CN105844964A - Vehicle safe driving early warning method and device - Google Patents
Vehicle safe driving early warning method and device Download PDFInfo
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- CN105844964A CN105844964A CN201610293680.XA CN201610293680A CN105844964A CN 105844964 A CN105844964 A CN 105844964A CN 201610293680 A CN201610293680 A CN 201610293680A CN 105844964 A CN105844964 A CN 105844964A
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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
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
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Abstract
The invention is suitable for the field of vehicle safe driving early warning, and provides a vehicle safe driving early warning method and device. The vehicle safe driving early warning method comprises the steps that vehicle real-time state data are transmitted by adopting a vehicle-mounted dedicated short range communication DSRC mode, wherein the vehicle real-time state data include one or combination of the global navigation satellite system SNSS position, the acceleration sensor data, the gyroscope sensor data, the image sensor data, the radar sensor data and the inertial navigation system data of a vehicle; surrounding vehicle real-time state data are received by adopting the vehicle-mounted dedicated short range communication mode, wherein the surrounding vehicle real-time state data include one or combination of the GNSS position and the acceleration sensor and gyroscope sensor data of surrounding vehicles; and safe driving early warning is performed on the vehicle according to the vehicle real-time state data and the surrounding vehicle real-time state data. Accurate early warning can be performed on vehicle safe driving so that traffic accidents can be avoided.
Description
Technical field
The invention belongs to safe driving of vehicle early warning field, particularly relate to a kind of safe driving of vehicle method for early warning
And device.
Background technology
In intelligent transportation evolution, it is achieved accurately the automatic Pilot of highly effective and safe is the ultimate mesh of intelligent transportation
Mark.Automatic Pilot primary goal is exactly to realize the tight security of car steering, finds potential security incident,
Provide alert accurately and drive auxiliary in time, effectively evading accident and planning driving path.
But, current safe driving of vehicle early warning system, it is impossible to safe driving of vehicle is carried out the most pre-
Alert, it is unfavorable for evading vehicle accident.Its reason is, current safe driving of vehicle early warning system, typically
It is all with a kind of single judgement driving safety alarm mode non-effective, comprehensive, drives for fast-changing
Sail that environment, complex environment, vehicle flowrate be relatively big, high velocity environment, burst accident etc. cannot make effective early warning
And planning behavior, in particular under domestic communication road complex situations, more cannot be suitable for.
Summary of the invention
The purpose of the embodiment of the present invention is to provide a kind of safe driving of vehicle method for early warning, it is intended to solve at present
Safe driving of vehicle early warning system, it is impossible to safe driving of vehicle is carried out accurately early warning, is unfavorable for evading
The problem of vehicle accident.
The embodiment of the present invention is achieved in that a kind of safe driving of vehicle method for early warning, including:
Using vehicle-mounted short range communication mode, send vehicle real-time status data, described vehicle is real
Time status data include the GNSS location of vehicle, acceleration transducer data, gyro sensor number
According to, one or a combination set of vision sensor data, radar sensor data, high data；
Using vehicle-mounted short range communication mode, receive surrounding vehicles real-time status data, described surrounding vehicles is real
Time status data include the GNSS location of surrounding vehicles, acceleration transducer, gyroscope sensor data it
One or a combination thereof；
According to described vehicle real-time status data and described surrounding vehicles real-time status data, to self
Vehicle carries out safe driving early warning.
The another object of the embodiment of the present invention is to provide a kind of safe driving of vehicle prior-warning device, including:
Vehicle real-time status data transmission blocks, is used for using vehicle-mounted short range communication mode, sends certainly
Body vehicle real-time status data, described vehicle real-time status data include vehicle GNSS location,
Acceleration transducer data, gyroscope sensor data, vision sensor data, radar sensor data,
One or a combination set of high data；
Surrounding vehicles real-time status data reception module, is used for using vehicle-mounted short range communication mode, receives week
Enclose vehicle real-time status data, described surrounding vehicles real-time status data include surrounding vehicles GNSS location,
One or a combination set of acceleration transducer, gyroscope sensor data；
Safe driving warning module, for according to described vehicle real-time status data and described surrounding car
Real-time status data, carry out safe driving early warning to vehicle.
