fig. 9 is a schematic diagram of the geometric relationship between the positions of the main vehicle and the remote vehicle in the straight road scene mentioned in the embodiment of the present disclosure;
图10是本公开实施例中提到的步骤202的实现方式的流程图;FIG. 10 is a flow chart of the implementation of step 202 mentioned in the embodiment of the present disclosure;
图11是本公开实施例中提到的电子设备的结构示意图。Fig. 11 is a schematic structural diagram of an electronic device mentioned in an embodiment of the present disclosure.
为使本公开实施例的目的、技术方案和优点更加清楚,下面将结合附图对本公开的各实施例进行详细的阐述。然而,本领域的普通技术人员可以理解,在本公开各实施例中,为了使读者更好地理解本公开而提出了许多技术细节。但是,即使没有这些技术细节和基于以下各实施例的种种变化和修改,也可以实现本公开所要求保护的技术方案。以下各个实施例的划分是为了描述方便,不应对本公开的具体实现方式构成任何限定,各个实施例在不矛盾的前提下可以相互结合相互引用。In order to make the purpose, technical solutions, and advantages of the embodiments of the present disclosure clearer, various embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. However, those skilled in the art can understand that in various embodiments of the present disclosure, many technical details are provided for readers to better understand the present disclosure. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present disclosure can be realized. The division of the following embodiments is for the convenience of description, and should not constitute any limitation to the specific implementation of the present disclosure, and the embodiments can be combined and referenced to each other on the premise of no contradiction.
本公开的实施例涉及一种预警方法,主要用于针对可能出现的前向碰撞进行预警,前向碰撞预警是指主车在道路上行驶时,可能存在与正前方同一车道的远车追尾碰撞风险,因此为了及时检测到主车与前方车辆存在的碰撞风险,本实施例提供一种预警方法,该预警方法可以应用于电子设备。该电子设备设置在主车上,比如可以为主车上的V2X设备。车对外界的信息交换(vehicle to everything,简称:V2X)技术是未来智能交通运输系统的关键技术,它使得车与车、车与基站、基站与基站之间能够通信。从而获得实时路况、道路信息、行人 信息等一系列交通信息,从而提高驾驶安全性、减少拥堵、提高交通效率、提供车载娱乐信息等。然而在具体实现中,电子设备也可以为车载单元(On board Unit,简称:OBU)、行车记录仪等车载设备,或者还可以为手机、平板电脑等终端设备,车载设备和终端设备中均可以存储用于实现本实施例中的预警方法的应用程序。下面对本实施方式的预警方法的实现细节进行具体的说明,以下内容仅为方便理解提供的实现细节,并非实施本方案的必须。The embodiments of the present disclosure relate to an early warning method, which is mainly used to provide early warning for possible forward collisions. Forward collision early warning means that when the main vehicle is driving on the road, there may be a rear-end collision with a distant vehicle in the same lane directly ahead. Therefore, in order to timely detect the collision risk between the main vehicle and the vehicle in front, this embodiment provides an early warning method, which can be applied to electronic equipment. The electronic device is set on the main vehicle, for example, it may be a V2X device on the main vehicle. The vehicle-to-everything (V2X) technology is the key technology of the future intelligent transportation system, which enables communication between vehicles, vehicles and base stations, and base stations. In order to obtain a series of traffic information such as real-time road conditions, road information, and pedestrian information, so as to improve driving safety, reduce congestion, improve traffic efficiency, and provide in-vehicle entertainment information. However, in a specific implementation, the electronic device can also be an on-board unit (On board Unit, referred to as: OBU), a driving recorder and other on-board equipment, or it can also be a terminal device such as a mobile phone and a tablet computer. Both the on-board device and the terminal device can be An application program for realizing the early warning method in this embodiment is stored. The implementation details of the early warning method in this embodiment will be described in detail below, and the following content is only implementation details provided for easy understanding, and is not necessary for implementing this solution.
在一个实施例中,预警方法的流程图可以参考图1,可以包括,但不限于下述步骤。In one embodiment, the flowchart of the early warning method may refer to FIG. 1 , which may include, but not limited to, the following steps.
步骤101:获取主车的车辆数据和多个远车的车辆数据;Step 101: Obtain vehicle data of the main vehicle and vehicle data of multiple remote vehicles;
步骤102:根据主车的车辆数据和多个远车的车辆数据,筛选出和主车具有潜在碰撞风险的目标远车;Step 102: According to the vehicle data of the main vehicle and the vehicle data of a plurality of remote vehicles, screen out the target remote vehicle that has a potential collision risk with the main vehicle;
步骤103:判断目标远车与主车是否位于同一车道;如果是,则执行步骤104,否则该流程结束;Step 103: Determine whether the target remote vehicle and the main vehicle are located in the same lane; if yes, execute step 104, otherwise the process ends;
步骤104:预测目标远车与主车经过预设安全时间后的相对距离;Step 104: Predict the relative distance between the target remote vehicle and the main vehicle after a preset safety time;
步骤105:在相对距离小于预设安全距离时,输出前向碰撞风险预警信息。Step 105: When the relative distance is less than the preset safety distance, output forward collision risk warning information.
本实施例中,通过对车辆数据的预处理,即根据主车的车辆数据和多个远车的车辆数据,先筛选出和主车具有潜在碰撞风险的目标远车,再基于筛选出的目标远车进行是否发出前向碰撞风险预警信息的动作,极大的释放了处理压力。考虑到位于同一车道中的车辆存在前向碰撞的风险更大,因此当判定目标远车与主车位于同一车道时,再预测目标远车与主车经过预设安全时间后的相对距离,从而基于相对距离再确定是否发出前向碰撞风险预警信息,相当于对潜在具有碰撞风险的目标远车进行了进一步筛选,有利于进一步降低处理压力,提高预警速率,辅助驾驶员避免或者减轻前向碰撞,提高道路行驶安全。而且,本公开实施例相当于是基于安全时间和安全距离进行的预警判断,预警的准确率也更高。同时,本公开实施例中实现预警时无需使用专门的传感设备,因此可以降低成本,提高了预警算法对一般车辆(比如不配置专门的传感设备的车辆)的适用性。In this embodiment, through the preprocessing of the vehicle data, that is, according to the vehicle data of the main vehicle and the vehicle data of multiple remote vehicles, the target remote vehicles that have potential collision risks with the main vehicle are first screened out, and then based on the screened target vehicles, The remote car decides whether to issue forward collision risk warning information, which greatly relieves the processing pressure. Considering that vehicles in the same lane have a greater risk of forward collision, when it is determined that the target distant vehicle is in the same lane as the main vehicle, the relative distance between the target distant vehicle and the main vehicle after the preset safety time is predicted, so that Determining whether to issue forward collision risk warning information based on the relative distance is equivalent to further screening the target distant vehicles with potential collision risks, which is conducive to further reducing the processing pressure, improving the warning rate, and assisting the driver to avoid or reduce forward collisions. , Improve road safety. Moreover, the embodiment of the present disclosure is equivalent to the early warning judgment based on the safety time and the safety distance, and the accuracy of the early warning is also higher. At the same time, in the embodiment of the present disclosure, special sensing equipment is not required to realize the early warning, so the cost can be reduced, and the applicability of the early warning algorithm to general vehicles (such as vehicles not equipped with special sensing equipment) is improved.
在步骤101中,车辆数据可以包括车辆在行驶过程中的行驶数据,比如车辆的全球定位系统(Global Positioning System,简称:GPS)数据、速度、加速度、航向角、行驶路线等。其中,加速度可以包括横向加速度和纵向加速度,该纵向加速度还可以称为侧向加速度。也就是说,主车的车辆数据可以包括以下任意组合:主车的GPS数据、主车的速度、主车的加速度、主车的行驶路线等。远车的车辆数据可以包括以下任意组合:远车的GPS数据、远车的速度、远车的加速度、远车的行驶路线等。其中,主车(Host Vehicle,简称:HV)可以理解为当前车辆,即要确定哪些车辆与自己可能存在前向碰撞风险的车辆,远车(Remote Vehicle, 简称:RV)可以理解为除主车之外的其他车辆。HV可以理解为装有车载单元且运行应用程序的目标车辆;RV可以理解为与HV配合能定时广播V2X消息的背景车辆。In step 101, the vehicle data may include driving data of the vehicle during driving, such as Global Positioning System (Global Positioning System, GPS) data, speed, acceleration, heading angle, driving route, etc. of the vehicle. Wherein, the acceleration may include lateral acceleration and longitudinal acceleration, and the longitudinal acceleration may also be referred to as lateral acceleration. That is to say, the vehicle data of the host vehicle may include any combination of the following: GPS data of the host vehicle, speed of the host vehicle, acceleration of the host vehicle, driving route of the host vehicle, and the like. The vehicle data of the remote vehicle may include any combination of the following: GPS data of the remote vehicle, speed of the remote vehicle, acceleration of the remote vehicle, driving route of the remote vehicle, etc. Among them, the host vehicle (Host Vehicle, referred to as: HV) can be understood as the current vehicle, that is, to determine which vehicles may have a forward collision risk with itself, and the remote vehicle (Remote Vehicle, referred to as: RV) can be understood as the other vehicles. HV can be understood as a target vehicle equipped with an on-board unit and running an application program; RV can be understood as a background vehicle that cooperates with HV and can regularly broadcast V2X messages.
在一个例子中,主车上的V2X设备(以下简称第一V2X设备)可以获取主车的车辆数据,并获取各远车的车辆数据。远车的车辆数据可以由远车上得到V2X设备(以下简称第二V2X设备)发送给第一V2X设备。也就是说,第二V2X设备可以通过V2X技术将远车的车辆数据发送给第一V2X设备。In an example, the V2X device on the main vehicle (hereinafter referred to as the first V2X device) may acquire the vehicle data of the main vehicle, and acquire the vehicle data of each remote vehicle. The vehicle data of the remote vehicle may be sent to the first V2X device by a V2X device obtained on the remote vehicle (hereinafter referred to as the second V2X device). That is to say, the second V2X device may send the vehicle data of the remote vehicle to the first V2X device through the V2X technology.
