CN105741543B - The method and device of traffic safety early warning - Google Patents
The method and device of traffic safety early warning Download PDFInfo
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- CN105741543B CN105741543B CN201610066291.3A CN201610066291A CN105741543B CN 105741543 B CN105741543 B CN 105741543B CN 201610066291 A CN201610066291 A CN 201610066291A CN 105741543 B CN105741543 B CN 105741543B
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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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Abstract
The present embodiments relate to a kind of traffic safety method for early warning, for driving vehicle, it is characterised in that the described method includes：Vehicle traveling lane information, driving vehicle width and real-time vehicle running information are obtained, the lane information includes track line width, and the real-time vehicle running information includes the speed of time and driving vehicle；The maximum transversal that vehicle relative initial position in transformation period section is calculated according to the real-time vehicle running information of acquisition changes distance；Driving behavior at the end of a transformation period section is judged according to maximum transversal change distance, vehicle traveling lane information and driving vehicle width, and safe driving behavior is determined whether according to the driving behavior；When the driving behavior judged is unsafe driving behavior, then traffic safety early warning is exported, or send thermoacoustic prime engine signal and the driving vehicle is controlled.
Description
Technical field
The present invention relates to field of automobile safety, more particularly to a kind of method and device of traffic safety early warning.
Background technology
With economic development and the improvement of people's living standards, the quantity of automobile is more and more, the complexity of road
Increasingly severe, traffic safety is just into an important problem, and the driving of S types is the key factor to cause the accident, and S
Type is driven a vehicle, and some are probably caused by due to fatigue driving, more dangerous.However, there is presently no carry out S type rows for vehicle
The safe early warning carried out in terms of car, and driving behavior are reminded.
The content of the invention
The present invention provides a kind of traffic safety method for early warning and device, according to the maximum transversal distance in transformation period section
To determine whether needing early warning, the safety of driving ensure that.
In a first aspect, the present invention provides a kind of traffic safety method for early warning, for driving vehicle, the method bag
Include：
Obtaining vehicle traveling lane information, driving vehicle width and real-time vehicle running information, the lane information includes
Track line width, the real-time vehicle running information include the speed of time and driving vehicle；
It is horizontal that vehicle maximum of relative initial position in transformation period section is calculated according to the real-time vehicle running information of acquisition
To change distance；
Judged according to maximum transversal change distance, vehicle traveling lane information and driving vehicle width in a transformation period section
At the end of driving behavior, and safe driving behavior is determined whether according to the driving behavior；
When the driving behavior judged is unsafe driving behavior, then traffic safety early warning is exported, or send row
Car control signal is controlled the driving vehicle.
In second aspect, the present invention provides a kind of traffic safety prior-warning device, for driving vehicle, described device bag
Include：
Acquisition module, processing module, analysis judgment module and output module；
The acquisition module, for obtaining vehicle traveling lane information, driving vehicle width and real-time vehicle running information,
The lane information includes track line width, and the real-time vehicle running information includes the speed of time and driving vehicle；
The processing module, vehicle is calculated for the vehicle traveling lane information according to acquisition and real-time vehicle running information
The maximum transversal change distance of relative initial position in transformation period section；
The analysis judgment module, for changing Distance Judgment driving at the end of a transformation period section according to maximum transversal
Behavior is sailed, and safe driving behavior is determined whether according to the driving behavior；
The output module, for when the driving behavior judged is unsafe driving behavior, then exporting traffic safety
Early warning, or send thermoacoustic prime engine signal and the driving vehicle is controlled.
Therefore, by applying traffic safety method for early warning provided by the invention, vehicle traveling lane information to acquisition, OK
Sail vehicle width and real-time vehicle running information is handled, to analyze the driving behavior in transformation period section, and judge current
Whether the driving behavior in transformation period section is safe driving behavior, when for unsafe driving behavior when, then send traffic safety
Early warning, or send thermoacoustic prime engine signal and the driving vehicle is controlled.It ensure that the safety of driver and vehicle, drop
The probability that low vehicle is caused danger due to walking the unsafe driving behaviors such as S types curve, fatigue driving.
