CN106251699A

CN106251699A - Vehicle running collision method for early warning and device

Info

Publication number: CN106251699A
Application number: CN201610696407.1A
Authority: CN
Inventors: 刘均; 李旭鹏
Original assignee: Shenzhen Launch Technology Co Ltd
Current assignee: Shenzhen Launch Technology Co Ltd
Priority date: 2016-08-19
Filing date: 2016-08-19
Publication date: 2016-12-21
Also published as: WO2018032642A1

Abstract

The invention discloses a kind of vehicle running collision method for early warning and device, the method includes: obtain positional information and the running information of local vehicle, and receives positional information and the running information of remote vehicle broadcast in its predeterminable range；According to local position information and local running information, generate the local prediction wheelpath in local vehicle distances current time preset duration；According to remote location information and long-range march information, generate the remotely predicting wheelpath in remote vehicle distance current time preset duration；Judge whether local prediction wheelpath exists track intersection point with remotely predicting wheelpath；When there is track intersection point with remotely predicting wheelpath in this locality prediction wheelpath, the anti-collision warning information that output is preset.The present invention obtains positional information and running information process is not limited by field range, and the information accuracy rate of acquisition is high, low cost, can form the most effective early warning, improve traffic safety.

Description

Vehicle running collision method for early warning and device

Technical field

The present invention relates to intelligent transportation system and technical field of vehicle safety, particularly relate to a kind of vehicle running collision method for early warning And device.

Background technology

Along with developing rapidly of communications, road vehicle increases sharply in number, and traffic safety situation is the severeest, especially in traffic The crossing that situation is complicated, there is vision blind spot in driver, its vehicle running collision rate is the highest, to driver, the person peace of passenger Entirely cause great threat.

In recent years, along with the development of communication technology, senior drive assist system (ADAS, Advanced Driver occurs Assistance Systems), this system uses the mode of image recognition, carries out vehicle driving safety condition adjudgement, and in time Early warning, thus avoid traffic accident, but, due to the impact of the factors such as the installation site of photographic head and speed, from side row The vehicle approached often cannot be introduced into the viewfinder range of photographic head, causes the system can not effectively early warning.

Summary of the invention

Present invention is primarily targeted at a kind of vehicle running collision method for early warning of offer and device, it is intended to solve to cannot be introduced into taking the photograph As the safe early warning problem of vehicle in head viewfinder range, to improve traffic safety.

For achieving the above object, the present invention provides a kind of vehicle running collision method for early warning, described vehicle running collision method for early warning bag Include following steps: obtain positional information and the running information of local vehicle, and receive the long-range car in local vehicle predeterminable range The positional information of broadcast and running information, wherein using the positional information of local vehicle and running information as local position Information and local running information, using the positional information of remote vehicle and running information as remote location information and long-range row Car information；

According to local position information and local running information, generate the basis in local vehicle distances current time preset duration Ground prediction wheelpath；

According to remote location information and local running information, generate in remote vehicle distance current time preset duration is remote Journey prediction wheelpath；

Judge whether local prediction wheelpath exists track intersection point with remotely predicting wheelpath；

When there is track intersection point with remotely predicting wheelpath in this locality prediction wheelpath, the anti-collision warning that output is preset Information.

Preferably, described local running information includes the local line vehicle speed of local vehicle, described remote vehicle information bag Include the long-range march speed of remote vehicle,

Described when this locality prediction wheelpath and remotely predicting wheelpath exist track intersection point, the collision that output is preset The step of early warning information includes:

When this locality prediction wheelpath and remotely predicting wheelpath exist track intersection point, according to this locality prediction driving rail Mark and local line vehicle speed, obtain local vehicle and arrive the first duration of track intersection point, and according to remotely predicting wheelpath and Long-range march speed, obtains remote vehicle and arrives the second duration of track intersection point；

Relatively the first duration and the second duration, when the difference of the first duration and the second duration is less than preset time threshold, defeated Go out default anti-collision warning information.

Preferably, when described remote vehicle is multiple, described compare the first duration and the second duration, when the first duration and When the difference of the second duration is less than preset time threshold, the anti-collision warning information that output is preset includes:

Obtain the difference of the first duration and each the second duration, using this difference as duration difference；

Relatively all duration differences and preset time threshold, select the duration difference less than preset time threshold, by this choosing The duration difference gone out is as stand-by duration difference；

Ascending according to stand-by duration difference, treat the collision preset with the output of duration difference correspondence remote vehicle one by one Early warning information.

Preferably, described local position information includes the local altitude information of local vehicle position, described long-range position Confidence breath includes the long-range altitude information of remote vehicle position,

The described step judging whether local prediction wheelpath and remotely predicting wheelpath exist track intersection point includes:

According to local altitude information and long-range altitude information, it is judged that whether local vehicle and remote vehicle be in same default sea Pull out scope；

When local vehicle and remote vehicle are at same default altitude ranges, it is judged that local prediction wheelpath is with the most pre- Survey whether wheelpath exists track intersection point.

Preferably, described local position information includes the local azimuth of local vehicle position, local historical position Information, described remote location information includes the remote parties parallactic angle of remote vehicle position, remote history positional information, local line Car information includes local vehicle local line vehicle speed, and long-range march information includes remote vehicle long-range march speed.

According to the local azimuth of local vehicle, local historical position information, local line vehicle speed, remote vehicle long-range Azimuth, remote history positional information, long-range march velocity estimated this locality vehicle and remote vehicle travel the most in opposite directions；

When local vehicle meet with remote vehicle intersection relative travel direction time, it is judged that local prediction wheelpath Track intersection point whether is there is with remotely predicting wheelpath.