在一个例子中,主车的车辆数据可以包括:主车的GPS数据,第一V2X设备可以获取主车的数据,然后根据GPS数据计算主车的航向角、速度及加速度。其中,GPS数据可以包括连续多帧的经纬度信息,第一V2X设备可以根据连续多帧的经纬度信息计算得到主车的航向角,根据连续多帧的经纬度信息和时间信息计算得到主车的速度及加速度。In an example, the vehicle data of the host vehicle may include: GPS data of the host vehicle, and the first V2X device may obtain the data of the host vehicle, and then calculate the heading angle, speed and acceleration of the host vehicle according to the GPS data. Wherein, the GPS data may include latitude and longitude information of multiple consecutive frames, and the first V2X device may calculate the heading angle of the main vehicle according to the latitude and longitude information of multiple consecutive frames, and obtain the speed and speed of the main vehicle according to the latitude and longitude information and time information of multiple consecutive frames. acceleration.
在一个例子中,远车的车辆数据中包括远车的航向角、速度及加速度。第一V2X设备可以从远车的车辆数据中解析出远车的航向角、速度及加速度。比如,第二V2X设备可以获取远车的GPS数据,然后根据远车的GPS数据计算出远车的航向角、速度及加速度,再将计算出的远车的航向角、速度及加速度通过V2X发送至第一V2X设备,从而使得第一V2X设备可以直接获取到远车的航向角、速度及加速度,避免第一V2X设备需要计算才能获取到远车的航向角、速度及加速度,有利于缓解第一V2X设备的计算压力。In one example, the vehicle data of the remote vehicle includes the heading angle, speed and acceleration of the remote vehicle. The first V2X device can analyze the heading angle, speed and acceleration of the remote vehicle from the vehicle data of the remote vehicle. For example, the second V2X device can obtain the GPS data of the remote car, and then calculate the heading angle, speed and acceleration of the remote car according to the GPS data of the remote car, and then send the calculated heading angle, speed and acceleration of the remote car through V2X. to the first V2X device, so that the first V2X device can directly obtain the heading angle, speed and acceleration of the remote vehicle, avoiding the first V2X device needing calculations to obtain the heading angle, speed and acceleration of the distant vehicle, which is conducive to alleviating the Computational pressure of a V2X device.
在一个例子中,远车的车辆数据中包括远车的GPS数据,第一V2X设备可以接收远车的GPS数据,然后根据远车的GPS数据计算远车的航向角、速度及加速度。比如,第二V2X设备可以获取远车的GPS数据,然后通过V2X将远车的GPS数据发送至第一V2X设备,从而使得第一V2X设备可以根据接收到的远车的GPS数据计算远车的航向角、速度及加速度。In one example, the vehicle data of the remote vehicle includes the GPS data of the remote vehicle, and the first V2X device may receive the GPS data of the remote vehicle, and then calculate the heading angle, speed and acceleration of the remote vehicle according to the GPS data of the remote vehicle. For example, the second V2X device can obtain the GPS data of the remote car, and then send the GPS data of the remote car to the first V2X device through V2X, so that the first V2X device can calculate the distance of the remote car based on the received GPS data of the remote car. heading angle, velocity and acceleration.
在步骤102中,第一V2X设备可以根据主车的车辆数据和各远车的车辆数据,筛选出和主车具有潜在碰撞风险的目标远车。比如可以根据主车的航向角与各远车之间的航向角之间的关系,以及主车与各远车之间的距离关系,筛选出目标远车。In step 102, the first V2X device may filter out a target remote vehicle that has a potential collision risk with the host vehicle according to the vehicle data of the host vehicle and the vehicle data of each remote vehicle. For example, the target remote vehicle can be screened out according to the relationship between the heading angle of the main vehicle and the heading angles between the remote vehicles, and the distance relationship between the main vehicle and the remote vehicles.
在一个实施例中,步骤102可以通过如下步骤实现:In one embodiment, step 102 may be implemented through the following steps:
步骤201:根据主车的车辆数据和多个远车的车辆数据,确定与主车同向行驶的多个候选远车;Step 201: According to the vehicle data of the main vehicle and the vehicle data of multiple remote vehicles, determine multiple candidate distant vehicles traveling in the same direction as the main vehicle;
步骤202:计算主车和多个候选远车之间的间隔距离;Step 202: Calculate the separation distance between the main vehicle and multiple candidate remote vehicles;
步骤203:将和主车之间的间隔距离处于预设距离范围内的候选远车作为和主车具有潜在碰撞风险的目标远车。Step 203: The candidate faraway vehicle whose separation distance from the main vehicle is within a preset distance range is regarded as a target faraway vehicle having a potential collision risk with the main vehicle.
本实施例中,考虑到与主车同向行驶的各候选远车与主车存在碰撞的可能性,间隔距离 处于预设范围内的候选主车与主车存在潜在碰撞风险的可能性较大,因此,基于与主车是否同向行驶以及与主车的间隔距离是否在预设距离范围内这两个条件可以准确的筛选出可能和主车具有潜在碰撞风险的目标远车。In this embodiment, considering the possibility of collisions between candidate remote vehicles traveling in the same direction as the main vehicle and the main vehicle, the possibility of potential collision risk between the candidate main vehicle and the main vehicle with the separation distance within the preset range is relatively high , therefore, based on the two conditions of whether it is traveling in the same direction as the host vehicle and whether the distance from the host vehicle is within the preset distance range, the distant target vehicle that may have a potential collision risk with the host vehicle can be accurately screened out.
在步骤201中,车辆数据可以包括航向角,第一V2X设备可以根据主车的航向角和各远车的航向角,确定与主车同向行驶的各候选远车;其中,主车的航向角所表征的航向方向与候选远车的航向角所表征的航向方向之间的夹角处于预设的夹角范围内。其中,预设的夹角范围可以根据实际需要进行设置,比如可以通过实验测试得到,在一实施方式中,可以进行多组实验,每组实验中,测量两个同向行驶的车辆的航向角所表征的航向方向之间的夹角,然后根据多组实验结果得到的多个夹角,得出夹角范围,作为预设的夹角范围。在具体实现中,也可以直接判断主车的航向角和远车的航向角之间的差值是否位于上述的预设的夹角范围,从而确定主车与远车是否同向行驶。在一实施方式中,预设的夹角范围可以为-45°至45°。-45°至45°确定出的同向行驶准确度更高,在具体实现中,预设的夹角范围并不以此为限,比如还可以为-40°至40°、-50°至50°等。In step 201, the vehicle data may include a heading angle, and the first V2X device may determine each candidate remote vehicle traveling in the same direction as the main vehicle according to the heading angle of the main vehicle and the heading angles of each remote vehicle; wherein, the heading angle of the main vehicle The included angle between the heading direction represented by the angle and the heading direction represented by the heading angle of the candidate remote vehicle is within a preset included angle range. Wherein, the preset included angle range can be set according to actual needs, for example, it can be obtained through experimental testing. In one embodiment, multiple sets of experiments can be carried out. In each set of experiments, the heading angles of two vehicles traveling in the same direction are measured. The included angle between the characterized heading directions, and then according to the multiple included angles obtained from multiple sets of experimental results, the included angle range is obtained as the preset included angle range. In a specific implementation, it is also possible to directly determine whether the difference between the heading angle of the main vehicle and the heading angle of the remote vehicle is within the above-mentioned preset angle range, so as to determine whether the main vehicle and the remote vehicle are traveling in the same direction. In one embodiment, the preset included angle range may be -45° to 45°. -45° to 45° is determined to be more accurate in the same direction. In the specific implementation, the preset angle range is not limited to this. For example, it can also be -40° to 40°, -50° to 50° etc.
在一个例子中,当确认各远车中存在处于目标状态的远车,获取的处于目标状态的远车的航向角为处于目标状态的远车在进入目标状态之前的航向角;其中,目标状态包括:静止状态和/或速度低于预设速度阈值的状态。预设速度阈值可以根据实际需要进行设置,旨在表明车辆速度较低。也就是说,如果远车静止或者低速行驶,考虑到静止时无法直接通过车辆的经纬度坐标计算航向角信息或者低速行驶时计算的航向角不可靠,可以使用远车最近一次的有效航向角。保证本来静止的远车也可以得到一个航向角,以参与到前向碰撞风险的预警中。In one example, when it is confirmed that there is a remote vehicle in the target state in each remote vehicle, the obtained heading angle of the remote vehicle in the target state is the heading angle of the remote vehicle in the target state before entering the target state; wherein, the target state These include: stationary conditions and/or conditions where the speed is below a preset speed threshold. The preset speed threshold can be set according to actual needs, and is intended to indicate that the vehicle speed is low. That is to say, if the remote vehicle is stationary or driving at a low speed, considering that the heading angle information cannot be directly calculated from the latitude and longitude coordinates of the vehicle when it is stationary or the heading angle calculated when driving at low speed is unreliable, the most recent effective heading angle of the remote vehicle can be used. It is guaranteed that the distant car that is originally stationary can also get a heading angle to participate in the early warning of the risk of forward collision.
在具体实现中,步骤202中计算的间隔距离可以为纵向距离也可以为横向距离,还可以为相对距离等。下面主要以间隔距离为纵向距离为例进行说明。In a specific implementation, the separation distance calculated in step 202 may be a vertical distance, a horizontal distance, or a relative distance. The following mainly takes the separation distance as the longitudinal distance as an example for illustration.
在步骤202中,第一V2X设备可以根据主车的车辆数据和多个候选远车的车辆数据,计算主车和多个候选远车之间的纵向距离。其中,纵向距离可以理解为两车之间的连线在车道的长度方向上的投影的距离,与纵向距离相关的横向距离可以理解为两车之间的连线在车道的宽度方向上的投影的距离。比如,可以参考图3,主车位于车道中的X1点,候选远车位于车道中的X2点,主车与候选远车之间的纵向距离可以为X1X0之间的距离,横向距离可以为X2X0之间的距离,X1X2之间的距离可以称为主车与候选远车之间的相对距离或直线距离。In step 202, the first V2X device may calculate the longitudinal distance between the host vehicle and multiple candidate remote vehicles according to the vehicle data of the host vehicle and the vehicle data of multiple candidate remote vehicles. Among them, the longitudinal distance can be understood as the projection distance of the connection line between two vehicles in the length direction of the lane, and the lateral distance related to the longitudinal distance can be understood as the projection distance of the connection line between two vehicles in the width direction of the lane distance. For example, referring to Figure 3, the main vehicle is located at point X1 in the lane, and the candidate distant vehicle is located at point X2 in the lane. The longitudinal distance between the main vehicle and the candidate distant vehicle can be the distance between X1X0, and the lateral distance can be X2X0 The distance between X1 and X2 can be called the relative distance or straight-line distance between the main vehicle and the candidate remote vehicle.