Brief description of the drawings
Fig. 1 is a kind of traffic safety method for early warning flow chart provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram that vehicle provided in an embodiment of the present invention walks S type curves；
Fig. 3 is a kind of traffic safety prior-warning device schematic diagram provided in an embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiment be the present invention
Part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
All other embodiments obtained under the premise of creative work are made, belong to the scope of protection of the invention.
For ease of the understanding to the embodiment of the present invention, it is further explained below in conjunction with attached drawing with specific embodiment
Bright, embodiment does not form the restriction to the embodiment of the present invention.
Embodiment that the present invention will be described in detail by taking Fig. 1 as an example below provide traffic safety method for early warning, and please in combination with
With reference to figure 2, subject of implementation is a comprehensive treatment equipment in embodiments of the present invention.As shown in Figure 1, the embodiment specifically include with
Lower step 110- steps 140：
Step 110, obtain vehicle traveling lane information, driving vehicle width W1And real-time vehicle running information；
In the present embodiment, the lane information includes track line width W, and the real-time vehicle running information includes the time
And the speed of driving vehicle.Wherein, line width W in track is bicycle road width.
In the present embodiment, the comprehensive treatment device from the car-mounted terminal of vehicle with fixed frequency (such as 5Hz) from controller
Local area network obtains the current vehicle speed of the driving vehicle.
In other embodiments, the comprehensive treatment device directly obtains working as the driving vehicle by acceleration transducer
Preceding speed.
Step 120, according to the vehicle traveling information of acquisition calculate vehicle in transformation period section maximum transversal change away from
From.The maximum transversal change distance deviates for maximum transversal when driving vehicle deviates initial position in a transformation period section
Amount.In one embodiment, the initial position of vehicle carves the position where the center line of vehicle for vehicle at the beginning.
Please refer to Fig. 2 below, in the present embodiment, by taking driving vehicle completes once complete S types traveling as an example into
Row explanation.
The initial time of transformation period section, vehicle with uniform velocity in the road between travel, at this time, left and right body side is away from correspondence
Distance away from left and right lane line is (W-W1)/2；From the t1 moment to the t2 moment, vehicle is turned right with speed S, and vehicle is from current vehicle
Road left side distance becomes larger, and is tapered into a distance from current lane the right, and at the t2 moment, vehicle presses the right car of current lane
Diatom, vehicle is W-W with a distance from the left lane line of current vehicle at this time1, it is zero with a distance from the lane line of the right；Vehicle after
Continuous to turn left traveling to the t3 moment with speed S, at the t3 moment, the maximum transversal that vehicle has reached this complete curve shape traveling is inclined
From point, the process of original lane position is returned back to for vehicle from the t3 moment to the t5 moment, it is substantially from the t1 moment to the t3 moment
Reverse process, details are not described herein.This embodiment is said exemplified by a S type curve driving occurs in transformation period section
It is bright, it is therefore apparent that if occurring multiple maximum transversal deviation distance in transformation period section, to illustrate occur in this transformation period section
Multiple S types curve driving, can according to the frequency of S type curve drivings to determine whether fatigue driving etc..
Step 130, judge in a change according to maximum transversal change distance, vehicle traveling lane information and driving vehicle width
Change the driving behavior at the end of the period, and export the driving behavior result；
In the present embodiment, when maximum transversal change distance arrives (W-W 01) between when changing, then export normal driving
Behavioural analysis is as a result, i.e., it is believed that vehicle simply in a track, does slight oscillatory, belong to normal driving back and forth.
When maximum transversal change distance is always close to W-W1During change, then output is done in current lane puts by a relatively large margin
Dynamic driving behavior is as a result, i.e., it is believed that vehicle still in a track, does swing by a relatively large margin back and forth；If maximum transversal
There is repeatedly keeping a period of time close to W-W in transformation period section in change distance1Situation of change, then the driving behavior exported
To drive unskilled or fatigue driving；Otherwise driving behavior is normally travel.