Additionally, for achieving the above object, the present invention also provides for a kind of vehicle running collision prior-warning device, described vehicle running collision early warning Device:

Data obtaining module, for obtaining positional information and the running information of local vehicle, and it is default to receive local vehicle The positional information of the remote vehicle broadcast in Ju Li and running information, wherein divide positional information and the running information of local vehicle Not as local position information and local running information, using the positional information of remote vehicle and running information as long-range position Confidence breath and long-range march information；

First Track Pick-up module, for according to local position information and local running information, generating local vehicle distances Local prediction wheelpath in current time preset duration；

Second Track Pick-up module, for according to remote location information and long-range march information, generates remote vehicle distance Remotely predicting wheelpath in current time preset duration；

Judge module, is used for judging whether local prediction wheelpath exists track intersection point with remotely predicting wheelpath；

Early warning output module, is used for when this locality prediction wheelpath exists track intersection point with remotely predicting wheelpath, The anti-collision warning information that output is preset.

Described early warning output module includes:

Duration acquiring unit, is used for when this locality prediction wheelpath and remotely predicting wheelpath exist track intersection point, According to this locality prediction wheelpath and local line vehicle speed, the first duration of acquisition local vehicle arrival track intersection point, and according to Remotely predicting wheelpath and long-range march speed, obtain remote vehicle and arrive the second duration of track intersection point；

Early warning output unit, is used for comparing the first duration and the second duration, when the difference of the first duration and the second duration is less than During preset time threshold, the anti-collision warning information that output is preset.

Preferably, when described remote vehicle is multiple, described early warning output unit is additionally operable to:

Obtain the difference of each first duration and each the second duration, using this difference as duration difference；

Described judge module includes:

First judging unit, for according to local altitude information and long-range altitude information, it is judged that local vehicle and long-range car Whether at same default altitude ranges；

Second judging unit, for when local vehicle and remote vehicle are at same default altitude ranges, it is judged that local pre- Survey whether wheelpath exists track intersection point with remotely predicting wheelpath.

Preferably, described local position information includes the local azimuth of local vehicle position, local historical position Information, described remote location information includes the remote parties parallactic angle of remote vehicle position, remote history positional information, local line Car information includes local vehicle local line vehicle speed, and long-range march information includes remote vehicle long-range march speed,

Described judge module includes:

3rd judging unit, for the local azimuth according to local vehicle, local historical position information, local line speed Degree, the remote parties parallactic angle of remote vehicle, remote history positional information, long-range march speed, it is judged that local vehicle and remote vehicle Travel the most in opposite directions,

4th judging unit, for when local vehicle meet with remote vehicle intersection relative travel direction time, sentence Whether disconnected this locality prediction wheelpath exists track intersection point with remotely predicting wheelpath.

The present invention obtains local vehicle, the long-range car in local vehicle predeterminable range by a kind of vehicle running collision prior-warning device Positional information and running information (including historical position information, speed, azimuth etc.), to local vehicle with in predeterminable range Remote vehicle prediction preset duration in wheelpath, hand over if local vehicle and the remote vehicle in predeterminable range exist track Point then exports default anti-collision warning information；Do not limited by field range owing to obtaining positional information and running information process, And the information accuracy rate height that the present invention obtains, low cost, thus the most effective early warning can be formed, improve traffic safety.

Accompanying drawing explanation

Fig. 1 is the schematic flow sheet of vehicle running collision method for early warning first embodiment of the present invention；

Fig. 2 is when this locality prediction wheelpath and remotely predicting row in vehicle running collision method for early warning the second embodiment of the present invention When there is track intersection point in wheel paths, the refinement schematic flow sheet of the anti-collision warning information Step that output is preset；

Fig. 3 is to compare the first duration and the second duration, when first in vehicle running collision method for early warning the 3rd embodiment of the present invention When the difference of duration and the second duration is less than preset time threshold, the refinement flow process signal of the anti-collision warning information Step that output is preset Figure；

Fig. 4 is to judge this locality prediction wheelpath and remotely predicting in vehicle running collision method for early warning the 4th embodiment of the present invention Whether wheelpath exists the refinement schematic flow sheet of track intersection point step；

Fig. 5 is that medium-long range vehicle of the present invention and local vehicle be not at the scene schematic diagram of same default hypo scope；

Fig. 6 is to judge this locality prediction wheelpath and remotely predicting in vehicle running collision method for early warning the 5th embodiment of the present invention Whether wheelpath exists the refinement schematic flow sheet of track intersection point step；

Fig. 7 is the scene schematic diagram that the prediction wheelpath of remote vehicle of the present invention and local vehicle exists track intersection point；

Fig. 8 is the high-level schematic functional block diagram of vehicle running collision prior-warning device first embodiment of the present invention；

Fig. 9 is the refinement functional module signal of early warning output module in vehicle running collision prior-warning device the second embodiment of the present invention Figure；

Figure 10 is the refinement high-level schematic functional block diagram of judge module in vehicle running collision prior-warning device the 4th embodiment of the present invention；

Figure 11 is the refinement high-level schematic functional block diagram of judge module in vehicle running collision prior-warning device the 5th embodiment of the present invention.

The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further referring to the drawings.

Detailed description of the invention

Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.

The present invention provides a kind of vehicle running collision method for early warning, in the first embodiment of vehicle running collision method for early warning of the present invention In, with reference to Fig. 1, this vehicle running collision method for early warning includes:

Step S10, obtains positional information and the running information of local vehicle, and receive in local vehicle predeterminable range remote The positional information of journey vehicle broadcast and running information, wherein using the positional information of local vehicle and running information as this locality Positional information and local running information, using the positional information of remote vehicle and running information as remote location information and remote Journey running information；

Local position information includes the local historical position information of vehicle, azimuth etc., the history bit confidence of local vehicle Breath can be made up of multiple historical position coordinate points of local vehicle, and multiple historical position coordinate points of local vehicle can be by local car The dissimilar history elements of a fix constitute, including local vehicle GPS coordinate, the Big Dipper elements of a fix etc.；Remote location is believed Breath includes the historical position information of remote vehicle, azimuth etc., and the historical position information of remote vehicle can be many by remote vehicle Individual historical position coordinate points is constituted, and multiple historical position coordinate points of remote vehicle can be fixed by the dissimilar history of remote vehicle Position coordinate is constituted, including remote vehicle gps coordinate, the Big Dipper elements of a fix etc..

Local running information includes the local speed of vehicle, historical track etc., and the historical track of local vehicle is by local car Historical position information generate；Long-range march information includes the speed of remote vehicle, historical track etc., the history of remote vehicle Track is generated by the historical position information of remote vehicle.