In embodiments of the present invention, real according to described vehicle real-time status data and described surrounding vehicles
Time status data, vehicle is carried out safe driving early warning, solves current safe driving of vehicle early warning
System, it is impossible to safe driving of vehicle is carried out accurately early warning, is unfavorable for evading the problem of vehicle accident.Have
Benefit effect is four aspects, and details are as follows:
First aspect, utilizes DSRC communication to realize rapidly and efficiently high-speed secure vehicle environment data interaction, its
Speed reaches the exchange rate of 50ms-200ms, and communication performance is preferable, effectively overcomes Doppler effect with many
Footpath effect, communication distance (more than 400 meters) farther out, effectively meet vehicle safety event early warning demand.
Second aspect, GNSS combines inertial navigation and accurately determines vehicle location and track, solves and believes at GNSS
Location, number poor area and track demand, and by this locality CAN data, GNSS track data are passed through
DSRC communication cycle is quickly sent to surrounding vehicles.
The third aspect, vehicle is by comparison this locality CAN, local GNSS, local image/radar/used
Lead and surrounding vehicles CAN/GNSS accurately judges and early warning.
Fourth aspect, can compare comprehensively, accurately cover security incident potential outside in the visual field and the visual field, energy
Process emergency in time, sound a warning simultaneously and assist driving, be conducive to evading vehicle accident.
Accompanying drawing explanation
Fig. 1 is the flowchart of the safe driving of vehicle method for early warning that the embodiment of the present invention provides；
Fig. 2 is the flowchart that the embodiment of the present invention describes storage vehicle real-time status data；
Fig. 3 be the embodiment of the present invention provide safe driving of vehicle method for early warning step S103 realize flow process
Figure；
Fig. 4 be the embodiment of the present invention provide safe driving of vehicle method for early warning step S303 realize flow process
Figure；
Fig. 5 be the embodiment of the present invention provide safe driving of vehicle method for early warning step S304 realize flow process
Figure；
Fig. 6 is the preferred construction figure of the safe driving of vehicle prior-warning device that the embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
Embodiment one
Fig. 1 is the flowchart of the safe driving of vehicle method for early warning that the embodiment of the present invention provides, and describes in detail such as
Under:
In step S101, use vehicle-mounted short range communication mode DSRC, send vehicle real-time status
Data, described vehicle real-time status data include the global navigation satellite system GNSS position of vehicle
Put, acceleration transducer data, gyroscope sensor data, vision sensor data, radar sensor number
According to one or a combination set of, high data；
In step s 102, use vehicle-mounted short range communication mode, receive surrounding vehicles real-time status data,
Described surrounding vehicles real-time status data include the GNSS location of surrounding vehicles, acceleration transducer, gyro
One or a combination set of instrument sensing data；
Wherein, surrounding vehicles is arbitrary vehicle of surrounding vehicles.
In step s 103, real-time according to described vehicle real-time status data and described surrounding vehicles
Status data, carries out safe driving early warning to vehicle.
Step S103, particularly as follows:
Described vehicle real-time status data and described surrounding vehicles real-time status data are carried out score
Analysis, according to analysis result, uses the High Resolution Ground Map preset, performs time of origin and urgency level pair
The safe driving of vehicle early warning operation answered, safe driving of vehicle early warning operates.
Wherein, described vehicle real-time status data and described surrounding vehicles real-time status data are carried out right
Than analyzing, particularly as follows:
According to DSRC communication unpacked data, obtain the gps data of surrounding vehicles, prediction data, sensor
Data；
By the gps data of the sensing data of vehicle, GNSS track and prediction data and surrounding vehicles,
Prediction data, sensing data comparison.
Wherein, safe driving of vehicle method for early warning, also include:
Wherein, the tables of data of surrounding vehicles is safeguarded, it is judged that whether each car can occur safe thing with vehicle
Part, and potential threat is classified according to model algorithm, data are reported to security threat module to be estimated；
According to radar mockup detection, graphics environment perception and target recognition, local and remote vehicle sensors number
According to comparison, map/GNSS/ location track comparing, set up safe driving of vehicle early warning framework.
By safe driving of vehicle early warning framework, vehicle is carried out safe driving early warning.
Wherein, safe driving of vehicle method for early warning, also include:
Configuration hazard event informing function, hazard event informing function, particularly as follows:
On screen, by display map, caution sign, sound, accident dynamic schematic diagram, notify safety
Accident and grade.