在一个例子中,车辆数据包括GPS数据,GPS数据可以具体为经纬度信息。如果主车和候选远车位于直道中,则第一V2X设备可以根据主车的经纬度信息和候选远车的经纬度信 息,计算主车和候选远车之间的纵向距离。比如,经纬度信息可以具体为经纬度坐标,第一V2X设备可以先将主车的经纬度坐标和候选远车的经纬度坐标转换为直角坐标系下的直角坐标,然后根据主车和候选远车的直角坐标计算得到主车和候选远车之间的纵向距离。In an example, the vehicle data includes GPS data, and the GPS data may specifically be latitude and longitude information. If the host vehicle and the candidate remote vehicle are located in the straight road, the first V2X device may calculate the longitudinal distance between the host vehicle and the candidate remote vehicle according to the latitude and longitude information of the host vehicle and the latitude and longitude information of the candidate remote vehicle. For example, the latitude and longitude information can be specifically the latitude and longitude coordinates. The first V2X device can first convert the latitude and longitude coordinates of the main vehicle and the longitude and latitude coordinates of the candidate remote vehicles into rectangular coordinates in the Cartesian coordinate system, and then according to the Cartesian coordinates of the main vehicle and the candidate distant vehicles Calculate the longitudinal distance between the main vehicle and the candidate remote vehicle.
在步骤203中,第一V2X设备可以将各候选远车与主车之间的纵向距离均与预设距离范围进行对比,然后根据对比的结果将处于预设距离范围内的候选远车作为和主车具有潜在碰撞风险的目标远车。其中,预设距离范围可以根据实际需要进行设置,比如可以设置为0至200米,然而在具体实现中并不以此为限。In step 203, the first V2X device can compare the longitudinal distance between each candidate remote vehicle and the host vehicle with the preset distance range, and then use the candidate remote vehicles within the preset distance range as the sum The host vehicle has a potential collision risk with the target distant vehicle. Wherein, the preset distance range can be set according to actual needs, for example, it can be set as 0 to 200 meters, but it is not limited to this in specific implementation.
在步骤103中,第一V2X设备可以根据目标远车与主车之间的横向距离与车道的宽度来判断目标远车与主车是否位于同一车道。比如,如果主车和目标远车之间的横向距离小于或等于车道的宽度,则可以判定主车和目标远车位于同一车道,如果主车和目标远车之间的横向距离大于车道的宽度,则可以判定主车和目标远车不位于同一车道。其中,车道的宽度可以预先设定好,也可以直接识别出主车所在的车道的宽度。比如,根据我国标准规范关于车道宽度主要考虑了“设计车速、车型、交叉口、改扩建条件”等因素,车道宽度一般为2.8~3.75米,如果车道的宽度是预先设定好的,则本领域技术人员可以在2.8~3.75米中选择一个作为预设的车道的宽度存储在第一V2X设备中。在一些实施方式中,所述预设的车道宽度还可以根据收到的地图MAP消息获得。In step 103, the first V2X device may determine whether the target remote vehicle and the host vehicle are located in the same lane according to the lateral distance between the target remote vehicle and the host vehicle and the width of the lane. For example, if the lateral distance between the main vehicle and the target distant vehicle is less than or equal to the width of the lane, it can be determined that the main vehicle and the target distant vehicle are in the same lane; if the lateral distance between the main vehicle and the target distant vehicle is greater than the width of the lane , it can be determined that the host vehicle and the target distant vehicle are not in the same lane. Wherein, the width of the lane can be preset, and the width of the lane where the main vehicle is located can also be directly recognized. For example, according to my country's standards and regulations, the lane width mainly considers factors such as "design vehicle speed, vehicle type, intersection, and reconstruction and expansion conditions". The lane width is generally 2.8 to 3.75 meters. If the lane width is preset, then this A person skilled in the art may select one of 2.8 to 3.75 meters as the preset lane width and store it in the first V2X device. In some implementation manners, the preset lane width may also be obtained according to a received MAP message.
在一个例子中,如果主车和目标远车之间的横向距离小于或等于车道的宽度的三分之一一,则可以判定主车和目标远车位于同一车道,否则判定主车和目标远车不位于同一车道。如果主车和目标远车不在同一车道,可以认为主车和目标远车没有前向碰撞风险。In one example, if the lateral distance between the host vehicle and the target distant vehicle is less than or equal to one-third of the width of the lane, it can be determined that the host vehicle and the target distant vehicle are in the same lane, otherwise it can be determined that the host vehicle and the target distant vehicle are farther apart. Cars are not in the same lane. If the main vehicle and the target distant vehicle are not in the same lane, it can be considered that there is no forward collision risk between the main vehicle and the target distant vehicle.
在一个例子中,车辆数据包括GPS数据,GPS数据可以具体为经纬度信息。如果主车和目标远车位于直道中,则第一V2X设备可以根据主车的经纬度信息和目标远车的经纬度信息,计算主车和候选远车之间的横向距离。比如,经纬度信息可以具体为经纬度坐标,第一V2X设备可以先将主车的经纬度坐标和目标远车的经纬度坐标转换为直角坐标系下的直角坐标,然后根据主车和目标远车的直角坐标计算得到主车和目标远车之间的横向距离。In an example, the vehicle data includes GPS data, and the GPS data may specifically be latitude and longitude information. If the host vehicle and the target remote vehicle are located in the straight road, the first V2X device may calculate the lateral distance between the host vehicle and the candidate remote vehicle according to the latitude and longitude information of the host vehicle and the latitude and longitude information of the target remote vehicle. For example, the latitude and longitude information can be specifically latitude and longitude coordinates. The first V2X device can first convert the latitude and longitude coordinates of the main vehicle and the target remote vehicle into rectangular coordinates in a Cartesian coordinate system, and then use the Cartesian coordinates of the main vehicle and the target remote vehicle to Calculate the lateral distance between the main vehicle and the target remote vehicle.
本公开实施例相当于通过获取车辆自身的GPS数据做预警判断,不需要路测设备获取信息,无需加装雷达和摄像头,一方面降低了成本,另一方面降低了算法开发的难度。The embodiment of the present disclosure is equivalent to obtaining the GPS data of the vehicle itself for early warning judgment, without the need for road test equipment to obtain information, and without installing radar and cameras. On the one hand, the cost is reduced, and on the other hand, the difficulty of algorithm development is reduced.
本公开实施例在对车辆数据进行预处理后,主车获取可能存在潜在碰撞风险的远车的车辆数据,再对这些可能存在碰撞风险的远车做同车道检测。同一车道上的主车与远车有前向碰撞风险,不在一个车道上的主车与远车不存在前向碰撞风险。因此,通过同车道判断可以从存在潜在碰撞风险的远车中进一步准确的筛选出与主车存在前向碰撞风险的车辆。In the embodiments of the present disclosure, after preprocessing the vehicle data, the host vehicle obtains the vehicle data of remote vehicles that may have potential collision risks, and then performs same-lane detection on these remote vehicles that may have potential collision risks. There is a risk of forward collision between the main vehicle and the distant vehicle in the same lane, and there is no risk of forward collision between the main vehicle and the distant vehicle not in the same lane. Therefore, by judging the same lane, the vehicle with forward collision risk with the main vehicle can be further accurately screened out from distant vehicles with potential collision risk.
在步骤104中,第一V2X设备可以根据目标远车的车辆数据与主车的车辆数据,预测目标远车与主车经过预设安全时间后的相对距离。其中,预设安全时间可以根据实际需要进行设置,比如可以设置为3秒,然而在具体实现中并不以此为限。In step 104, the first V2X device may predict the relative distance between the target remote vehicle and the host vehicle after a preset safety time according to the vehicle data of the target remote vehicle and the vehicle data of the host vehicle. Wherein, the preset safety time can be set according to actual needs, for example, it can be set to 3 seconds, but it is not limited to this in specific implementation.
在一个实施例中,车辆数据包括:航向角、加速度、速度,步骤104的实现方式可以参考图4,可以包括:In one embodiment, the vehicle data includes: heading angle, acceleration, and speed. The implementation of step 104 can refer to FIG. 4 , which can include:
步骤401:确定目标远车与主车在当前时刻的相对位置信息;Step 401: Determine the relative position information between the target remote vehicle and the main vehicle at the current moment;
步骤402:根据当前时刻的相对位置信息、主车的航向角、主车的加速度、主车的速度、目标远车的航向角、目标远车的加速度、目标远车的速度,计算目标远车与主车经过预设安全时间后的相对位置信息;Step 402: Calculate the target remote vehicle according to the relative position information at the current moment, the heading angle of the main vehicle, the acceleration of the main vehicle, the speed of the main vehicle, the heading angle of the target remote vehicle, the acceleration of the target remote vehicle, and the speed of the target remote vehicle Relative position information with the main vehicle after the preset safety time;
步骤403:根据目标远车与主车经过预设安全时间后的相对位置信息,预测目标远车与主车经过预设安全时间后的相对距离。Step 403: Predict the relative distance between the target remote vehicle and the host vehicle after the preset safety time according to the relative position information of the target remote vehicle and the host vehicle after the preset safety time.