Step S20, according to local position information and local running information, when the local vehicle distances current time of generation is preset Local prediction wheelpath in length；

Local position information is utilized to generate the historical track of local vehicle, the historical track of the local vehicle of utilization, azimuth, Speed, utilizes the extrapolation in mathematics, carries out interpolation, it was predicted that goes out distance current time and sets the local line wheel paths in duration. Understand foregoing for auxiliary, illustrate in order to specific embodiment, such as the extrapolation in mathematics can use polynomial interopolation And outwards carry out trend prediction, carry out 2 rank or 3 rank polynomial interopolation matchings according to the historical track coordinate points of local vehicle, go through The position coordinates of 4-8 the point that history trajectory coordinates point upper distance current time access time is nearest.The computational methods of matching are Little secondary method；Multinomial according to matching carries out time extrapolation, local vehicle coordinate in obtaining distance current time preset duration The position of point, and then obtain the local prediction wheelpath in distance current time preset duration.

Step S30, according to remote location information and long-range march information, generates remote vehicle when current time is preset Remotely predicting wheelpath in length；

Utilize remote location information to generate the historical track of remote vehicle, utilize the historical track of remote vehicle, azimuth, Speed, utilizes the extrapolation in mathematics, carries out interpolation, it was predicted that goes out distance current time and sets the local line wheel paths in duration. Understand foregoing for auxiliary, illustrate in order to specific embodiment, such as the extrapolation in mathematics can use polynomial interopolation And outwards carry out trend prediction, carry out 2 rank or 3 rank polynomial interopolation matchings according to the historical track coordinate points of remote vehicle, far The historical track coordinate points of journey vehicle goes up the position coordinates of 4-8 nearest point of distance current time access time.The meter of matching Calculation method is minimum secondary method；Multinomial according to matching carries out time extrapolation, remote in obtaining distance current time preset duration The position of journey vehicle coordinate point, and then obtain the remotely predicting wheelpath in distance current time preset duration.

Step S40, it is judged that whether local prediction wheelpath exists track intersection point with remotely predicting wheelpath；

Step S50, when this locality prediction wheelpath exists track intersection point with remotely predicting wheelpath, output is preset Anti-collision warning information.

Judge whether local prediction wheelpath exists track intersection point with remotely predicting wheelpath, when this locality prediction driving When there is track intersection point in track and remotely predicting wheelpath, the anti-collision warning information that output is preset.When this locality prediction driving rail There is not track intersection point in mark and remotely predicting wheelpath, then the anti-collision warning information preset will not export.

In the present embodiment, by based on local position information and local running information, generating the local pre-of local vehicle Survey wheelpath, and based on remote location information and long-range march information, generate the remotely predicting wheelpath of remote vehicle, When there is track intersection point with remotely predicting wheelpath in this locality prediction wheelpath, the anti-collision warning information that just output is preset, And without the camera head relying on visual field model to be restricted, it is to avoid fail timely early warning because of incomplete viewfinder image and cause Vehicle accident, thus avoid vehicle running collision early warning inaccurate because of the restriction of field range, formed the most effectively, drive a vehicle timely Anti-collision warning, improves traffic safety.Meanwhile, without camera head in the present embodiment, only need in vehicle determining of conventional configuration Position device, thus reduce the cost of vehicle running collision early warning.

Further, on the basis of the first embodiment of vehicle running collision method for early warning of the present invention, it is provided that vehicle running collision is pre- Alarm method the second embodiment, in a second embodiment, with reference to Fig. 2, step S50 includes:

Step S51, according to this locality prediction wheelpath and local line vehicle speed, obtains local vehicle and arrives track intersection point First duration, and according to remotely predicting wheelpath and long-range march speed, obtain remote vehicle and arrive the second of track intersection point Duration；

Wheelpath is predicted, it is possible to obtain local vehicle and arrive this locality prediction wheelpath and remotely predicting row according to this locality The distance of wheel paths track intersection point, further according to local line vehicle speed, obtains local vehicle and arrives the first duration of track intersection point, root According to remotely predicting wheelpath, it is possible to obtain remote vehicle and arrive this locality prediction wheelpath and remotely predicting wheelpath track The distance of intersection point, further according to long-range march speed, obtains remote vehicle and arrives the second duration of track intersection point, by obtaining this locality Vehicle arrives the first duration of track intersection point, and remote vehicle arrives the second duration of track intersection point, be not only local vehicle with Remote vehicle arrives the distance of track intersection point, and driver can more intuitively have a clear understanding of when and where collision occurs, and is of value to driving Member evades collision in time.

Step S52, compares the first duration and the second duration, when the difference of the first duration and the second duration is less than Preset Time threshold During value, the anti-collision warning information that output is preset.

Preset time threshold can be by driver according to self driving habits sets itself, if driver is at the local vehicle of manipulation During, it is desirable to evade the anti-collision warning being unlikely to occur, shorter preset time threshold can be set, when the first duration and When the difference of the second duration is less than preset time threshold, owing to preset time threshold is shorter, the difference meeting of the first duration and the second duration Less, when the difference of the first duration and the second duration is the least, illustrates that the probability of collision is bigger, now export default anti-collision warning Information, thus predict is all the anti-collision warning that probability is big, has evaded the anti-collision warning being unlikely to occur.

In the present embodiment, according to this locality prediction wheelpath and local line vehicle speed, obtain local vehicle and arrive track First duration of intersection point, and according to remotely predicting wheelpath and long-range march speed, obtain remote vehicle and arrive track intersection point The second duration, compare the first duration and the second duration, when the first duration and the second duration difference less than preset time threshold time, The anti-collision warning information that output is preset；It is not only this with the difference of the first duration and the second duration less than during preset time threshold The anti-collision warning information that when prediction wheelpath in ground exists track intersection point with remotely predicting wheelpath, output is preset, owing to driving Member is during local vehicle driving, to it may happen that difference comparison this locality vehicle of the first duration of collision and the second duration is current Moment can be more accustomed to the most directly perceived with the distance of remotely predicting wheelpath track intersection point with local prediction wheelpath Understand, and can be according to the situation of self, preset time threshold voluntarily, so that anti-collision warning is applicable to different driver, open up Open up the range of application of anti-collision warning.