In embodiments of the present invention, vehicle-mounted short range communication mode (Dedicated Short Range
Communications, DSRC) communicating makes data energy mutual in the case of visual field environment is poor in time,
GNSS and inertia scheme can effectively inform the movement locus of surrounding vehicles itself, and overcome Global Satellite to lead
Trajectory error in the case of boat system (Global Navigation Satellite System, GNSS) signal difference,
Image/radar scheme accurately solves the collision accidents such as pedestrian/barrier, and accurate mapping information helps auxiliary to drive
And path planning, vehicle passes through CAN, and the vehicle condition information that can obtain vehicle in time is concurrent
To surrounding vehicles, it is achieved that safe driving of vehicle event early warning and auxiliary are driven.
Embodiment two
Fig. 2 is the flowchart that the embodiment of the present invention describes storage vehicle real-time status data, describes in detail such as
Under:
In step s 201, use the vehicle real-time status back end pre-created, store vehicle
Real-time status data；
In step S202, use the surrounding vehicles real-time status back end pre-created, store surrounding vehicles
Real-time status data.
Embodiment three
Fig. 3 be the embodiment of the present invention provide safe driving of vehicle method for early warning step S103 realize flow process
Figure, details are as follows:
In step S301, according to vehicle real-time status data, generate the security incident of vehicle；
In step s 302, according to surrounding vehicles real-time status data, the security incident of surrounding vehicles is generated；
In step S303, when the security incident of vehicle and the security incident of surrounding vehicles are same safety
During event, determine time of origin and the urgency level of the security incident of vehicle；
Judge whether the security incident of vehicle and the security incident of surrounding vehicles exist overlapped contents, if depositing
At overlapped contents, represent that the security incident of vehicle and the security incident of surrounding vehicles are same security incident.
In step s 304, use the High Resolution Ground Map preset, perform time of origin and urgency level pair
The safe driving of vehicle early warning operation answered, safe driving of vehicle early warning operation includes automatically alerting, assist driving,
Automatically evade, any operation in path planning.
Embodiment four
Fig. 4 be the embodiment of the present invention provide safe driving of vehicle method for early warning step S303 realize flow process
Figure, details are as follows:
In step S401, when the security incident of vehicle and the security incident of surrounding vehicles are same safety
During event, obtain relative velocity, relative acceleration and correlative positional relation；
In step S402, according to relative velocity, relative acceleration and correlative positional relation, determine safety
The time of origin of event and urgency level.
Embodiment five
Fig. 5 be the embodiment of the present invention provide safe driving of vehicle method for early warning step S304 realize flow process
Figure, details are as follows:
In step S501, to time of origin and urgency level, carry out grade classification and assessment；
Wherein, according to grade classification and assessment table, time of origin and urgency level are carried out grade classification and
Assessment.
Grade classification include with assessment table the time of origin that different brackets, different brackets are corresponding, different assessment,
The urgency level that different assessments are corresponding.
In step S502, when grade classification and assessment are danger, use the High Resolution Ground Map preset,
Perform time of origin and urgency level corresponding safe driving of vehicle early warning operation, safe driving of vehicle early warning
Operation includes automatically alerting, assist driving, automatically evade, any operation in path planning.
Embodiment six
Fig. 6 is the preferred construction figure of the safe driving of vehicle prior-warning device that the embodiment of the present invention provides, this device
Can run in car-mounted terminal.Car-mounted terminal include but not limited to drive recorder, mobile phone, panel computer,
Notebook computer.For convenience of description, illustrate only part related to the present embodiment.
Reference Fig. 6, this safe driving of vehicle prior-warning device, including:
Vehicle real-time status data transmission blocks 61, is used for using vehicle-mounted short range communication mode, sends
Vehicle real-time status data, described vehicle real-time status data include the GNSS position of vehicle
Put, acceleration transducer data, gyroscope sensor data, vision sensor data, radar sensor number
According to one or a combination set of, high data；
Surrounding vehicles real-time status data reception module 62, is used for using vehicle-mounted short range communication mode, receives
Surrounding vehicles real-time status data, described surrounding vehicles real-time status data include the GNSS position of surrounding vehicles
Put, one or a combination set of acceleration transducer, gyroscope sensor data；
Safe driving warning module 63, for according to described vehicle real-time status data and described surrounding
Vehicle real-time status data, carry out safe driving early warning to vehicle.