在一个例子中,相对位置信息包括横向距离和纵向距离,在步骤401中,第一V2X设备可以根据目标远车的经纬度信息和主车的经纬度信息,计算目标远车和主车之间的相对距离dis,根据该相对距离和一夹角θ,得到目标远车与主车在当前时刻的横向距离和纵向距离,该夹角θ为目标远车所在位置点与主车所在位置点之间的连线与主车所在位置点的正北方向之间的夹角。比如,可以通过如下公式计算当前时刻目标远车与主车的横向距离x
i和纵向距离y
i:
In one example, the relative position information includes a lateral distance and a longitudinal distance. In step 401, the first V2X device may calculate the relative distance between the target remote vehicle and the host vehicle according to the latitude and longitude information of the target remote vehicle and the latitude and longitude information of the host vehicle. Distance dis, according to the relative distance and an included angle θ, the horizontal distance and the longitudinal distance between the target remote vehicle and the main vehicle at the current moment are obtained, and the included angle θ is the distance between the location point of the target remote vehicle and the location point of the main vehicle The angle between the connecting line and the true north direction of the main vehicle's location point. For example, the lateral distance x i and longitudinal distance y i between the target remote vehicle and the main vehicle at the current moment can be calculated by the following formula:
x
i=dis×cosθ,y
i=dis×sinθ;
x i =dis×cosθ, y i =dis×sinθ;
在一个例子中,相对位置信息包括横向距离和纵向距离,加速度包括横向加速度和纵向加速度,在步骤402中,第一V2X设备可以根据当前时刻的相对位置信息、主车的航向角、主车的横向加速度和纵向加速度、主车的速度、目标远车的航向角、目标远车的横向加速度和纵向加速度、目标远车的速度,计算目标远车与主车经过预设安全时间后的横向距离和纵向距离。比如,可以通过如下公式计算目标远车与所述主车经过预设安全时间后的相对位置信息:In one example, the relative position information includes the lateral distance and the longitudinal distance, and the acceleration includes the lateral acceleration and the longitudinal acceleration. Lateral acceleration and longitudinal acceleration, the speed of the main vehicle, the heading angle of the target remote vehicle, the lateral acceleration and longitudinal acceleration of the target remote vehicle, the speed of the target remote vehicle, and calculate the lateral distance between the target remote vehicle and the main vehicle after the preset safety time and vertical distance. For example, the relative position information of the target remote vehicle and the main vehicle after a preset safety time can be calculated by the following formula:
其中,x
f和y
f分别为目标远车与主车经过预设安全时间后的横向距离和纵向距离,x
i和y
i分别为目标远车与所述主车在当前时刻的横向距离和纵向距离,v
RV和v
HV分别为目标远车的速度和主车的速度,α和β分别为目标远车的航向角和主车的航向角,a
yRV和a
xRV分别为目标远车的纵向加速度和横向加速度,a
yHV和a
xHV分别为主车的纵向加速度和横向加速度,t为预 设安全时间。
Among them, x f and y f are respectively the lateral distance and longitudinal distance between the target remote vehicle and the main vehicle after the preset safety time, and x i and y i are the lateral distance and the current distance between the target remote vehicle and the main vehicle respectively. Longitudinal distance, v RV and v HV are the speed of the target remote vehicle and the speed of the main vehicle respectively, α and β are the heading angles of the target remote vehicle and the heading angle of the main vehicle respectively, a yRV and a xRV are the distances of the target remote vehicle Longitudinal acceleration and lateral acceleration, a yHV and a xHV are the longitudinal acceleration and lateral acceleration of the main vehicle respectively, and t is the preset safety time.
在步骤403中,第一V2X设备可以根据目标远车与主车经过预设安全时间后的横向距离和纵向距离,预测目标远车与主车经过预设安全时间后的相对距离,比如可以通过如下公式得到目标远车与主车经过预设安全时间后的相对距离L:In step 403, the first V2X device can predict the relative distance between the target remote vehicle and the main vehicle after the preset safety time according to the horizontal and vertical distances between the target remote vehicle and the main vehicle after the preset safety time, for example, by The following formula obtains the relative distance L between the target distant vehicle and the main vehicle after the preset safety time:
L=x
f×cos((α+β)/2)+y
f×sin((α+β)/2)
L=x f ×cos((α+β)/2)+y f ×sin((α+β)/2)
在步骤105中,第一V2X设备可以将步骤104中计算的相对距离和预设安全距离进行比较,如果相对距离小于预设安全距离,则发出前向碰撞风险预警信息,以提醒主车及时规避前向碰撞风险。其中,预设安全距离可以根据实际需要进行设置,比如可以设置为5米,然而在具体实现中,并不以此为限。In step 105, the first V2X device can compare the relative distance calculated in step 104 with the preset safety distance, and if the relative distance is smaller than the preset safety distance, send forward collision risk warning information to remind the host vehicle to avoid in time Forward collision risk. Wherein, the preset safety distance can be set according to actual needs, for example, it can be set to 5 meters, but in specific implementation, it is not limited thereto.
本实施例中,在预测目标远车与主车经过预设安全时间后的相对距离时,结合了目标远车与主车在当前时刻的相对位置信息,以及目标远车与主车各自的航向角、加速度、速度,有利于准确的预估出目标远车与主车的行进趋势,从而准确预测出目标远车与主车经过预设安全时间后的相对距离,以提高预警的准确率。In this embodiment, when predicting the relative distance between the target remote vehicle and the main vehicle after the preset safety time, the relative position information of the target remote vehicle and the main vehicle at the current moment, and the respective headings of the target remote vehicle and the main vehicle are combined Angle, acceleration, and speed are conducive to accurately predicting the traveling trend of the target remote vehicle and the main vehicle, so as to accurately predict the relative distance between the target remote vehicle and the main vehicle after the preset safety time, so as to improve the accuracy of early warning.
在一个实施例中,预警方法可以同时适用于直道场景下的前向碰撞风险预警和弯道场景下的前向碰撞风险预警。比如上述步骤103判断目标远车与主车是否位于同一车道的具体实现方式可以参考图5,可以包括,但不限于下述步骤:In one embodiment, the early warning method can be applied to the forward collision risk warning in the straight road scene and the forward collision risk warning in the curve scene at the same time. For example, the specific implementation of determining whether the target remote vehicle and the main vehicle are located in the same lane in step 103 above can refer to FIG. 5 , which may include, but is not limited to, the following steps:
步骤501:获取主车的航向角,并获取目标远车的航向角;Step 501: Obtain the heading angle of the main vehicle, and obtain the heading angle of the target remote vehicle;
步骤502:确定主车所在的位置和目标远车所在的位置;Step 502: Determine the location of the main vehicle and the location of the target remote vehicle;
步骤503:根据主车的航向角、目标远车的航向角、主车所在的位置和目标远车所在的位置,确定主车和目标远车之间的横向距离;Step 503: According to the heading angle of the main vehicle, the heading angle of the target remote vehicle, the location of the main vehicle and the location of the target remote vehicle, determine the lateral distance between the main vehicle and the target remote vehicle;
步骤504:根据横向距离和预设的车道的宽度,确认主车和目标远车是否位于同一车道。Step 504: According to the lateral distance and the width of the preset lane, it is confirmed whether the host vehicle and the target remote vehicle are located in the same lane.
本公开实施例中在进行同车道判断的过程中并不需要通过摄像头获取行驶道路图片,成本相对较低,而且基于角度、位置等信息相当于是基于几何方法进行横向距离的计算,相比于相关技术中基于视觉识别的方法得到的横向距离更加可靠、难度也更低。同时,本公开实施例避免了采用对于历史轨迹点进行拟合得到不精确的拟合曲线,从而避免了因拟合曲线不精确引起的同车判断结果的不精确。即本公开实施例可以提高同车道判断的精确性和可靠性,降低实现同车道判断的成本和难度,从而降低前向碰撞风险预警的成本和难度。In the embodiment of the disclosure, in the process of judging the same lane, it is not necessary to obtain driving road pictures through the camera, the cost is relatively low, and the calculation of the lateral distance based on the angle, position and other information is equivalent to the calculation of the lateral distance based on the geometric method. The lateral distance obtained by the method based on visual recognition in the technology is more reliable and less difficult. At the same time, the embodiment of the present disclosure avoids the inaccurate fitting curve obtained by fitting the historical track points, thereby avoiding the inaccuracy of the same-vehicle judgment result caused by the inaccurate fitting curve. That is, the embodiments of the present disclosure can improve the accuracy and reliability of same-lane judgment, reduce the cost and difficulty of realizing same-lane judgment, thereby reducing the cost and difficulty of forward collision risk warning.
在步骤501中关于主车的航向角以及目标远车的航向角的获取方式可以参考上述实施例中的关于获取航向角的相关介绍,为避免重复,此处不再赘述。In step 501, the way of obtaining the heading angle of the host vehicle and the heading angle of the target remote vehicle can refer to the relevant introduction about obtaining the heading angle in the above-mentioned embodiments, and to avoid repetition, details are not repeated here.
在步骤502中,第一V2X设备可以确定主车所在的位置和目标远车所在的位置。其中,位置可以用经纬度信息表示。第一V2X设备可以根据主车的GPS数据确定主车所在的位置,第一V2X设备可以从接收的第二V2X设备发送的V2X数据中获取目标远车的GPS数据,并根据目标远车的GPS数据确定目标远车所在的位置。In step 502, the first V2X device may determine the location of the host vehicle and the location of the target remote vehicle. Wherein, the location may be represented by latitude and longitude information. The first V2X device can determine the location of the main vehicle according to the GPS data of the main vehicle, the first V2X device can obtain the GPS data of the target remote vehicle from the received V2X data sent by the second V2X device, and The data determines where the target remote vehicle is located.
在步骤503中,第一V2X设备可以根据主车的航向角、目标远车的航向角、主车所在的位置和目标远车所在的位置,确定主车和目标远车的之间的横向距离。其中,主车的航向角、目标远车的航向角、主车所在的位置和目标远车所在的位置可以反映主车和目标远车之间的直线距离(也可以称为相对距离)、横向距离、纵向距离之间的几何关系,第一V2X设备可以根据几何关系计算得到主车和目标远车之间的横向距离。In step 503, the first V2X device can determine the lateral distance between the host vehicle and the target remote vehicle according to the heading angle of the host vehicle, the heading angle of the target remote vehicle, the location of the host vehicle, and the location of the target remote vehicle . Among them, the heading angle of the main vehicle, the heading angle of the target remote vehicle, the location of the main vehicle and the location of the target remote vehicle can reflect the straight-line distance (also called the relative distance) between the main vehicle and the target remote vehicle, the lateral distance The geometric relationship between the distance and the longitudinal distance, the first V2X device can calculate the lateral distance between the main vehicle and the target remote vehicle according to the geometric relationship.