Further, on the basis of the second embodiment of vehicle running collision method for early warning of the present invention, it is provided that vehicle running collision is pre- Alarm method the 3rd embodiment, in the third embodiment, with reference to Fig. 3, step S52 includes:

Step S521, obtains the difference of each first duration and each the second duration, using this difference as duration difference；

Due on traffic route, traffic conditions is complicated, there is the remote of track intersection point with local vehicle in predeterminable range Journey vehicle may be multiple, local vehicle to the time of the track intersection point of remote vehicle in each predeterminable range be each first time Long, in each predeterminable range, remote vehicle reaches the time of track intersection point is each second duration, each first duration and each The difference of the second duration is duration difference, thus there is also multiple duration difference.

Step S522, relatively all duration differences and preset time threshold, it is poor less than the duration of preset time threshold to select Value, the duration difference this selected is as stand-by duration difference；

When duration difference is multiple, more than preset time threshold do not exist collide threat or the threat that collides Probability is the least, then shows it may happen that collision threat or collide threat probabilities very less than the duration difference of preset time threshold Greatly.

Step S523, ascending according to stand-by duration difference, treat one by one and export with duration difference correspondence remote vehicle The anti-collision warning information preset.

Duration difference be multiple and respectively less than preset time threshold time, owing to duration difference is the least, then local vehicle is with remote The probability that journey vehicle reaches track intersection point simultaneously is the biggest, is more likely to occur collision, according to stand-by duration difference by little to Greatly, treating the anti-collision warning information early warning preset with the output of duration difference correspondence remote vehicle one by one is i.e. to depend on the most all cars The evaluation of the secondary grade that impends, if there being many cars to be required for safe early warning, first to the least the highest of duration difference The threat of grade carries out early warning, carries out other low-grade threat early warning again after high-grade threat releases, and this is of value to driving First member evades the threat of highest ranking according to practical situation, then evades low-grade threat, improves effectiveness and the reality of early warning By property, thus improve road safety.

In the present embodiment, according to obtaining the difference of each first duration and each the second duration, using this difference as time Long difference, relatively all duration differences and preset time threshold, select the duration difference less than preset time threshold, this selected Duration difference as stand-by duration difference, ascending according to stand-by duration difference, treat by duration difference corresponding remote one by one The anti-collision warning information that the output of journey vehicle is preset；Owing to duration difference is the least, threat level is the highest, if not differentiating between threat etc. Level directly exports all of default pre-warning time, and driver the most first evades the little remote vehicle of threat level and do not has in time Evade the vehicle that threat level is big, or driver only evade wherein a vehicle with collision threat and to ignore other same Having the remote vehicle of threat and cause collision accident, the present embodiment well avoids such situation, improves road peace Entirely.

Further, on the basis of the first embodiment of vehicle running collision method for early warning of the present invention, it is provided that vehicle running collision is pre- Alarm method the 4th embodiment, in the fourth embodiment, with reference to Fig. 4, local position information includes the basis of local vehicle position Ground altitude information, remote location information includes the long-range altitude information of remote vehicle position, and step S40 includes:

Step S41, according to local altitude information and long-range altitude information, it is judged that whether local vehicle and remote vehicle be same One presets altitude ranges.

Local vehicle, also can be at overpass incessantly on level land, and viaduct etc. is driven a vehicle, and local position information need to include this locality Altitude information, remote location information need to include long-range altitude information, need to judge that local vehicle and remote vehicle need to be preset same At altitude ranges, local vehicle can be such as photographic head in the way of using the GPS altitude information in alignment system and image recognition The comprehensive descision that combines of finding a view judges that whether local vehicle and remote vehicle are at same default altitude ranges.

Step S42, when local vehicle and remote vehicle are at same default altitude ranges, it is judged that local prediction wheelpath Track intersection point whether is there is with remotely predicting wheelpath,

Only when local vehicle and remote vehicle are at same default altitude ranges, just need to judge this locality prediction driving rail Whether mark and remotely predicting wheelpath exist track intersection point, and vehicle as upper and lower in viaduct in Fig. 5 is not because presetting same , there is not collision threat in altitude ranges, then need not judge, this embodiment has evaded false judgment feelings that may be present Condition, improves the accuracy of judgement, it is not required that further early warning thus saved cost.

In the present embodiment, according to local altitude information and long-range altitude information, it is judged that local vehicle and remote vehicle are No at same default altitude ranges, when local vehicle and remote vehicle are at same default altitude ranges, it is judged that local prediction row Whether wheel paths and remotely predicting wheelpath exist track intersection point, this embodiment avoids due to local vehicle and local vehicle Due to not at same altitude ranges, there is not track intersection point and be judged to be broken into and there is track intersection point in the remote vehicle in predeterminable range False judgment situation, improve the accuracy of judgement, improve road safety, these are not existed the long-range of track intersection point Vehicle is not required to carrying out corresponding early warning, thus has saved cost.

Additionally, the present embodiment may be based on the second embodiment of vehicle running collision method for early warning, vehicle running collision method for early warning can Embodiment is selected to comprise the following steps:

Step S41, according to local altitude information and long-range altitude information, it is judged that whether local vehicle and remote vehicle be same One presets altitude ranges；

Step S42, when local vehicle and remote vehicle are at same default altitude ranges, it is judged that local prediction wheelpath Track intersection point whether is there is with remotely predicting wheelpath；

Additionally, the present embodiment may be based on the 3rd embodiment of vehicle running collision method for early warning, vehicle running collision method for early warning can Embodiment is selected to comprise the following steps:

Further, on the basis of the first embodiment of vehicle running collision method for early warning of the present invention, it is provided that vehicle running collision is pre- Alarm method the 5th embodiment, in the 5th embodiment, with reference to Fig. 6, local position information includes the basis of local vehicle position Azimuth, ground, local historical position information, remote location information includes the remote parties parallactic angle of remote vehicle position, remotely goes through History positional information, local running information includes local vehicle local line vehicle speed, and long-range march information includes that remote vehicle is long-range Road speed；Step S40 includes:

