CN105261236A - Vehicle danger early warning system and method based on vehicle cooperation - Google Patents
Vehicle danger early warning system and method based on vehicle cooperation Download PDFInfo
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- CN105261236A CN105261236A CN201510628120.0A CN201510628120A CN105261236A CN 105261236 A CN105261236 A CN 105261236A CN 201510628120 A CN201510628120 A CN 201510628120A CN 105261236 A CN105261236 A CN 105261236A
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Abstract
The invention discloses a vehicle danger early warning system based on vehicle cooperation. A vehicle state acquisition module and a driving intention determination module are arranged in a vehicle, the vehicle state acquisition module and the driving intention determination module output induction signals to a dedicated short range communication module, the short range communication module transmits acquired signals to a vehicle danger early warning module, the vehicle danger early warning module transmits early warning signals to a human-machine interaction interface and transmits control signals to a vehicle control module, and information interaction between the dedicated short range communication module and the vehicle equipped with the vehicle danger early warning system is performed. According to the system, vehicle data is acquired via the dedicated short range communication module, whether there are potential risks is determined according to the vehicle data, compared with the general vehicle danger early warning system, the vehicle danger early warning system and the method are more effective, potential risks can be predicted, drivers are reminded in time, the vehicle can be effectively controlled, and traffic accidents are prevented.
Description
Technical field
The present invention relates to technical field of intelligent traffic, be specifically related to a kind of vehicle risk early warning system based on collaborative truck and method.
Background technology
According to Public Security Department of Ministry of Public Security statistics, in January, 2014, to October there is road traffic accident 426378 in the whole nation altogether, causes that 87218 people are dead, 391752 people are injured, direct property loss 20.2 hundred million yuan.Compared with the same period in 2013, accident plays several minimizing 139097, declines 24.6%.In the last few years, China's toll on traffic was in ascendant trend by a small margin year by year, and the continuous increase of this and China's vehicles number is closely related.According to related data display, the vehicle driver quantity in China 2014 end of the year breaks through historical 300,000,000 people, and motor vehicle is usage quantity and the number of driving fast, makes China face more severe traffic safety situation.
The safe utility appliance that current vehicle adopts is the sensor technologies such as radar, laser, ultrasound wave, infrared ray, machine vision, and these safe utility appliance exist obvious limitation in vehicle risk early warning application aspect.
The range measurement accuracy of radar is higher, and data handling requirements is low, better to the robustness of weather, but its reliability depends on the Distance geometry reflectivity of target, and often inspection does not measure short and small transparent barrier, because information is more single, also more difficult in the identification of barrier.
The application of laser ranging has limitation, in fact because laser is easily by the impact of the aspects such as the cleanliness factor of natural weather factor, Laser emission and receiver window, the surfaceness being detected vehicle and barrier itself, pollution and automobile jolting in the process of moving, the impact that the detection range of obstacle avoidance laser radar, detection accuracy and accuracy are subject to a certain extent is made.
Ultrasonic listening is apart from short, and the impact by state of weather is very large.Aerial velocity of propagation is less and change with temperature and weather conditions, and under different weather conditions, velocity of propagation is different; Be on the other hand for remote barrier, owing to being subject to a lot of interference and impact makes reflection wave too faint, sensitivity declines, and easily causes range error.
Infrared distance measuring technically difficulty is little, the range measurement system formed is with low cost, but in atrocious weather and long distance measurement, still can not meet the requirement of automobile collision preventing, particularly on a highway, in the process of running at high speed, there will be range error to a certain degree.
Machine vision has the advantages such as Detection Information enriches, and has good analytic ability to the shapes textures feature of object, but comparatively large by the impact of weather and environment, and helpless for the obstacle that color and background form and aspect are near.
Summary of the invention
Technical matters to be solved by this invention realizes one can improve vehicle safety, avoids the vehicle safety utility appliance of the generation of vehicle collision accident.
To achieve these goals, the technical solution used in the present invention is: a kind of vehicle risk early warning system based on collaborative truck, vehicle-state acquisition module and driving intention judge module are installed in car, described vehicle-state acquisition module and driving intention judge module export induced signal to Dedicated Short Range Communications, module, the signal of collection is delivered to vehicle risk warning module by described short range communication module, early warning signal is delivered to human-computer interaction interface by described vehicle risk warning module, and control signal is delivered to vehicle control module, described Dedicated Short Range Communications, module and the neighbouring vehicle interactive information being provided with vehicle risk early warning system.
Part or all of in described vehicle-state acquisition module collection vehicle position, speed, acceleration, retarded velocity, course angle data.