在一个实施方式中,步骤503的实现方式可以如图6所示,包括:In one embodiment, the implementation of step 503 may be as shown in Figure 6, including:
步骤601:计算主车所在的位置和目标远车所在的位置之间所连成的第一直线的距离;Step 601: Calculate the distance of the first straight line connecting the position of the main vehicle and the position of the target remote vehicle;
步骤602:确定主车所在的位置的正北方向与第一直线的第一夹角;Step 602: Determine the first angle between the north direction of the main vehicle's location and the first straight line;
步骤603:根据主车的航向角、目标远车的航向角、第一直线的距离和第一夹角,确定主车和目标远车之间的横向距离。Step 603: Determine the lateral distance between the host vehicle and the target remote vehicle according to the heading angle of the host vehicle, the heading angle of the target distant vehicle, the distance of the first straight line and the first included angle.
为便于对上述各步骤的理解,下面结合主车和目标远车所在位置之间的几何关系示意图,即图7进行说明。In order to facilitate the understanding of the above-mentioned steps, a schematic diagram of the geometric relationship between the positions of the main vehicle and the target remote vehicle, ie, FIG. 7 , will be described below.
图7中,主车(HV)所在的位置为B
1点,目标远车1(RV1)所在的位置为A
1,目标远车2(RV2)所在的位置为G。即图7中的车道为弯道,弯道上有三辆车,分别为主车、目标远车1和目标远车2。
In Fig. 7, the host vehicle (HV) is located at point B 1 , the target remote vehicle 1 (RV1) is located at A 1 , and the target remote vehicle 2 (RV2) is located at G. That is, the lane in FIG. 7 is a curved road, and there are three vehicles on the curved road, namely, the main vehicle, the target distant vehicle 1 and the target distant vehicle 2.
图7中基于实际情况做了如下假设:In Figure 7, the following assumptions are made based on the actual situation:
(1)、需要预警的车辆在同一曲率的弯道上,可近似认为在一段圆弧上;(1) The vehicle that needs to be warned is on a curve with the same curvature, which can be approximately considered to be on a circular arc;
(2)、车辆在正常情况下,基本沿着车道中心线行驶,即航向与圆弧切线重合。(2) Under normal circumstances, the vehicle basically runs along the centerline of the lane, that is, the heading coincides with the arc tangent.
如果弯道是由不同曲率半径的道路连接而成,则当两条道路曲率半径差值在一定范围内,仍可实现同车道判断。经过多次仿真测试,当两条道路曲率半径差值在50m以内,判断比较准确。If the curve is formed by connecting roads with different curvature radii, when the difference between the curvature radii of the two roads is within a certain range, the judgment of the same lane can still be realized. After several simulation tests, when the difference between the curvature radii of the two roads is within 50m, the judgment is more accurate.
图7中,点A
1和B
1分别代表RV1和HV;向量u和v为RV1和HV的速度,与圆弧在点A
1和B
1的切线重合;向量w和a均指向正北方向;α=∠CA
1B为RV1的航向角,β=∠AB
1D为HV的航向角。点G表示在RV1相邻车道的RV2,并且与RV1并列同向行驶,即RV2的速度与RV1的速度方向相同且A
1G的连线通过圆弧的圆心;两段同心圆弧表示相邻车道的中心线。
In Figure 7, points A 1 and B 1 represent RV1 and HV respectively; vectors u and v are the velocities of RV1 and HV, which coincide with the tangents of the arc at points A 1 and B 1 ; vectors w and a point to the true north direction ; α=∠CA 1 B is the course angle of RV1, β=∠AB 1 D is the course angle of HV. Point G represents RV2 in the adjacent lane of RV1, and runs in parallel with RV1 in the same direction, that is, the speed of RV2 is in the same direction as that of RV1 and the line A 1 G passes through the center of the arc; two concentric arcs represent adjacent Centerline of the lane.
在步骤601中,第一V2X设备可以根据主车的GPS数据和目标远车的GPS数据,计算主车所在的位置和目标远车所在的位置之间所连成的第一直线的距离,该距离可以理解为主车和目标远车之间的相对距离。主车的GPS数据可以包括主车的经纬度信息,目标远车的GPS数据可以包括远车的经纬度信息,第一V2X设备可以根据主车的经纬度信息和目标远车的经纬度信息计算第一直线的距离。参考图7,如果计算的是主车HV所在的位置与目标远车RV1所在的位置之间所连成的第一直线的距离,该第一直线的距离可以为A
1和B
1两点之间的直线距离h;如果计算的是主车HV所在的位置与目标远车RV2所在的位置之间所连成的第一直线的距离,该第一直线的距离可以为B
1和G两点之间的直线距离l。
In step 601, the first V2X device may calculate the distance of the first straight line connecting the location of the host vehicle and the location of the target remote vehicle according to the GPS data of the host vehicle and the GPS data of the target remote vehicle, This distance can be understood as the relative distance between the main vehicle and the target remote vehicle. The GPS data of the host vehicle may include the latitude and longitude information of the host vehicle, the GPS data of the target remote vehicle may include the latitude and longitude information of the remote vehicle, and the first V2X device may calculate the first straight line according to the latitude and longitude information of the host vehicle and the latitude and longitude information of the target remote vehicle distance. Referring to Fig. 7, if the distance between the position of the host vehicle HV and the position of the target remote vehicle RV1 is calculated, the distance of the first straight line can be between A1 and B1. The straight-line distance h between the points; if the calculation is the distance of the first straight line connected between the position of the main vehicle HV and the position of the target remote vehicle RV2, the distance of the first straight line can be B 1 and the straight-line distance l between the two points G.
在步骤602中,第一V2X设备可以确定主车所在的位置的正北方向与上述第一直线之间的第一夹角。在具体实现中,如果要计算主车HV与目标远车RV1之间的横向距离,则参考图7,步骤602中得到的第一夹角为:位置B
1的正北方向(向量w)与直线(A
1B
1)的夹角θ=∠AB
1A
1。θ也可以称为RV1和HV的最短路径h的起始角度。如果要计算主车HV与目标远车RV2之间的横向距离,则步骤602中得到的第一夹角为:位置B
1的正北方向(向量w)与直线(B
1G)的夹角∠AB
1G。
In step 602, the first V2X device may determine a first included angle between the true north direction of the host vehicle's location and the above-mentioned first straight line. In a specific implementation, if the lateral distance between the host vehicle HV and the target remote vehicle RV1 is to be calculated, then with reference to FIG. The included angle θ of the straight line (A 1 B 1 )=∠AB 1 A 1 . θ can also be referred to as the starting angle of the shortest path h of RV1 and HV. If the lateral distance between the host vehicle HV and the target distant vehicle RV2 is to be calculated, the first included angle obtained in step 602 is: the included angle between the true north direction (vector w) of position B1 and the straight line ( B1G ) ∠AB 1 G.
在步骤603中,第一V2X设备可以在构建的用于计算横向距离的第一几何模型下,根据主车的航向角、目标远车的航向角、第一直线的距离和第一夹角,确定主车和目标远车之间的横向距离;其中,第一几何模型根据主车所在的位置、目标远车所在的位置、主车的速度方向、目标远车的速度方向、主车所在的位置的正北方向、目标远车所在的位置的正北方向构建。该第一几何模型可以通过预先构建得到,并存储在第一V2X设备中,使得第一V2X设备可以根据该第一几何模型计算主车和远车之间的横向距离。通过该第一几何模型可以简单快速的得到主车和目标远车之间的横向距离。In step 603, the first V2X device may, under the constructed first geometric model for calculating the lateral distance, according to the heading angle of the host vehicle, the heading angle of the target remote vehicle, the distance of the first straight line and the first included angle , to determine the lateral distance between the main vehicle and the target remote vehicle; wherein, the first geometric model is based on the location of the main vehicle, the location of the target remote vehicle, the speed direction of the main vehicle, the speed direction of the target remote vehicle, and the location of the main vehicle The true north direction of the position of the target vehicle is constructed. The first geometric model can be obtained through pre-construction and stored in the first V2X device, so that the first V2X device can calculate the lateral distance between the host vehicle and the remote vehicle according to the first geometric model. The lateral distance between the main vehicle and the target remote vehicle can be obtained simply and quickly through the first geometric model.
在一个例子中,参考图7,假设主车所在的位置为B
1、目标远车所在的位置为A
1、根据位置A
1、B
1、主车的速度方向(向量v)、目标远车的速度方向(向量u)、位置B
1的正北方向(向量w)、位置A
1的正北方向(向量a)构建得到的第一几何模型可以如下:
In one example, referring to Fig. 7, assume that the position of the host vehicle is B 1 , and the position of the target distant vehicle is A 1 , according to the position A 1 , B 1 , the velocity direction of the host vehicle (vector v), the target distant vehicle The velocity direction (vector u), the true north direction (vector w) of position B 1 , and the true north direction (vector a) of position A 1 can be constructed to obtain the first geometric model as follows:
其中,dis
lateral为横向距离,β为主车的航向角、α为目标远车的航向角、dis1为第一直线的距离、θ1(图中标记是θ)为第一夹角。对于RV1,dis1为图7中的h,对于RV2,dis1为图7中的l。在具体实现中,可以将α、β、θ1、dis1的值代入上述第一几何模型中,以计算得到主车和目标远车之间的横向距离。
Among them, dis lateral is the lateral distance, β is the heading angle of the main vehicle, α is the heading angle of the target remote vehicle, dis1 is the distance of the first straight line, and θ1 (marked as θ in the figure) is the first included angle. For RV1, dis1 is h in Figure 7, and for RV2, dis1 is l in Figure 7. In a specific implementation, the values of α, β, θ1, and dis1 may be substituted into the above-mentioned first geometric model to calculate the lateral distance between the host vehicle and the target distant vehicle.
通过图7可以看出,HV和RV1位于同一车道,二者的横向距离为0;HV与RV2位于不同车道,二者的横向距离为GA
1。参考图8,虚线f和g为点A
1和B
1在圆弧上的切线,∠HB
1A
1=θ-β,∠HB
1A
1=∠HA
1B
1,∠HA
1B=α-θ,因此当HV和RV1在同一车道线,HV和RV1的航向角β、α及HV与RV1最短路径的起始角度θ满足如下关系:
It can be seen from FIG. 7 that HV and RV1 are located in the same lane, and the lateral distance between them is 0; HV and RV2 are located in different lanes, and the lateral distance between them is GA 1 . Referring to Fig. 8, dotted lines f and g are tangents of points A 1 and B 1 on the arc, ∠HB 1 A 1 =θ-β, ∠HB 1 A 1 =∠HA 1 B 1 , ∠HA 1 B=α -θ, so when HV and RV1 are in the same lane, the heading angles β and α of HV and RV1 and the starting angle θ of the shortest path between HV and RV1 satisfy the following relationship:
则将
代入上述第一几何模型中可以得到,HV和RV1之间的横向距离为0。
then will Substituting into the first geometric model above, it can be obtained that the lateral distance between HV and RV1 is 0.