As a kind of implementation of the present embodiment, in described safe driving of vehicle prior-warning device, described
Safe driving of vehicle prior-warning device also includes:
Vehicle real-time status data memory module, for using the vehicle real-time status number pre-created
According to node, store vehicle real-time status data；
Surrounding vehicles real-time status data memory module, for using the surrounding vehicles real-time status number pre-created
According to node, store surrounding vehicles real-time status data.
As a kind of implementation of the present embodiment, in described safe driving of vehicle prior-warning device, described
Safe driving warning module, also includes:
First signal generating unit, for according to vehicle real-time status data, generating the safe thing of vehicle
Part；
Second signal generating unit, for according to surrounding vehicles real-time status data, generating the safe thing of surrounding vehicles
Part；
Determine unit, be used for when the security incident of vehicle and the security incident of surrounding vehicles are same safety
During event, determine time of origin and the urgency level of the security incident of vehicle；
Performance element, for using default High Resolution Ground Map, performs time of origin and urgency level pair
The safe driving of vehicle early warning operation answered, safe driving of vehicle early warning operation includes automatically alerting, assist driving,
Automatically evade, any operation in path planning.
As a kind of implementation of the present embodiment, in described safe driving of vehicle prior-warning device, described
Determine unit, including:
Obtain subelement, be used for when the security incident of vehicle and the security incident of surrounding vehicles are same peace
During total event, obtain relative velocity, relative acceleration and correlative positional relation；
Determine subelement, for when according to relative velocity, relative acceleration and correlative positional relation, determining
The time of origin of security incident and urgency level.
As a kind of implementation of the present embodiment, in described safe driving of vehicle prior-warning device, described
Performance element, also includes:
Grade classification and assessment subelement, for time of origin and urgency level, carry out grade classification and
Assessment；
Perform subelement, for when grade classification and assessment are danger, use the high-resolution ground preset
The safe driving of vehicle early warning operation that figure, execution time of origin and urgency level are corresponding, safe driving of vehicle
Early warning operation includes automatically alerting, assist driving, automatically evade, any operation in path planning.
The device that the embodiment of the present invention provides can be applied in the embodiment of the method for aforementioned correspondence, and details see
The description of above-described embodiment, does not repeats them here.
Through the above description of the embodiments, those skilled in the art is it can be understood that arrive this
Bright can add the mode of required common hardware by software and realize.Described program can be stored in and can read
In storage medium, described storage medium, as random access memory, flash memory, read only memory, able to programme
Read memorizer, electrically erasable programmable memorizer, depositor etc..This storage medium is positioned at memorizer, processes
Device reads the information in memorizer, performs the method described in each embodiment of the present invention in conjunction with its hardware.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited to
This, any those familiar with the art, in the technical scope that the invention discloses, can readily occur in
Change or replacement, all should contain within protection scope of the present invention.Therefore, protection scope of the present invention
Should be as the criterion with scope of the claims.
Claims (10)
1. a safe driving of vehicle method for early warning, it is characterised in that including:
Use vehicle-mounted short range communication mode DSRC, send vehicle real-time status data, described self
Vehicle real-time status data include the global navigation satellite system GNSS position of vehicle, acceleration sensing
Device data, gyroscope sensor data, vision sensor data, radar sensor data, inertial navigation system
One or a combination set of system data；
Using vehicle-mounted short range communication mode, receive surrounding vehicles real-time status data, described surrounding vehicles is real
Time status data include the GNSS location of surrounding vehicles, acceleration transducer, gyroscope sensor data it
One or a combination thereof；
According to described vehicle real-time status data and described surrounding vehicles real-time status data, to self
Vehicle carries out safe driving early warning.
2. safe driving of vehicle method for early warning as claimed in claim 1, it is characterised in that described vehicle is pacified
Full driving warning method, including:
Use the vehicle real-time status back end pre-created, store vehicle real-time status data；
Use the surrounding vehicles real-time status back end pre-created, store surrounding vehicles real-time status data.
3. safe driving of vehicle method for early warning as claimed in claim 1, it is characterised in that described according to institute
State vehicle real-time status data and described surrounding vehicles real-time status data, vehicle is pacified
Entirely drive early warning, particularly as follows:
According to vehicle real-time status data, generate the security incident of vehicle；
According to surrounding vehicles real-time status data, generate the security incident of surrounding vehicles；
When the security incident of vehicle and the security incident of surrounding vehicles are same security incident, determine certainly
The time of origin of the security incident of body vehicle and urgency level；
The vehicle safety using the High Resolution Ground Map preset, execution time of origin and urgency level corresponding is driven
Sail early warning operation, safe driving of vehicle early warning operation includes automatically alerting, assist driving, automatically evade, road
Any operation in the planning of footpath.