Described driving intention judge module gathers steering angle data.
Human-computer interaction interface display is provided with position, the velocity information of vehicle risk early warning system vehicle from car and neighbouring other, and is provided with early warning information Tip element.
Described vehicle risk warning module output alarm signal is to seat vibration unit, steering wheel vibration unit and/or automobile audio.
Described vehicle control module comprises the electrical control actuator of steering gear, detent, gas pedal.
A kind of control method based on vehicle risk early warning system:
After step 1, system start, the signal of collection is delivered to Dedicated Short Range Communications, module by vehicle-state acquisition module and driving intention judge module in real time;
The short range communication module communication interaction information of vehicle danger early warning system on step 2, this car Dedicated Short Range Communications, module and neighbouring automobile,
The data message of automobile near this car data signal and reception is delivered to vehicle risk warning module by step 3, short range communication module;
Step 4, vehicle risk warning module determine whether dangerous, and when dangerous, vehicle risk warning module output alarm signal is delivered to vehicle control module to human-computer interaction interface and/or output control signal.
In described step 4, when dangerous, vehicle risk warning module output alarm signal is to seat vibration unit, steering wheel vibration unit and/or automobile audio.
The present invention by Dedicated Short Range Communications, module obtain vehicle data, judge whether to there is potential danger according to vehicle data, compared to general vehicle risk early warning system, vehicle risk early warning system provided by the invention and method more effective.General vehicle risk early warning system, obtain vehicle data and running environment data according to onboard sensor, limit by environmental baseline, some danger cannot make accurate early warning, and vehicle risk early warning system provided by the invention, potential danger can be predicted, remind driver in time, and effectively can controlling vehicle, in order to avoid the generation of traffic hazard.
Accompanying drawing explanation
Below the content that width accompanying drawing every in instructions of the present invention is expressed is briefly described:
Fig. 1 is the vehicle risk early warning system example structure schematic diagram that the present invention is based on collaborative truck;
Fig. 2 is the vehicle risk method for early warning embodiment process flow diagram that the present invention is based on collaborative truck.
Embodiment
As shown in Figure 1, based on the vehicle risk early warning system of collaborative truck, comprise: Dedicated Short Range Communications, (DSRC, DedicatedShortRangeCommunication) module, vehicle-state acquisition module, driving intention judge module, human-computer interaction interface, vehicle risk warning module, vehicle control module.
Modules annexation is as follows:
Vehicle-state acquisition module is arranged on vehicle, is connected with onboard sensor, the data such as collection vehicle position, speed, acceleration (or retarded velocity), course angle.Vehicle location, course angle are obtained by GPS, and the acceleration (or retarded velocity) of vehicle is obtained by gyroscope.
Driving intention judge module is arranged on vehicle, is connected with onboard sensor, and gather the data such as steering angle, steering angle data can obtain from automobile CAN-bus.
Vehicle-state acquisition module and driving intention judge module export induced signal to Dedicated Short Range Communications, module, and Dedicated Short Range Communications, module is arranged on vehicle interior, and other vehicles are within the specific limits communicated by Dedicated Short Range Communications, module.Certain limit (near) refer in the effective signal area of Dedicated Short Range Communications, module, or between vehicle in safe distance, can self-definedly arrange, in the scope of setting, the information that the vehicle risk early warning system on vehicle is gathered by Dedicated Short Range Communications, module interactive vehicle state acquisition module and driving intention judge module.
The signal of collection is delivered to vehicle risk warning module by short range communication module, the information of above-mentioned collection comprises the information of this car vehicle-state acquisition module and the collection of driving intention judge module, also the information of vehicle near being arrived by Dedicated Short Range Communications, module acquires is comprised, by these information, vehicle risk warning module judges whether this car exists potential danger, concrete criterion can oneself setup parameter threshold value, and exports different control commands according to different parameters.
Human-computer interaction interface receives the alarm signal of vehicle risk warning module, human-computer interaction interface display is provided with position, the velocity information of vehicle risk early warning system vehicle from car and neighbouring other, and being provided with early warning information Tip element, Tip element can show this car or face the parameter information of car.
Vehicle control module refers to that Vehicular turn controls and feed speed control, and realized by steering gear and detent, gas pedal, control signal, when determining dangerous, is delivered to vehicle control module by vehicle risk warning module.
In addition, vehicle risk warning module output alarm signal is to seat vibration unit, steering wheel vibration unit and/or automobile audio.According to vehicle risk early warning type and dangerous degree, provide corresponding alarm mode, as seat vibration, steering wheel vibration, buzzer prompting etc.