也就是说,当主车与目标远车位于同一车道,第一航向角β、第二航向角α和夹角θ满足如下关系:That is to say, when the main vehicle and the target remote vehicle are in the same lane, the first heading angle β, the second heading angle α and the included angle θ satisfy the following relationship:
针对HV与RV2,即计算HV与RV2之间的横向距离时,此时HV的航向角为β,RV2的航向角α,HV与RV2最短路径的起始角度θ’=∠AB
1G(即HV所在的位置的正北方向w与直线B
1G之间的夹角)。通过
可知∠A
1B
1G=θ’-θ=θ’-(α+β)/2,∠B
1A
1G=∠HA
1G-∠HA
1B
1=90°-(α-θ)=90°-((α-β)/2),∠B
1GA
1=90°-θ’+α,HV与RV2之间的直线距离dis1为B
1G。由正弦定理可知,HV与RV2之间的横向距离A
1G为:
For HV and RV2, that is, when calculating the lateral distance between HV and RV2, the heading angle of HV is β, the heading angle of RV2 is α, and the starting angle of the shortest path between HV and RV2 is θ'=∠AB 1 G (ie The angle between the true north direction w where HV is located and the straight line B 1 G). pass It can be seen that ∠A 1 B 1 G=θ'-θ=θ'-(α+β)/2, ∠B 1 A 1 G=∠HA 1 G-∠HA 1 B 1 =90°-(α-θ) =90°-((α-β)/2), ∠B 1 GA 1 =90°-θ'+α, the linear distance dis1 between HV and RV2 is B 1 G. According to the sine law, the lateral distance A 1 G between HV and RV2 is:
在一个实施例中,第一几何模型用于计算处于弯道场景下的主车与目标远车之间的横向距离,且用于计算处于直道场景下的主车与目标远车之间的横向距离,即上述同车道的判断方法也适用于对处于直道中的车辆进行同车道判断。In one embodiment, the first geometric model is used to calculate the lateral distance between the main vehicle and the distant target vehicle in the curve scene, and is used to calculate the lateral distance between the main vehicle and the distant target vehicle in the straight road scene. Distance, that is, the above-mentioned judging method for the same lane is also applicable to judging the same lane for vehicles in the straight road.
上述实施例介绍了第一几何模型用于计算处于弯道场景下的主车与目标远车之间的横向距离,下面主要介绍第一几何模型还用于计算处于直道场景下的主车与目标远车之间的横向距离。The above-mentioned embodiment introduces that the first geometric model is used to calculate the lateral distance between the main vehicle and the target distant vehicle in the curved road scene. The following mainly introduces that the first geometric model is also used to calculate the main vehicle and the target vehicle in the straight road scene. Lateral distance between distant vehicles.
参考图9,当主车HV与目标远车RV都位于直道上时,由于直道可以认为是曲率半径为无穷大的圆弧,上述由一般圆弧得到的用于计算横向距离的第一几何模型也适用于计算直道中的两车之间的横向距离。比如,图9中,点A代表主车HV所处的位置,点B代表与HV同车道的RV1所处的位置,点C代表与HV位于不同车道的RV2所处的位置。显然,HV与RV1的横向距离理论上应该为0;HV与RV2的横向距离理论上应该为BC。下面以通过上述第一几何模型计算横向距离来验证上述第一几何模型同样适用于直道中车辆之间横向距离的 计算。Referring to Fig. 9, when the host vehicle HV and the target remote vehicle RV are both located on the straight road, since the straight road can be considered as a circular arc with an infinite radius of curvature, the above-mentioned first geometric model for calculating the lateral distance obtained from a general circular arc is also applicable It is used to calculate the lateral distance between two vehicles in a straight road. For example, in Figure 9, point A represents the location of the main vehicle HV, point B represents the location of RV1 in the same lane as the HV, and point C represents the location of RV2 in a different lane from the HV. Obviously, the transverse distance between HV and RV1 should be 0 in theory; the transverse distance between HV and RV2 should be BC in theory. Next, it is verified that the above-mentioned first geometric model is also applicable to the calculation of the lateral distance between vehicles in the straight road by calculating the lateral distance through the above-mentioned first geometric model.
在计算HV与RV1的横向距离时,HV的航向角为β、RV1的航向角α、HV与RV1最短路径的起始角度θ(即HV所在位置的正北方向与直线AB之间的夹角),这三个夹角的大小相等,即θ=α=β,HV与RV1两车之间的相对距离dis1=AB,将α、β、θ、dis1的值代入上述的第一几何模型可以计算出HV与RV1之间的横向距离,计算过程如下:When calculating the lateral distance between HV and RV1, the heading angle of HV is β, the heading angle of RV1 is α, and the starting angle θ of the shortest path between HV and RV1 (that is, the angle between the true north direction where HV is located and the straight line AB ), the size of these three included angles is equal, that is, θ=α=β, the relative distance dis1=AB between the two cars of HV and RV1, and the values of α, β, θ, and dis1 can be substituted into the above-mentioned first geometric model. Calculate the lateral distance between HV and RV1, the calculation process is as follows:
由此可见,当使用上述第一几何模型计算主车HV和目标远车RV1之间的横向距离时,计算的结果与理论上HV与RV1的横向距离相同。It can be seen that when using the first geometric model to calculate the lateral distance between the host vehicle HV and the target remote vehicle RV1, the calculated result is the same as the theoretical lateral distance between the HV and RV1.
在计算HV与RV2的横向距离时,HV的航向角为β、RV2的航向角α,α=β,从HV到RV2的最短路径起始角度为θ(即HV所在位置的正北方向与直线AC之间的夹角∠EAC),两车相对距离dis1=AC,将α、β、θ1、dis1的值代入上述的第一几何模型可以计算出HV与RV2之间的横向距离,计算过程如下:When calculating the lateral distance between HV and RV2, the course angle of HV is β, the course angle of RV2 is α, α=β, and the starting angle of the shortest path from HV to RV2 is θ (that is, the direction of true north where HV is located and the straight line The angle between AC ∠EAC), the relative distance between the two vehicles dis1=AC, and the values of α, β, θ1, and dis1 are substituted into the first geometric model above to calculate the lateral distance between HV and RV2. The calculation process is as follows :
由此可见,当使用上述第一几何模型计算主车HV和目标远车RV2之间的横向距离时,计算的结果与理论上HV与RV2的横向距离相同。It can be seen that when using the first geometric model to calculate the lateral distance between the host vehicle HV and the target remote vehicle RV2, the calculated result is the same as the theoretical lateral distance between the HV and RV2.
本公开实施例中的第一几何模型既适用于弯道中车辆之间的横向距离的计算,同时也适用于直道中车辆之间的横向距离的计算,使得本实施例中的场景适用性强,能够适用于绝大部分道路。相关技术中,采用对历史轨迹点进行拟合很难将弯道的路径拟合出来,即对于弯道场景下同车道的判断并不是很适用,本公开实施例对于弯道场景和直道场景可以采用同一几何模型进行横向距离的计算,节省了算力,也降低了同车道判断的难度和成本,从而降低了前向碰撞风险预警的成本和难度。The first geometric model in the embodiment of the present disclosure is not only applicable to the calculation of the lateral distance between vehicles in a curve, but also applicable to the calculation of the lateral distance between vehicles in a straight road, so that the scene in this embodiment has strong applicability, Can be applied to most roads. In the related technology, it is difficult to fit the path of the curve by fitting the historical track points, that is, it is not very applicable to the judgment of the same lane in the curve scene. The embodiments of the present disclosure can be used for the curve scene and the straight road scene Using the same geometric model to calculate the lateral distance saves computing power and reduces the difficulty and cost of judging the same lane, thereby reducing the cost and difficulty of forward collision risk warning.
在一个实施例中,预警方法同时适用于直道场景下的前向碰撞风险预警和弯道场景下的前向碰撞风险预警时,上述步骤202计算主车和各候选远车之间的纵向距离的实现方式可以参考图10,包括:In one embodiment, when the early warning method is applicable to the forward collision risk warning in the straight road scene and the forward collision risk warning in the curve scene at the same time, the above step 202 calculates the longitudinal distance between the main vehicle and each candidate remote vehicle. The implementation can refer to Figure 10, including:
步骤1001:获取主车的航向角,并获取各候选远车的航向角;Step 1001: Obtain the heading angle of the main vehicle, and obtain the heading angles of each candidate remote vehicle;
步骤1002:确定主车所在的位置和多个候选远车所在的位置;Step 1002: Determine the location of the main vehicle and the locations of multiple candidate remote vehicles;
步骤1003:根据主车的航向角、多个候选远车的航向角、主车所在的位置和多个候选远车所在的位置,确定主车和多个候选远车之间的纵向距离。Step 1003: Determine the longitudinal distance between the host vehicle and multiple candidate remote vehicles according to the heading angle of the main vehicle, the heading angles of multiple candidate remote vehicles, the location of the main vehicle, and the locations of multiple candidate remote vehicles.
其中,步骤1001至步骤1002和上述的步骤501至步骤502中提到的航向角的获取方式以及位置的确定方式大致相同,为避免重复,在此不再赘述。Wherein, steps 1001 to 1002 are substantially the same as the way of obtaining the heading angle and the way of determining the position mentioned in steps 501 to 502 mentioned above, and to avoid repetition, details are not repeated here.
在步骤1003中,第一V2X设备可以分别计算主车所在的位置和各候选远车所在的位置之间所连成的第二直线的距离,确定主车所在的位置的正北方向与第二直线的第二夹角,根据所述主车的航向角、各候选远车的航向角、第二直线的距离和第二夹角,确定主车和各候选远车之间的纵向距离。In step 1003, the first V2X device can respectively calculate the distance between the position of the main vehicle and the positions of the candidate remote vehicles and the distance of the second straight line, and determine the distance between the true north of the position of the main vehicle and the second straight line. For the second included angle of the straight line, the longitudinal distance between the main vehicle and each candidate remote vehicle is determined according to the heading angle of the main vehicle, the heading angles of each candidate remote vehicle, the distance of the second straight line, and the second included angle.