When maximum transversal changes distance in W-W1To W-W1When changing between+W ÷ 2, then the driving behavior that discriminatory analysis goes out is
Vehicle is crossed over to closing on track and ride line traveling, and the absent-minded or fatigue driving behavior without lane change with the short time.
When maximum transversal changes distance in W-W1+ W ÷ 2 arrive W-W1When changing between+W, then the driving behavior exported is lane change
Drive, i.e. think that vehicle has passed over and close on track, complete lane change process, belong to the conscious lane change of driver and drive,
If transformation period section is less than default threshold value, and occurrence number maximum transversal changes distance in transformation period section, then defeated
The driving behavior gone out drives for continuous lane change, and the driving behavior otherwise exported is normal lane change passing behavior.
The driving behavior output warning information that step 140, basis are judged, when the driving behavior judged is dangerous row
Then to export traffic safety early warning, or send thermoacoustic prime engine signal and the driving vehicle is controlled.The early warning carries
It is shown as sending corresponding sound according to corresponding driving behavior or the corresponding image of display is prompted, it is described to send thermoacoustic prime engine letter
Number the driving vehicle being controlled can be to control vehicle to stop with control information such as brakes.
In the present embodiment, it is defeated when driving behavior is drives unskilled, fatigue driving, continuous lane change or walk S type curves
Go out safe early warning prompting or or send thermoacoustic prime engine signal the driving vehicle is controlled.
Therefore, by applying traffic safety method for early warning provided by the invention, vehicle traveling lane information to acquisition, OK
Sail vehicle width and real-time vehicle running information is handled, to analyze the driving behavior in transformation period section, and judge current
Whether the driving behavior in transformation period section is safe driving behavior, when for unsafe driving behavior when, then send traffic safety
Early warning, or send thermoacoustic prime engine signal and the driving vehicle is controlled.It ensure that the safety of driver and vehicle, drop
The probability that low vehicle is caused danger due to walking the unsafe driving behaviors such as S types curve, fatigue driving.
Traffic safety method for early warning can be achieved in the method for above-described embodiment description, and correspondingly, present invention also offers one
Kind traffic safety prior-warning device, to realize the traffic safety method for early warning provided in previous embodiment.
Fig. 3 is a kind of traffic safety prior-warning device schematic diagram provided in an embodiment of the present invention.
Please refer to Fig.3, in a preferred embodiment of traffic safety prior-warning device of the present invention, described device includes：Obtain mould
Block 410, processing module 420, analysis judgment module 430 and output module 440.
In the present embodiment, acquisition module 410 that described device includes, for obtaining vehicle traveling lane information, Travel vehicle
Width W1And real-time vehicle running information；
In the present embodiment, the lane information includes track line width W, and the real-time vehicle running information includes the time
And the speed of driving vehicle.Wherein, line width W in track is bicycle road width.
In the present embodiment, the comprehensive treatment device from the car-mounted terminal of vehicle with fixed frequency (such as 5Hz) from controller
Local area network obtains the current vehicle speed of the driving vehicle.
In other embodiments, the comprehensive treatment device directly obtains working as the driving vehicle by acceleration transducer
Preceding speed.
The processing module 420, for according to the vehicle traveling information of acquisition calculate vehicle in transformation period section most
Big cross directional variations distance.When the maximum transversal change distance is the driving vehicle deviation initial position in a transformation period section
The maximum lateral displacement.In one embodiment, where the initial position of vehicle carves the center line of vehicle at the beginning for vehicle
Position.
Please refer to Fig. 2 below, in the present embodiment, by taking driving vehicle completes once complete S types traveling as an example into
Row explanation.