4. safe driving of vehicle method for early warning as claimed in claim 3, it is characterised in that described when self
When the security incident of vehicle and the security incident of surrounding vehicles are same security incident, determine the peace of vehicle
The time of origin of total event and urgency level, particularly as follows:
When the security incident of vehicle and the security incident of surrounding vehicles are same security incident, obtain phase
To speed, relative acceleration and correlative positional relation；
According to relative velocity, relative acceleration and correlative positional relation, determine the time of origin of security incident
And urgency level.
5. safe driving of vehicle method for early warning as claimed in claim 3, it is characterised in that described employing is pre-
If High Resolution Ground Map, perform time of origin and urgency level corresponding safe driving of vehicle early warning operation,
Safe driving of vehicle early warning operation includes automatically alerting, assist drivings, automatically evade, in path planning times
One operation, particularly as follows:
To time of origin and urgency level, carry out grade classification and assessment；
When grade classification and assessment are danger, use the High Resolution Ground Map preset, perform time of origin
And the safe driving of vehicle early warning operation that urgency level is corresponding, safe driving of vehicle early warning operation includes automatically
Warning, auxiliary are driven, are automatically evaded, any operation in path planning.
6. a safe driving of vehicle prior-warning device, it is characterised in that including:
Vehicle real-time status data transmission blocks, is used for using vehicle-mounted short range communication mode, sends certainly
Body vehicle real-time status data, described vehicle real-time status data include vehicle GNSS location,
Acceleration transducer data, gyroscope sensor data, vision sensor data, radar sensor data,
One or a combination set of high data；
Surrounding vehicles real-time status data reception module, is used for using vehicle-mounted short range communication mode, receives week
Enclose vehicle real-time status data, described surrounding vehicles real-time status data include surrounding vehicles GNSS location,
One or a combination set of acceleration transducer, gyroscope sensor data；
Safe driving warning module, for according to described vehicle real-time status data and described surrounding car
Real-time status data, carry out safe driving early warning to vehicle.
7. safe driving of vehicle prior-warning device as claimed in claim 6, it is characterised in that described vehicle is pacified
Full prior-warning device of driving also includes:
Vehicle real-time status data memory module, for using the vehicle real-time status number pre-created
According to node, store vehicle real-time status data；
Surrounding vehicles real-time status data memory module, for using the surrounding vehicles real-time status number pre-created
According to node, store surrounding vehicles real-time status data.
8. safe driving of vehicle prior-warning device as claimed in claim 6, it is characterised in that described safety is driven
Sail warning module, also include:
First signal generating unit, for according to vehicle real-time status data, generating the safe thing of vehicle
Part；
Second signal generating unit, for according to surrounding vehicles real-time status data, generating the safe thing of surrounding vehicles
Part；
Determine unit, be used for when the security incident of vehicle and the security incident of surrounding vehicles are same safety
During event, determine time of origin and the urgency level of the security incident of vehicle；
Performance element, for using default High Resolution Ground Map, performs time of origin and urgency level pair
The safe driving of vehicle early warning operation answered, safe driving of vehicle early warning operation includes automatically alerting, assist driving,
Automatically evade, any operation in path planning.
9. safe driving of vehicle prior-warning device as claimed in claim 8, it is characterised in that described determine list
Unit, including:
Obtain subelement, be used for when the security incident of vehicle and the security incident of surrounding vehicles are same peace
During total event, obtain relative velocity, relative acceleration and correlative positional relation；
Determine subelement, for when according to relative velocity, relative acceleration and correlative positional relation, determining
The time of origin of security incident and urgency level.
10. safe driving of vehicle prior-warning device as claimed in claim 8, it is characterised in that described execution
Unit, also includes:
Grade classification and assessment subelement, for time of origin and urgency level, carry out grade classification and
Assessment；
Perform subelement, for when grade classification and assessment are danger, use the high-resolution ground preset
The safe driving of vehicle early warning operation that figure, execution time of origin and urgency level are corresponding, safe driving of vehicle
Early warning operation includes automatically alerting, assist driving, automatically evade, any operation in path planning.
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