Step S43: according to the local azimuth of local vehicle, local historical position information, local line vehicle speed, long-range car Remote parties parallactic angle, remote history positional information, remote garage vehicle speed, it is judged that local vehicle and remote vehicle are gone the most in opposite directions Sail,

Local historical position information generates local historical track, and remote history positional information generates remote history track, root According to local historical track, local azimuth, local line vehicle speed can determine whether in local vehicle preset duration wheelpath, root According to remote history track, remote parties parallactic angle, long-range march speed can determine whether in remote vehicle preset duration wheelpath, root According in local vehicle preset duration wheelpath, in remote vehicle preset duration wheelpath, as it is shown in fig. 7, sentence Disconnected local vehicle and remote vehicle travel the most in opposite directions.

Step S44: when local vehicle meet with remote vehicle intersection relative travel direction time, it is judged that local prediction Whether wheelpath and remotely predicting wheelpath exist track intersection point.

When local vehicle meet with remote vehicle intersection relative travel direction time, according to local vehicle preset duration In wheelpath, in remote vehicle preset duration wheelpath, it may be judged whether there is track intersection point.

In the present embodiment, according to the local azimuth of this locality vehicle, local historical position information, local line vehicle speed, The remote parties parallactic angle of remote vehicle, remote history positional information, local line vehicle speed, it is judged that remote in local vehicle and predeterminable range Journey vehicle travels the most in opposite directions, when local vehicle meet with remote vehicle intersection relative travel direction time, it is judged that local Whether prediction wheelpath exists track intersection point with remotely predicting wheelpath.Vehicle owing to travelling in opposite directions is colliding Time, the dynamics of collision is bigger, and destructive higher, danger is higher, thus judges remote vehicle in local vehicle and predeterminable range The most relatively travelling, whether the vehicle relatively travelled can collide, and determines whether to send default early warning information, can be effective Destructive strong to producing, dangerous high relative crossing collision sends default early warning information, and then reminds driver's rule Keep away these collisions that may be present, improve road safety.

Additionally, step S41, step S42 and the 5th embodiment in vehicle running collision method for early warning the 4th embodiment of the present invention In step S43, step S44 can be in conjunction with, detailed description of the invention is as follows:

Step S45, when local vehicle and remote vehicle are at same default altitude ranges, according to this place of local vehicle Parallactic angle, local historical position information, local line vehicle speed, the remote parties parallactic angle of remote vehicle, remote history positional information, remote car Road speed, it is judged that local vehicle and remote vehicle travel the most in opposite directions；

Step S46, when local vehicle meet with remote vehicle intersection relative travel direction time, it is judged that local prediction Whether wheelpath and remotely predicting wheelpath exist track intersection point.

The present invention provides a kind of vehicle running collision prior-warning device, in the first enforcement of the present invention a kind of vehicle running collision prior-warning device In example, with reference to Fig. 8, this vehicle running collision prior-warning device includes:

Data obtaining module 10, for obtaining positional information and the running information of local vehicle, and it is pre-to receive local vehicle If the positional information of the remote vehicle broadcast in Ju Li and running information, wherein by positional information and the running information of local vehicle Respectively as local position information and local running information, using the positional information of remote vehicle and running information as remotely Positional information and long-range march information；

Local position information includes the local historical position information of vehicle, azimuth etc., the history bit confidence of local vehicle Breath can be made up of multiple historical position coordinate points of local vehicle, and multiple historical position coordinate points of local vehicle can be by local car The dissimilar history elements of a fix constitute, including gps coordinate, the Big Dipper elements of a fix etc.；Remote location information includes far The historical position information of journey vehicle, azimuth etc., the historical position information of remote vehicle can be by multiple history bit of remote vehicle Putting coordinate points to constitute, multiple historical position coordinate points of remote vehicle can be by the dissimilar history elements of a fix structure of remote vehicle Become, including gps coordinate, the Big Dipper elements of a fix etc..Local running information includes the speed of local vehicle, historical track etc., basis The historical track of ground vehicle is generated by the historical position information of local vehicle, and long-range march information includes the speed of remote vehicle, Historical tracks etc., the historical track of remote vehicle is generated by the historical position information of remote vehicle.

First Track Pick-up module 20, for according to local position information and local running information, generate local vehicle away from Local prediction wheelpath in current time preset duration；

First Track Pick-up module 20, for utilizing local position information to generate the historical track of local vehicle, utilizes this The historical track of ground vehicle, azimuth, speed, utilize the extrapolation in mathematics, carry out interpolation, it was predicted that go out distance current time and set Local line wheel paths in timing is long.Understand foregoing for auxiliary, illustrate in order to specific embodiment, such as in mathematics Extrapolation can use polynomial interopolation and outwards carry out trend prediction, carries out 2 rank according to the historical track coordinate points of local vehicle Or 3 rank polynomial interopolation matchings, the position seat of 4-8 the point that historical track coordinate points upper distance current time access time is nearest Mark.The computational methods of matching are minimum secondary method；Multinomial according to matching carries out time extrapolation, obtains distance current time pre- If the position of local vehicle coordinate point in duration, and then obtain the local prediction driving rail in distance current time preset duration Mark.

Second Track Pick-up module 30, for according to remote location information and long-range march information, generate remote vehicle away from Remotely predicting wheelpath in current time preset duration；

Second Track Pick-up module 30, for utilizing remote location information to generate the historical track of remote vehicle, utilizes remote The historical track of journey vehicle, azimuth, speed, utilize the extrapolation in mathematics, carry out interpolation, it was predicted that go out distance current time and set Local line wheel paths in timing is long.Understand foregoing for auxiliary, illustrate in order to specific embodiment, such as in mathematics Extrapolation can use polynomial interopolation and outwards carry out trend prediction, carries out 2 rank according to the historical track coordinate points of remote vehicle Or 3 rank polynomial interopolation matchings, nearest 4-8 of historical track coordinate points upper distance current time access time of remote vehicle The position coordinates of point.The computational methods of matching are minimum secondary method；Multinomial according to matching carries out time extrapolation, obtains distance The position of remote vehicle coordinate points in current time preset duration, so obtain in distance current time preset duration remotely pre- Survey wheelpath.