Control method based on above-mentioned vehicle risk early warning system:
After step 1, system start, the signal of collection is delivered to Dedicated Short Range Communications, module by vehicle-state acquisition module and driving intention judge module in real time; The signal gathered comprises the data such as vehicle location, speed, acceleration (or retarded velocity), course angle;
The short range communication module communication interaction information of vehicle danger early warning system on step 2, this car Dedicated Short Range Communications, module and neighbouring automobile, near refer in the effective signal area of Dedicated Short Range Communications, module, or between vehicle in safe distance, can self-definedly arrange, in the scope of setting;
The data message of automobile near this car data signal and reception is delivered to vehicle risk warning module by step 3, short range communication module;
Step 4, vehicle risk warning module determine whether dangerous, when dangerous, vehicle risk warning module output alarm signal is delivered to vehicle control module to human-computer interaction interface and/or output control signal, in addition, when dangerous, all right output alarm signal of vehicle risk warning module is to seat vibration unit, steering wheel vibration unit and/or automobile audio.
The vehicle data method that the process of vehicle risk warning module receives: (1) vehicle risk warning module, according to the vehicle data received, judges hazard types, as crossing anti-collision warning, early warning etc. of knocking into the back.(2) according to vehicle risk early warning type and dangerous degree, corresponding alarm mode is provided, as seat vibration, steering wheel vibration, buzzer prompting etc.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.
Claims (8)
1. the vehicle risk early warning system based on collaborative truck, it is characterized in that: vehicle-state acquisition module and driving intention judge module are installed in car, described vehicle-state acquisition module and driving intention judge module export induced signal to Dedicated Short Range Communications, module, the signal of collection is delivered to vehicle risk warning module by described short range communication module, early warning signal is delivered to human-computer interaction interface by described vehicle risk warning module, and control signal is delivered to vehicle control module, described Dedicated Short Range Communications, module and the neighbouring vehicle interactive information being provided with vehicle risk early warning system.
2. the vehicle risk early warning system based on collaborative truck according to claim 1, is characterized in that: part or all of in described vehicle-state acquisition module collection vehicle position, speed, acceleration, retarded velocity, course angle data.
3. the vehicle risk early warning system based on collaborative truck according to claim 1, is characterized in that: described driving intention judge module gathers steering angle data.
4. the vehicle risk early warning system based on collaborative truck according to claim 1, it is characterized in that: human-computer interaction interface display is provided with position, the velocity information of vehicle risk early warning system vehicle from car and neighbouring other, and is provided with early warning information Tip element.
5. the vehicle risk early warning system based on collaborative truck according to claim 1 or 4, is characterized in that: described vehicle risk warning module output alarm signal is to seat vibration unit, steering wheel vibration unit and/or automobile audio.
6. the vehicle risk early warning system based on collaborative truck according to claim 1, is characterized in that: described vehicle control module comprises the electrical control actuator of steering gear, detent, gas pedal.
7., based on a control method for the vehicle risk early warning system according to any one of claim 1-6, it is characterized in that:
After step 1, system start, the signal of collection is delivered to Dedicated Short Range Communications, module by vehicle-state acquisition module and driving intention judge module in real time;
The Dedicated Short Range Communications, module communication interactive information of vehicle danger early warning system on step 2, this car Dedicated Short Range Communications, module and neighbouring automobile;
The data message of automobile near this car data signal and reception is delivered to vehicle risk warning module by step 3, short range communication module;
Step 4, vehicle risk warning module determine whether dangerous, and when dangerous, vehicle risk warning module output alarm signal is delivered to vehicle control module to human-computer interaction interface and/or output control signal.
8. control method according to claim 7, is characterized in that: in described step 4, when dangerous, and vehicle risk warning module output alarm signal is to seat vibration unit, steering wheel vibration unit and/or automobile audio.