The initial time of transformation period section, vehicle with uniform velocity in the road between travel, at this time, left and right body side is away from correspondence
Distance away from left and right lane line is (W-W1)÷2；From the t1 moment to the t2 moment, vehicle is turned right with speed S, and vehicle is from current vehicle
Road left side distance becomes larger, and is tapered into a distance from current lane the right, and at the t2 moment, vehicle presses the right car of current lane
Diatom, vehicle is W-W with a distance from the left lane line of current vehicle at this time1, it is zero with a distance from the lane line of the right；Vehicle after
Continuous to turn left traveling to the t3 moment with speed S, at the t3 moment, the maximum transversal that vehicle has reached this complete curve shape traveling is inclined
From point, the process of original lane position is returned back to for vehicle from the t3 moment to the t5 moment, it is substantially from the t1 moment to the t3 moment
Reverse process, details are not described herein.This embodiment is said exemplified by a S type curve driving occurs in transformation period section
It is bright, it is therefore apparent that if occurring multiple maximum transversal deviation distance in transformation period section, to illustrate occur in this transformation period section
Multiple S types curve driving, can according to the frequency of S type curve drivings to determine whether fatigue driving etc..
The analysis judgment module 430, for according to maximum transversal change distance, vehicle traveling lane information and Travel vehicle
Width judges the driving behavior at the end of a transformation period section, and exports the driving behavior result；
In the present embodiment, when maximum transversal change distance arrives (W-W 01) between when changing, then export normal driving
Behavioural analysis is as a result, i.e., it is believed that vehicle simply in a track, does slight oscillatory, belong to normal driving back and forth.
When maximum transversal change distance is always close to (W-W1) change when, then output done by a relatively large margin in current lane
The driving behavior of swing is as a result, i.e., it is believed that vehicle still in a track, does swing by a relatively large margin back and forth；It is if maximum horizontal
Occurs repeatedly keeping a period of time in transformation period section close to (W-W to change distance1) situation of change, then the driving exported
Behavior is the unskilled or fatigue driving of driving；Otherwise driving behavior is normally travel.
When maximum transversal changes distance in W-W1To W-W1When changing between+W ÷ 2, then the driving behavior that discriminatory analysis goes out is
Vehicle is crossed over to closing on track and ride line traveling, and the absent-minded or fatigue driving behavior without lane change with the short time.
When maximum transversal changes distance in W-W1+ W ÷ 2 arrive W-W1When changing between+W, then the driving behavior exported is lane change
Drive, i.e. think that vehicle has passed over and close on track, complete lane change process, belong to the conscious lane change of driver and drive,
If transformation period section is less than default threshold value, and occurrence number maximum transversal changes distance in transformation period section, then defeated
The driving behavior gone out drives for continuous lane change, and the driving behavior otherwise exported is normal lane change passing behavior.
The output module 440, for exporting warning information according to the driving behavior judged, when the driving row judged
For unsafe acts, then to export traffic safety early warning, or send thermoacoustic prime engine signal and the driving vehicle is controlled
System.The early warning is to send corresponding sound according to corresponding driving behavior or show that corresponding image is prompted, described
It can be to control vehicle to stop with control information such as brakes to send thermoacoustic prime engine signal and the driving vehicle is controlled.
In the present embodiment, it is defeated when driving behavior is drives unskilled, fatigue driving, continuous lane change or walk S type curves
Go out safe early warning prompting or or send thermoacoustic prime engine signal the driving vehicle is controlled.
Therefore, by applying traffic safety method for early warning provided by the invention, vehicle traveling lane information to acquisition, OK
Sail vehicle width and real-time vehicle running information is handled, to analyze the driving behavior in transformation period section, and judge current
Whether the driving behavior in transformation period section is safe driving behavior, when for unsafe driving behavior when, then send traffic safety
Early warning, or send thermoacoustic prime engine signal and the driving vehicle is controlled.It ensure that the safety of driver and vehicle, drop
The probability that low vehicle is caused danger due to walking the unsafe driving behaviors such as S types curve, fatigue driving.
Above-described embodiment, has carried out the purpose of the present invention, technical solution and beneficial effect further
Describe in detail, it should be understood that the foregoing is merely the embodiment of the present invention, be not intended to limit the present invention
Protection domain, all on the basis of technical scheme, any modification, equivalent substitution, improvement and etc. done, should all wrap
It is contained within protection scope of the present invention.