Judge module 40, it is judged that whether local prediction wheelpath exists track intersection point with remotely predicting wheelpath；

Early warning output module 50, when this locality prediction wheelpath exists track intersection point with remotely predicting wheelpath, defeated Go out default anti-collision warning information.

Judge module is used for judging whether local prediction wheelpath exists track intersection point with remotely predicting wheelpath, when When local prediction wheelpath exists track intersection point with remotely predicting wheelpath, the collision that the output of early warning output module is preset is pre- Alarming information.When this locality prediction wheelpath and remotely predicting wheelpath do not exist track intersection point, the then anti-collision warning preset letter Breath will not export.

In the present embodiment, local position information and local running information, the first track are obtained by data obtaining module The local prediction wheelpath of generation module generation this locality vehicle, and data obtaining module acquisition remote location information is with long-range Running information, the second Track Pick-up module generates the remotely predicting wheelpath of remote vehicle, judges local pre-at judge module When survey wheelpath exists track intersection point with remotely predicting wheelpath, early warning output module just exports the anti-collision warning letter preset Breath, and without the camera head relying on visual field model to be restricted, it is to avoid fail timely early warning because of incomplete viewfinder image and Cause vehicle accident, thus avoid vehicle running collision early warning inaccurate because of the restriction of field range, formed effectively, the most timely Vehicle running collision early warning, improves traffic safety.Meanwhile, without camera head in the present embodiment, only need conventional configuration in vehicle Positioner, thus reduce the cost of vehicle running collision early warning.

Further, on the basis of vehicle running collision prior-warning device first embodiment of the present invention, it is provided that vehicle running collision early warning Second embodiment of device, in a second embodiment, with reference to Fig. 9, early warning output module 50 includes:

Duration acquiring unit 51, according to this locality prediction wheelpath and local line vehicle speed, obtains local vehicle and arrives rail First duration of mark intersection point, and according to remotely predicting wheelpath and long-range march speed, obtain remote vehicle and arrive track friendship Second duration of point；

Duration acquiring unit 51, predicts wheelpath according to this locality, it is possible to obtains local vehicle and arrives this locality prediction driving Track and the distance of remotely predicting wheelpath track intersection point, further according to local line vehicle speed, local line vehicle speed includes this locality History road speed, obtains local vehicle and arrives the first duration of track intersection point, according to remotely predicting wheelpath, it is possible to obtain Remote vehicle arrives the distance of this locality prediction wheelpath and remotely predicting wheelpath track intersection point, further according to long-range march speed Degree, obtains remote vehicle and arrives the second duration of track intersection point, arrives the first duration of track intersection point by obtaining local vehicle, Remote vehicle arrives the second duration of track intersection point, is not only the distance of local vehicle and remote vehicle arrival track intersection point, Driver can determine that local vehicle and remote vehicle arrive the time of track intersection point more intuitively.

Early warning output unit 52, compares the first duration and the second duration, when the difference of the first duration and the second duration is less than pre- If during time threshold, the anti-collision warning information that output is preset,

In the present embodiment, duration acquiring unit, according to this locality prediction wheelpath and local line vehicle speed, obtain this locality Vehicle arrives the first duration of track intersection point, and according to remotely predicting wheelpath and long-range march speed, obtains remote vehicle Arrive the second duration of track intersection point, compare the first duration and the second duration, when the difference of the first duration and the second duration is less than pre- If during time threshold, the anti-collision warning information that the output of early warning output unit is preset.It is less than with the difference of the first duration and the second duration It is not only that output when wheelpath and remotely predicting wheelpath exist track intersection point is predicted in this locality during preset time threshold The anti-collision warning information preset, owing to driver is during local vehicle driving, to it may happen that the first duration of collision and Difference comparison this locality vehicle current time of the second duration and local prediction wheelpath and remotely predicting wheelpath track intersection point Distance can more be accustomed to understanding with preferably directly perceived, and can be according to the situation of self, preset time threshold voluntarily so that Anti-collision warning is applicable to different driver, has expanded the scope of anti-collision warning.

Further, on the basis of the second embodiment of vehicle running collision method for early warning of the present invention, it is provided that vehicle running collision is pre- Alarm method the 3rd embodiment, in the third embodiment,

Described early warning output unit 52 is additionally operable to:

Duration difference be multiple and respectively less than preset time threshold time, owing to duration difference is the least, then local vehicle is with remote The probability that journey vehicle reaches track intersection point simultaneously is the biggest, is more likely to occur collision, according to stand-by duration difference by little to Greatly, treating the anti-collision warning information early warning preset with the output of duration difference correspondence remote vehicle one by one is i.e. to depend on the most all cars The evaluation of the secondary grade that impends, if there being many cars to be required for safe early warning, first to the least the highest of duration difference The threat of grade carries out early warning, carries out other low-grade threat early warning again after high-grade threat releases, and this is of value to driving First member evades the threat of highest ranking according to practical situation, then evades low-grade threat, improves the effectiveness of early warning, thus Improve road safety.

In the present embodiment, described early warning output unit is for according to obtaining each first duration and each the second duration Difference, using this difference as duration difference, relatively all duration differences and preset time threshold, select less than preset time threshold Duration difference, the duration difference this selected is as stand-by duration difference, ascending according to stand-by duration difference, the most right The anti-collision warning information that the output of stand-by duration difference correspondence remote vehicle is preset.Owing to duration difference is the least, threat level is more Height, if not differentiating between threat level directly export all of default pre-warning time, it is little that driver the most first evades threat level Remote vehicle and evade the vehicle that threat level is big the most in time, or driver only evade wherein one there is collision threat Vehicle and ignore other remote vehicle equally with threat and cause collision accident, the present embodiment well avoids so Situation, improve road safety.