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| CN201510628120.0A CN105261236A (en) | 2015-09-28 | 2015-09-28 | Vehicle danger early warning system and method based on vehicle cooperation |
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| CN105551306A (en) * | 2016-02-23 | 2016-05-04 | 江苏大学 | Vehicle fleet collision avoidance system and method based on fish streaming |
| CN105810017A (en) * | 2016-04-08 | 2016-07-27 | 江苏大学 | Car-car-communication-based prompt system and method substituting car horns |
| CN105844964A (en) * | 2016-05-05 | 2016-08-10 | 深圳市元征科技股份有限公司 | Vehicle safe driving early warning method and device |
| CN108834434A (en) * | 2016-03-29 | 2018-11-16 | 大众汽车有限公司 | For starting or executing method, equipment and the computer program of collaboration driving maneuver movement |
| CN109584633A (en) * | 2018-12-17 | 2019-04-05 | 安徽江淮汽车集团股份有限公司 | A kind of vehicle collision prewarning Scene realization system and method based on V2X technology |
| US10450001B2 (en) | 2016-08-26 | 2019-10-22 | Crown Equipment Corporation | Materials handling vehicle obstacle scanning tools |
| CN111081045A (en) * | 2019-12-31 | 2020-04-28 | 智车优行科技（上海）有限公司 | Attitude trajectory prediction method and electronic equipment |
| CN111619479A (en) * | 2020-05-20 | 2020-09-04 | 重庆金康赛力斯新能源汽车设计院有限公司 | Driving takeover prompting method, device and system, vehicle-mounted controller and storage medium |
| US10775805B2 (en) | 2016-08-26 | 2020-09-15 | Crown Equipment Limited | Materials handling vehicle path validation and dynamic path modification |
| US10800640B2 (en) | 2016-08-26 | 2020-10-13 | Crown Equipment Corporation | Multi-field scanning tools in materials handling vehicles |
| CN112703540A (en) * | 2018-09-11 | 2021-04-23 | 日产自动车株式会社 | Driving assistance method and driving assistance device |
| CN113345269A (en) * | 2018-12-28 | 2021-09-03 | 北京百度网讯科技有限公司 | Vehicle danger early warning method, device and equipment based on V2X vehicle networking cooperation |
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| CN105551306A (en) * | 2016-02-23 | 2016-05-04 | 江苏大学 | Vehicle fleet collision avoidance system and method based on fish streaming |
| CN108834434B (en) * | 2016-03-29 | 2021-02-09 | 大众汽车有限公司 | Method and apparatus for initiating or executing a coordinated driving maneuver |
| CN108834434A (en) * | 2016-03-29 | 2018-11-16 | 大众汽车有限公司 | For starting or executing method, equipment and the computer program of collaboration driving maneuver movement |
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| CN105810017A (en) * | 2016-04-08 | 2016-07-27 | 江苏大学 | Car-car-communication-based prompt system and method substituting car horns |
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| US11294393B2 (en) | 2016-08-26 | 2022-04-05 | Crown Equipment Corporation | Materials handling vehicle path validation and dynamic path modification |
| US11914394B2 (en) | 2016-08-26 | 2024-02-27 | Crown Equipment Corporation | Materials handling vehicle path validation and dynamic path modification |
| US10775805B2 (en) | 2016-08-26 | 2020-09-15 | Crown Equipment Limited | Materials handling vehicle path validation and dynamic path modification |
| US10800640B2 (en) | 2016-08-26 | 2020-10-13 | Crown Equipment Corporation | Multi-field scanning tools in materials handling vehicles |
| US10597074B2 (en) | 2016-08-26 | 2020-03-24 | Crown Equipment Corporation | Materials handling vehicle obstacle scanning tools |
| US11447377B2 (en) | 2016-08-26 | 2022-09-20 | Crown Equipment Corporation | Multi-field scanning tools in materials handling vehicles |
| US10450001B2 (en) | 2016-08-26 | 2019-10-22 | Crown Equipment Corporation | Materials handling vehicle obstacle scanning tools |
| CN112703540B (en) * | 2018-09-11 | 2022-06-07 | 日产自动车株式会社 | Driving assistance method and driving assistance device |
| CN112703540A (en) * | 2018-09-11 | 2021-04-23 | 日产自动车株式会社 | Driving assistance method and driving assistance device |
| CN109584633A (en) * | 2018-12-17 | 2019-04-05 | 安徽江淮汽车集团股份有限公司 | A kind of vehicle collision prewarning Scene realization system and method based on V2X technology |
| CN113345269A (en) * | 2018-12-28 | 2021-09-03 | 北京百度网讯科技有限公司 | Vehicle danger early warning method, device and equipment based on V2X vehicle networking cooperation |
| CN113345269B (en) * | 2018-12-28 | 2022-11-08 | 北京百度网讯科技有限公司 | Vehicle danger early warning method, device and equipment based on V2X vehicle networking cooperation |
| CN111081045A (en) * | 2019-12-31 | 2020-04-28 | 智车优行科技（上海）有限公司 | Attitude trajectory prediction method and electronic equipment |
| CN111619479A (en) * | 2020-05-20 | 2020-09-04 | 重庆金康赛力斯新能源汽车设计院有限公司 | Driving takeover prompting method, device and system, vehicle-mounted controller and storage medium |
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