Claims (5)
- A kind of 1. traffic safety method for early warning, for driving vehicle, it is characterised in that the described method includes：Obtaining vehicle traveling lane information, driving vehicle width and real-time vehicle running information, the lane information includes track Line width, the real-time vehicle running information include the speed of time and driving vehicle；The maximum transversal that vehicle relative initial position in transformation period section is calculated according to the real-time vehicle running information of acquisition becomes Change distance；Judge to terminate in a transformation period section according to maximum transversal change distance, vehicle traveling lane information and driving vehicle width When driving behavior, and safe driving behavior is determined whether according to the driving behavior；When the driving behavior judged is unsafe driving behavior, then traffic safety early warning is exported, or send driving control Signal processed is controlled the driving vehicle,Wherein when maximum transversal change distance arrives W-W 01Between when changing, the driving behavior result is normal driving, wherein W Represent bicycle road width, W1Overall width is represented, when maximum transversal changes distance in W-W1To W-W1When changing between+W ÷ 2, then judge The driving behavior analyzed is crossed over to closing on track and ride line traveling with the short time for vehicle, and absent-minded or tired without lane change Labor driving behavior.
- 2. traffic safety method for early warning according to claim 1, it is characterised in that when maximum transversal change distance exists always Close to W-W1During change, then export driving vehicle and the driving behavior result swung by a relatively large margin is done in current lane.
- 3. traffic safety method for early warning according to claim 1, it is characterised in that when maximum transversal changes distance in W-W1+ W ÷ 2 arrive W-W1When changing between+W, then the driving behavior exported drives for lane change, is preset when the transformation period section is less than one Threshold value, and the number that maximum transversal change distance occurs in transformation period section is more than 1, then and the driving behavior exported is continuous Lane change drives, and the driving behavior otherwise exported is normal lane change passing behavior.
- A kind of 4. traffic safety prior-warning device, for driving vehicle, it is characterised in that described device includes：Acquisition module, processing Module, analysis judgment module and output module；The acquisition module, it is described for obtaining vehicle traveling lane information, driving vehicle width and real-time vehicle running information Lane information includes track line width, and the real-time vehicle running information includes the speed of time and driving vehicle；The processing module, calculates vehicle for the vehicle traveling lane information according to acquisition and real-time vehicle running information and is becoming Change the maximum transversal change distance of relative initial position in the period；The analysis judgment module, for changing driving row of the Distance Judgment at the end of a transformation period section according to maximum transversal For, and safe driving behavior is determined whether according to the driving behavior；The output module, for when the driving behavior judged is unsafe driving behavior, then exporting traffic safety early warning Prompting, or send thermoacoustic prime engine signal and the driving vehicle is controlled,Wherein when maximum transversal change distance arrives W-W 01Between when changing, the driving behavior knot of the analysis judgment module output Fruit is normal driving, and wherein W represents bicycle road width, W1Overall width is represented, when maximum transversal changes distance in W-W1To W-W1+W÷ When changing between 2, then the driving behavior that goes out of analysis judgment module discriminatory analysis for vehicle cross over to close on track and with Short time rides line traveling, and the absent-minded or fatigue driving behavior without lane change.
- 5. traffic safety prior-warning device according to claim 4, it is characterised in that when maximum transversal change distance exists always Close to W-W1During change, then the driving behavior knot swung by a relatively large margin is done in the analysis judgment module output in current lane Fruit；When maximum transversal changes distance in W-W1+ W ÷ 2 arrive W-W1When changing between+W, then the driving behavior exported is driven for lane change Sail, when the transformation period section is less than a predetermined threshold value, and time that maximum transversal change distance occurs in transformation period section Number is more than 1, then the driving behavior exported drives for continuous lane change, and the driving behavior otherwise exported is that normal lane change is overtaken other vehicles row For.
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