Further, on the basis of the first embodiment of vehicle running collision prior-warning device of the present invention, it is provided that vehicle running collision is pre- 4th embodiment of alarm device, in the fourth embodiment, with reference to Figure 10, described judge module 40 includes:

First judging unit 41 is for according to local altitude information and long-range altitude information, it is judged that local vehicle and long-range car Whether at same default altitude ranges；

Local vehicle, also can be at overpass incessantly on level land, and viaduct etc. is driven a vehicle, and local position information need to include this locality Altitude information, remote location information need to include long-range altitude information, need to judge that local vehicle and remote vehicle need to be preset same At altitude ranges, local vehicle can take such as photographic head in the way of using the GPS altitude information in alignment system and image recognition The scape comprehensive descision that combines judges that whether local vehicle and remote vehicle are at same default altitude ranges.

Second judging unit 42 is for when local vehicle and remote vehicle are at same default altitude ranges, it is judged that local pre- Survey whether wheelpath exists track intersection point with remotely predicting wheelpath.

Only when local vehicle and remote vehicle are at same default altitude ranges, just need to judge this locality prediction driving rail Whether mark and remotely predicting wheelpath exist track intersection point, and vehicle as upper and lower in viaduct in figure is not because in same default sea Pulling out scope, there is not collision threat, then need not judge, this embodiment has evaded false judgment situation that may be present, Improve the accuracy of judgement, it is not required that further early warning thus saved cost.

In the present embodiment, it is judged that module is according to local altitude information and long-range altitude information, it is judged that local vehicle is with remote Whether journey vehicle is at same default altitude ranges, when local vehicle and remote vehicle are at same default altitude ranges, it is judged that this Whether ground prediction wheelpath and remotely predicting wheelpath exist track intersection point, this embodiment avoids due to local vehicle with Owing to not at same altitude ranges, there is not track intersection point and being judged to be broken into existence in the remote vehicle in local vehicle predeterminable range The false judgment situation of track intersection point, improves the accuracy of judgement, improves road safety, these does not exist track and hands over The remote vehicle of point is not required to carrying out corresponding early warning, thus has saved cost.

Additionally, the present embodiment may be based on the second embodiment of vehicle running collision prior-warning device, vehicle running collision prior-warning device can Embodiment is selected to include:

Second Track Pick-up module 30, according to remote location information and long-range march information, generates remote vehicle distance and works as Remotely predicting wheelpath in front moment preset duration；

Second judging unit 42 is for when local vehicle and remote vehicle are at same default altitude ranges, it is judged that local pre- Survey whether wheelpath exists track intersection point with remotely predicting wheelpath；

Additionally, the present embodiment may be based on the 3rd embodiment of vehicle running collision prior-warning device, vehicle running collision prior-warning device can Embodiment is selected to include:

Duration acquiring unit 51, for according to this locality prediction wheelpath and local line vehicle speed, obtains local vehicle and arrives Reach the first duration of track intersection point, and according to remotely predicting wheelpath and long-range march speed, obtain remote vehicle and arrive rail Second duration of mark intersection point；

Early warning output unit 52, for obtaining the difference of each first duration and each the second duration, using this difference as Duration difference；Relatively all duration differences and preset time threshold, select the duration difference less than preset time threshold, by this choosing The duration difference gone out is as stand-by duration difference；Ascending according to stand-by duration difference, treat by duration difference corresponding one by one The anti-collision warning information that remote vehicle output is preset.

Further, on the basis of the first embodiment of vehicle running collision method for early warning of the present invention, it is provided that vehicle running collision is pre- Alarm method the 5th embodiment, in the 5th embodiment, with reference to Figure 11, it is judged that module 40 includes:

3rd judging unit 43, for the local azimuth according to local vehicle, local historical position information, local driving Speed, the remote parties parallactic angle of remote vehicle, remote history positional information, local line vehicle speed, it is judged that local vehicle and long-range car Travel the most in opposite directions；

Local historical position information generates local historical track, and remote history positional information generates remote history track, root According to local historical track, local azimuth, local line vehicle speed can determine whether in local vehicle preset duration wheelpath, root According to remote history track, remote parties parallactic angle, long-range march speed can determine whether in remote vehicle preset duration wheelpath, root According in local vehicle preset duration wheelpath, in remote vehicle preset duration wheelpath, it is judged that local vehicle Travel the most in opposite directions with remote vehicle.

4th judging unit 44, for when local vehicle meet with remote vehicle intersection relative travel direction time, Judge whether local prediction wheelpath exists track intersection point with remotely predicting wheelpath.

When local vehicle meet with remote vehicle intersection relative travel direction time, according to local vehicle preset duration In wheelpath, in remote vehicle preset duration wheelpath, it may be judged whether there is friendship tracing point.

In the present embodiment, the 3rd judging unit 43 according to the local azimuth of local vehicle, local historical position information, Local line vehicle speed, the remote parties parallactic angle of remote vehicle, remote history positional information, local line vehicle speed, it is judged that local vehicle Travel the most in opposite directions with remote vehicle in predeterminable range, when local vehicle meets the relative side travelled, intersection with remote vehicle Xiang Shi, the 4th judging unit 44 judges whether local prediction wheelpath exists track intersection point with remotely predicting wheelpath.By In the vehicle travelled in opposite directions when colliding, the dynamics of collision is bigger, and destructive higher, danger is higher, thus judges this Vehicle is the most relative with remote vehicle in predeterminable range travels on ground, and whether the vehicle relatively travelled can collide, so that it is determined that Whether send default early warning information, can be effectively destructive strong to producing, dangerous high relative crossing collision sends pre- If early warning information, and then remind driver to evade these collisions that may be present, improve road safety.

These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilize this Equivalent structure or equivalence flow process that bright description and accompanying drawing content are made convert, or are directly or indirectly used in other relevant skills Art field, is the most in like manner included in the scope of patent protection of the present invention.