在一个例子中,第一V2X设备可以在构建的用于计算纵向距离的第二几何模型下,根据主车的航向角、各候选远车的航向角、第二直线的距离和第二夹角,确定主车和各候选远车之间的纵向距离;其中,第二几何模型根据主车所在的位置、候选远车所在的位置、主车的速度方向、候选远车的速度方向、主车所在的位置的正北方向、候选远车所在的位置的正北方向构建。In an example, the first V2X device may, under the second geometric model constructed for calculating the longitudinal distance, according to the heading angle of the main vehicle, the heading angles of each candidate remote vehicle, the distance of the second straight line, and the second included angle , to determine the longitudinal distance between the main vehicle and each candidate distant vehicle; wherein, the second geometric model is based on the position of the main vehicle, the position of the candidate distant vehicle, the speed direction of the main vehicle, the speed direction of the candidate remote vehicle, the main vehicle The true north direction of the position and the true north direction of the position where the candidate remote vehicle is located are constructed.
在一个例子中,参考图8,假设主车所在的位置为B
1、候选远车所在的位置为A
1、根据位置A
1、B
1、主车的速度方向(向量v)、候选远车的速度方向(向量u)、位置B
1的正北方向(向量w)、位置A
1的正北方向(向量a)构建得到的第二几何模型可以如下:
In one example, referring to Fig. 8, assume that the position of the main vehicle is B 1 , the position of the candidate distant vehicle is A 1 , according to the position A 1 , B 1 , the velocity direction of the main vehicle (vector v), the candidate distant vehicle The velocity direction (vector u), the true north direction (vector w) of position B1, and the true north direction (vector a ) of position A1 can be constructed to obtain the second geometric model as follows:
其中,dis
longitudinal为纵向距离,β为主车的航向角、α为候选远车的航向角、dis2为第二直线的距离、θ2(图中标记是θ)为第二夹角。
Among them, dis longitudinal is the longitudinal distance, β is the heading angle of the main vehicle, α is the heading angle of the candidate remote vehicle, dis2 is the distance of the second straight line, and θ2 (marked as θ in the figure) is the second included angle.
假设图8中,位置A
1为候选远车RV1,位置G为候选远车RV2,位置B
1为主车HV。由图可知,HV和RV1位于同一车道,纵向距离可以用A
1B
1近似代替;HV与RV2位于不同车道,纵向距离可以用B
1G近似代替。
Assume that in Figure 8, position A 1 is the candidate remote vehicle RV1, position G is the candidate remote vehicle RV2, and position B 1 is the main vehicle HV. It can be seen from the figure that HV and RV1 are located in the same lane, and the longitudinal distance can be approximately replaced by A 1 B 1 ; HV and RV2 are located in different lanes, and the longitudinal distance can be approximately replaced by B 1 G.
其中,α为RV1的航向角、β为HV的航向角、θ为位置B
1的正北方向(向量w)与直线A
1B
1的夹角、dis2为A
1点和B
1点之间的相对距离。θ也可以理解为RV1与HV之间最短路径的起始角度。
Among them, α is the heading angle of RV1, β is the heading angle of HV, θ is the angle between the true north direction (vector w) of position B 1 and the straight line A 1 B 1 , dis2 is the distance between point A 1 and point B 1 relative distance. θ can also be understood as the starting angle of the shortest path between RV1 and HV.
其中,α为RV2的航向角、β为HV的航向角、θ′为位置B
1的正北方向(向量w)与直线B
1G的夹角、dis2为G点和B
1点之间的相对距离。θ′也可以理解为RV2与HV之间最短路径的起始角度。
Among them, α is the heading angle of RV2, β is the heading angle of HV, θ' is the angle between the true north direction (vector w) of position B1 and the straight line B1G , dis2 is the distance between point G and point B1 relative distance. θ' can also be understood as the starting angle of the shortest path between RV2 and HV.
当HV与RV都位于直道上时,由于直道可以认为是曲率半径为无穷大的圆弧,上述由一般圆弧得到的横、纵向距离的几何模型显然可以适用于直道。如图9所示,点A代表HV,点B代表与HV同车道的RV1,点C代表与HV位于不同车道的RV2。显然HV与RV1理论上的纵向距离为AB;HV与RV2理论上的纵向距离为AB。When both HV and RV are located on the straight road, since the straight road can be considered as a circular arc with an infinite radius of curvature, the geometric model of the horizontal and vertical distances obtained from the general circular arc above is obviously applicable to the straight road. As shown in Figure 9, point A represents the HV, point B represents RV1 in the same lane as the HV, and point C represents RV2 in a different lane from the HV. Obviously, the theoretical longitudinal distance between HV and RV1 is AB; the theoretical longitudinal distance between HV and RV2 is AB.
通过上述第二几何模型计算HV与RV1之间的纵向距离时,θ2=α=β,从HV到RV1的最短路径起始角度为θ2,两车相对距离dis2=AB,When calculating the longitudinal distance between HV and RV1 through the above-mentioned second geometric model, θ2=α=β, the starting angle of the shortest path from HV to RV1 is θ2, and the relative distance between the two vehicles is dis2=AB,
由此可见,当使用上述第二几何模型计算HV和RV1之间的纵向距离时,计算的结果与理论上HV与RV1的纵向距离相同。It can be seen that when the longitudinal distance between HV and RV1 is calculated using the second geometric model, the calculated result is the same as the theoretical longitudinal distance between HV and RV1.
通过上述第二几何模型计算HV与RV2之间的纵向距离时,α=β,从HV到RV2的最短路径起始角度为θ2,两车相对距离dis2=AC,When calculating the longitudinal distance between HV and RV2 through the above-mentioned second geometric model, α=β, the starting angle of the shortest path from HV to RV2 is θ2, and the relative distance between the two vehicles is dis2=AC,
由此可见,当使用上述第二几何模型计算HV和RV2之间的纵向距离时,计算的结果与理论上HV与RV2的纵向距离相同。It can be seen that when the longitudinal distance between HV and RV2 is calculated using the second geometric model, the calculated result is the same as the theoretical longitudinal distance between HV and RV2.
本公开实施例中的第二几何模型既适用于弯道中车辆之间的纵向距离的计算,同时也适用于直道中车辆之间的纵向距离的计算,使得本实施例的场景适用性强,能够适用于绝大部分道路。相关技术中,采用对历史轨迹点进行拟合很难将弯道的路径拟合出来,即对于弯道场景下同车道的判断并不是很适用,本公开实施例对于弯道场景和直道场景可以采用同一几何模型进行纵向距离的计算,节省了算力,也降低了同车道判断的难度和成本,从而降低前向碰撞风险预警的成本和难度。The second geometric model in the embodiment of the present disclosure is not only applicable to the calculation of the longitudinal distance between vehicles in a curve, but also applicable to the calculation of the longitudinal distance between vehicles in a straight road, so that the scene applicability of this embodiment is strong, and it can Suitable for most roads. In related technologies, it is difficult to fit the path of the curve by fitting the historical track points, that is, it is not very applicable to the judgment of the same lane in the curve scene. The embodiments of the present disclosure can be used for the curve scene and the straight road scene Using the same geometric model to calculate the longitudinal distance saves computing power and reduces the difficulty and cost of judging the same lane, thereby reducing the cost and difficulty of forward collision risk warning.
上面各种方法的步骤划分,只是为了描述清楚,实现时可以合并为一个步骤或者对某些步骤进行拆分,分解为多个步骤,只要包括相同的逻辑关系,都在本专利的保护范围内;对算法中或者流程中添加无关紧要的修改或者引入无关紧要的设计,但不改变其算法和流程的核心设计都在该专利的保护范围内。The step division of the above various methods is only for the sake of clarity of description. During implementation, it can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. ; Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but not changing the core design of the algorithm and process are all within the scope of protection of this patent.
本公开的实施例还涉及一种电子设备,如图11所示,包括至少一个处理器1101;以及,与至少一个处理器1101通信连接的存储器1102;其中,存储器1102存储有可被至少一个处理器1101执行的指令,指令被至少一个处理器1101执行,以使至少一个处理器1101能够执行上述实施例中的预警方法。Embodiments of the present disclosure also relate to an electronic device, as shown in FIG. 11 , including at least one processor 1101; and a memory 1102 connected in communication with at least one processor 1101; wherein, the memory 1102 stores information that can be processed by at least one The instructions executed by the processor 1101 are executed by at least one processor 1101, so that the at least one processor 1101 can execute the early warning method in the above embodiment.
其中,存储器1102和处理器1101采用总线方式连接,总线可以包括任意数量的互联的总线和桥,总线将一个或多个处理器1101和存储器1102的各种电路连接在一起。总线还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路连接在一起,这些都是本领域所公知的,因此,本文不再对其进行进一步描述。总线接口在总线和收发机之间提供接口。收发机可以是一个元件,也可以是多个元件,比如多个接收器和发送器,提供用于在传输介质上与各种其他装置通信的单元。经处理器1101处理的数据通过天线在无线介质上进行传输,在一实施方式中,天线还接收数据并将数据传送给处理器1101。Wherein, the memory 1102 and the processor 1101 are connected by a bus, and the bus may include any number of interconnected buses and bridges, and the bus connects one or more processors 1101 and various circuits of the memory 1102 together. The bus may also connect together various other circuits such as peripherals, voltage regulators, and power management circuits, all of which are well known in the art and therefore will not be further described herein. The bus interface provides an interface between the bus and the transceivers. A transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing means for communicating with various other devices over a transmission medium. The data processed by the processor 1101 is transmitted on the wireless medium through the antenna. In one embodiment, the antenna also receives the data and transmits the data to the processor 1101 .
处理器1101负责管理总线和通常的处理,还可以提供各种功能,包括定时,外围接口,电压调节、电源管理以及其他控制功能。而存储器1102可以被用于存储处理器1101在执行操作时所使用的数据。The processor 1101 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management and other control functions. And the memory 1102 may be used to store data used by the processor 1101 when performing operations.