Claims

1. a vehicle running collision method for early warning, it is characterised in that described vehicle running collision method for early warning comprises the following steps:

Obtain positional information and the running information of local vehicle, and receive what the remote vehicle in local vehicle predeterminable range was broadcasted Positional information and running information, wherein using the positional information of local vehicle and running information as local position information and this Ground running information, using the positional information of remote vehicle and running information as remote location information and long-range march information；

According to local position information and local running information, generate this locality in local vehicle distances current time preset duration pre- Survey wheelpath；

According to remote location information and long-range march information, generate in remote vehicle distance current time preset duration is the most pre- Survey wheelpath；

When there is track intersection point with remotely predicting wheelpath in this locality prediction wheelpath, the anti-collision warning letter that output is preset Breath.

2. vehicle running collision method for early warning as claimed in claim 1, it is characterised in that described local running information includes local car Local line vehicle speed, described remote vehicle information includes the long-range march speed of remote vehicle,

Described when this locality prediction wheelpath and remotely predicting wheelpath exist track intersection point, the anti-collision warning that output is preset The step of information includes:

When this locality prediction wheelpath and remotely predicting wheelpath there is track intersection point time, according to this locality prediction wheelpath and Local line vehicle speed, obtains local vehicle and arrives the first duration of track intersection point, and according to remotely predicting wheelpath with long-range Road speed, obtains remote vehicle and arrives the second duration of track intersection point；

Relatively the first duration and the second duration, when the difference of the first duration and the second duration is less than preset time threshold, output is pre- If anti-collision warning information.

3. vehicle running collision method for early warning as claimed in claim 2, it is characterised in that: when described remote vehicle is multiple, institute Stating and compare the first duration and the second duration, when the difference of the first duration and the second duration is less than preset time threshold, output is preset Anti-collision warning information include:

Relatively all duration differences and preset time threshold, select the duration difference less than preset time threshold, this selected Duration difference is as stand-by duration difference；

Ascending according to stand-by duration difference, treat the anti-collision warning preset with the output of duration difference correspondence remote vehicle one by one Information.

4. vehicle running collision method for early warning as claimed in claim 1, it is characterised in that described local position information includes local car The local altitude information of position, described remote location information includes the long-range altitude information of remote vehicle position,

According to local altitude information and long-range altitude information, it is judged that whether local vehicle and remote vehicle be at same default height above sea level model Enclose；

When local vehicle and remote vehicle are at same default altitude ranges, it is judged that local prediction wheelpath and remotely predicting row Whether wheel paths exists track intersection point.

5. the vehicle running collision method for early warning as described in Claims 1-4 any one, it is characterised in that described local position is believed Breath includes the local azimuth of local vehicle position, and local historical position information, described remote location information includes remotely The remote parties parallactic angle of vehicle position, remote history positional information, local running information includes local vehicle local line speed Degree, long-range march information includes remote vehicle long-range march speed；

According to the local azimuth of local vehicle, local historical position information, local line vehicle speed, the long-distance azimuth of remote vehicle Angle, remote history positional information, long-range march velocity estimated this locality vehicle and remote vehicle travel the most in opposite directions；

When local vehicle meet with remote vehicle intersection relative travel direction time, it is judged that local prediction wheelpath is with remote Whether journey prediction wheelpath exists track intersection point.

6. a vehicle running collision prior-warning device, it is characterised in that described vehicle running collision prior-warning device includes:

Data obtaining module, for obtaining positional information and the running information of local vehicle, and receives local vehicle predeterminable range The positional information of interior remote vehicle broadcast and running information, wherein make respectively by positional information and the running information of local vehicle For local position information and local running information, positional information and the running information of remote vehicle are believed as remote location Breath and long-range march information；

First Track Pick-up module, for according to local position information and local running information, generating local vehicle distances current Local prediction wheelpath in moment preset duration；

Second Track Pick-up module, for according to remote location information and long-range march information, generates remote vehicle distance current Remotely predicting wheelpath in moment preset duration；

Early warning output module, for when this locality prediction wheelpath exists track intersection point with remotely predicting wheelpath, exporting The anti-collision warning information preset.

7. vehicle running collision prior-warning device as claimed in claim 6, it is characterised in that described local running information includes local car Local line vehicle speed, described remote vehicle information includes the long-range march speed of remote vehicle,

Described early warning output module includes:

Duration acquiring unit, is used for when this locality prediction wheelpath and remotely predicting wheelpath exist track intersection point, according to Local prediction wheelpath and local line vehicle speed, obtain local vehicle and arrive the first duration of track intersection point, and according to remotely Prediction wheelpath and long-range march speed, obtain remote vehicle and arrive the second duration of track intersection point；

Early warning output unit, is used for comparing the first duration and the second duration, when the difference of the first duration and the second duration is less than presetting During time threshold, the anti-collision warning information that output is preset.

8. vehicle running collision prior-warning device as claimed in claim 7, it is characterised in that: when described remote vehicle is multiple, institute State early warning output unit to be additionally operable to:

9. vehicle running collision prior-warning device as claimed in claim 6, it is characterised in that described local position information includes local car The local altitude information of position, described remote location information includes the long-range altitude information of remote vehicle position,

Described judge module includes

First judging unit, for according to local altitude information and long-range altitude information, it is judged that local vehicle and remote vehicle are No at same default altitude ranges；

Second judging unit, for when local vehicle and remote vehicle are at same default altitude ranges, it is judged that local prediction row Whether wheel paths and remotely predicting wheelpath exist track intersection point.

10. the vehicle running collision prior-warning device as described in claim 6 to 9 any one, it is characterised in that described local position is believed Breath includes the local azimuth of local vehicle position, and local historical position information, described remote location information includes remotely The remote parties parallactic angle of vehicle position, remote history positional information, local running information includes local vehicle local line speed Degree, long-range march information includes remote vehicle long-range march speed；

Described judge module includes:

3rd judging unit, for the local azimuth according to local vehicle, local historical position information, local line vehicle speed, The remote parties parallactic angle of remote vehicle, remote history positional information, long-range march speed, it is judged that whether local vehicle and remote vehicle Travel in opposite directions,

4th judging unit, for when local vehicle meet with remote vehicle intersection relative travel direction time, it is judged that this Whether ground prediction wheelpath exists track intersection point with remotely predicting wheelpath.