本公开实施例还提供了一种计算机可读存储介质,存储有计算机程序。计算机程序被处理器执行时实现上述方法实施例。The embodiment of the present disclosure also provides a computer-readable storage medium storing a computer program. The above method embodiments are implemented when the computer program is executed by the processor.
即,本领域技术人员可以理解,实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成,该程序存储在一个存储介质中,包括若干指令用以使得一个设备(可以是单片机,芯片等)或处理器(processor)执行本公开各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。That is, those skilled in the art can understand that all or part of the steps in the method of the above-mentioned embodiments can be completed by instructing related hardware through a program, the program is stored in a storage medium, and includes several instructions to make a device ( It may be a single-chip microcomputer, a chip, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present disclosure. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
本领域的普通技术人员可以理解,上述各实施方式是实现本公开的具体实施例,而在实际应用中,可以在形式上和细节上对其作各种改变,而不偏离本公开的精神和范围。Those of ordinary skill in the art can understand that the above-mentioned embodiments are specific examples for realizing the present disclosure, and in practical applications, various changes can be made in form and details without departing from the spirit and spirit of the present disclosure. scope.
Claims (10)
- 一种预警方法,其中,包括:An early warning method, including:获取主车的车辆数据和多个远车的车辆数据;Obtain the vehicle data of the main vehicle and the vehicle data of multiple remote vehicles;根据所述主车的车辆数据和所述多个远车的车辆数据,筛选出和所述主车具有潜在碰撞风险的目标远车;According to the vehicle data of the main vehicle and the vehicle data of the plurality of remote vehicles, select a target remote vehicle that has a potential collision risk with the main vehicle;在确认所述目标远车与所述主车位于同一车道后,预测所述目标远车与所述主车经过预设安全时间后的相对距离;After confirming that the target distant vehicle and the main vehicle are located in the same lane, predicting the relative distance between the target distant vehicle and the main vehicle after a preset safety time;在所述相对距离小于预设安全距离时,输出前向碰撞风险预警信息。When the relative distance is less than the preset safety distance, forward collision risk warning information is output.
- 根据权利要求1所述的预警方法,其中,所述根据所述主车的车辆数据和所述多个远车的车辆数据,筛选出和所述主车具有潜在碰撞风险的目标远车,包括:The early warning method according to claim 1, wherein, according to the vehicle data of the main vehicle and the vehicle data of the plurality of remote vehicles, screening out the target remote vehicles that have a potential collision risk with the main vehicle includes :根据所述主车的车辆数据和所述多个远车的车辆数据,确定与所述主车同向行驶的多个候选远车;According to the vehicle data of the main vehicle and the vehicle data of the plurality of remote vehicles, determine a plurality of candidate distant vehicles traveling in the same direction as the main vehicle;分别计算所述主车和所述多个候选远车之间的间隔距离,并将和所述主车之间的间隔距离处于预设距离范围内的候选远车作为和所述主车具有潜在碰撞风险的目标远车。Calculate the separation distances between the main vehicle and the plurality of candidate remote vehicles, and use the candidate remote vehicles whose separation distances from the main vehicle are within a preset distance range as potential candidates for the main vehicle. The risk of collision with the target is far from the car.
- 根据权利要求2所述的预警方法,其中,所述车辆数据包括航向角;The early warning method according to claim 2, wherein the vehicle data includes heading angle;所述根据所述主车的车辆数据和所述多个远车的车辆数据,确定与所述主车同向行驶的多个候选远车,包括:The determining a plurality of candidate distant vehicles traveling in the same direction as the main vehicle according to the vehicle data of the main vehicle and the vehicle data of the plurality of remote vehicles includes:根据所述主车的航向角和所述多个远车的航向角,确定与所述主车同向行驶的多个候选远车;其中,所述主车的航向角所表征的航向方向与所述候选远车的航向角所表征的航向方向之间的夹角处于预设的夹角范围内。According to the heading angle of the main vehicle and the heading angles of the plurality of remote vehicles, determine a plurality of candidate remote vehicles traveling in the same direction as the main vehicle; wherein, the heading direction represented by the heading angle of the main vehicle is the same as The included angles between the heading directions represented by the heading angles of the candidate remote vehicles are within a preset angle range.
- 根据权利要求3所述的预警方法,其中,所述夹角范围为-45°至45°。The early warning method according to claim 3, wherein the included angle ranges from -45° to 45°.
- 根据权利要求3所述的预警方法,其中,所述方法还包括:当确认所述各远车中存在处于目标状态的远车,所述获取的所述处于目标状态的远车的航向角为所述处于目标状态的远车在进入目标状态之前的航向角;其中,所述目标状态包括:静止状态和/或速度低于预设速度阈值的状态。The early warning method according to claim 3, wherein the method further comprises: when it is confirmed that there is a remote vehicle in the target state among the remote vehicles, the acquired heading angle of the remote vehicle in the target state is The heading angle of the remote vehicle in the target state before entering the target state; wherein, the target state includes: a stationary state and/or a state in which the speed is lower than a preset speed threshold.
- 根据权利要求1所述的预警方法,其中,所述车辆数据包括:航向角、加速度、速度,所述预测所述目标远车与所述主车经过预设安全时间后的相对距离,包括:The early warning method according to claim 1, wherein the vehicle data includes: heading angle, acceleration, and speed, and the prediction of the relative distance between the target remote vehicle and the main vehicle after a preset safety time includes:确定所述目标远车与所述主车在当前时刻的相对位置信息;determining the relative position information between the target remote vehicle and the host vehicle at the current moment;根据所述当前时刻的相对位置信息、所述主车的航向角、所述主车的加速度、所述主车的速度、所述目标远车的航向角、所述目标远车的加速度、所述目标远车的速度,计算所述 目标远车与所述主车经过预设安全时间后的相对位置信息;According to the relative position information at the current moment, the heading angle of the main vehicle, the acceleration of the main vehicle, the speed of the main vehicle, the heading angle of the target remote vehicle, the acceleration of the target remote vehicle, the the speed of the target remote vehicle, and calculate the relative position information between the target remote vehicle and the main vehicle after a preset safety time;根据所述目标远车与所述主车经过预设安全时间后的相对位置信息,预测所述目标远车与所述主车经过预设安全时间后的相对距离。Predicting the relative distance between the target remote vehicle and the host vehicle after the preset safety time has elapsed according to the relative position information between the target remote vehicle and the host vehicle after the preset safety time has elapsed.
- 根据权利要求6所述的预警方法,其中,所述相对位置信息包括横向距离和纵向距离,所述加速度包括横向加速度和纵向加速度;The early warning method according to claim 6, wherein the relative position information includes a lateral distance and a longitudinal distance, and the acceleration includes a lateral acceleration and a longitudinal acceleration;所述根据所述当前时刻的相对位置信息、所述主车的航向角、所述主车的加速度、所述主车的速度、所述目标远车的航向角、所述目标远车的加速度、所述目标远车的速度,计算所述目标远车与所述主车经过预设安全时间后的相对位置信息,包括:According to the relative position information at the current moment, the heading angle of the main vehicle, the acceleration of the main vehicle, the speed of the main vehicle, the heading angle of the target remote vehicle, and the acceleration of the target remote vehicle . The speed of the target remote vehicle, calculating the relative position information between the target remote vehicle and the main vehicle after a preset safety time, including:通过如下公式得到所述目标远车与所述主车经过预设安全时间后的相对位置信息:The relative position information of the target remote vehicle and the main vehicle after a preset safety time is obtained by the following formula:其中,x f和y f分别为所述目标远车与所述主车经过预设安全时间后的横向距离和纵向距离,x i和y i分别为所述目标远车与所述主车在所述当前时刻的横向距离和纵向距离,v RV和v HV分别为所述目标远车的速度和所述主车的速度,α和β分别为所述目标远车的航向角和所述主车的航向角,a yRV和a xRV分别为所述目标远车的纵向加速度和横向加速度,a yHV和a xHV分别为所述主车的纵向加速度和横向加速度,t为所述预设安全时间。 Among them, x f and y f are respectively the lateral distance and longitudinal distance between the target remote vehicle and the main vehicle after a preset safety time, and x i and y i are respectively the distance between the target remote vehicle and the main vehicle. The lateral distance and longitudinal distance at the current moment, v RV and v HV are the speed of the target remote vehicle and the speed of the main vehicle respectively, α and β are the course angle of the target remote vehicle and the main vehicle The heading angle of the vehicle, a yRV and a xRV are the longitudinal acceleration and lateral acceleration of the target remote vehicle respectively, a yHV and a xHV are the longitudinal acceleration and lateral acceleration of the main vehicle respectively, and t is the preset safety time .
- 根据权利要求7所述的预警方法,其中,所述根据所述目标远车与所述主车经过预设安全时间后的相对位置信息,预测所述目标远车与所述主车经过预设安全时间后的相对距离,包括:The early warning method according to claim 7, wherein, according to the relative position information of the target distant vehicle and the main vehicle after a preset safety time, it is predicted that the target remote vehicle and the main vehicle pass through a preset distance. Relative distance after safety time, including:通过如下公式得到所述目标远车与所述主车经过预设安全时间后的相对距离:The relative distance between the target remote vehicle and the main vehicle after the preset safety time is obtained by the following formula:L=x f×cos((α+β)/2)+y f×sin((α+β)/2) L=x f ×cos((α+β)/2)+y f ×sin((α+β)/2)其中,L为相对距离。Among them, L is the relative distance.
- 一种电子设备,其中,包括:至少一个处理器;以及,An electronic device, comprising: at least one processor; and,与所述至少一个处理器通信连接的存储器;其中,a memory communicatively coupled to the at least one processor; wherein,所述存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处理器执行,以使所述至少一个处理器能够执行如权利要求1至8中任一所述的预警方法。The memory is stored with instructions executable by the at least one processor, the instructions are executed by the at least one processor, so that the at least one processor can perform any one of claims 1 to 8 early warning method.
- 一种计算机可读存储介质,存储有计算机程序,其中,所述计算机程序被处理器执行时实现权利要求1至8中任一项所述的预警方法。A computer-readable storage medium storing a computer program, wherein the computer program implements the early warning method according to any one of claims 1 to 8 when executed by a processor.
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