CN107813821A - Method for early warning and device - Google Patents
Method for early warning and device Download PDFInfo
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- CN107813821A CN107813821A CN201610818448.3A CN201610818448A CN107813821A CN 107813821 A CN107813821 A CN 107813821A CN 201610818448 A CN201610818448 A CN 201610818448A CN 107813821 A CN107813821 A CN 107813821A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 claims abstract description 47
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of method for early warning and device.Wherein, this method includes：The information for setting multiple detection devices on a vehicle to return is obtained, wherein, multiple detection devices include at least one of：At least one radar, at least one camera；The information of part or all of return in multiple detection devices determines the traffic information in vehicle travels；Judge whether to need to carry out early warning according to traffic information；In the case where being judged as YES, carry out early warning and/or by the controller on the vehicles tackle the operation of early warning.The present invention solves the vehicles in correlation technique can not be to the technical problem of the comprehensive early warning of surrounding road condition.
Description
Technical field
The present invention relates to field of vehicles, in particular to a kind of method for early warning and device.
Background technology
Automobile often runs into many different road conditions in the process of moving, gathers at any time and analyzes the danger of motor vehicle environment
Target is necessary.At present, Car warning system mainly carries out early warning to preceding to collision or lateral dangerous situation, leads
Cause automobile early warning range small, and the early warning system can not provide risk avoidance measures according to surrounding environment, cause driver to tie
Close actual conditions and select correct hedging operation so that security incident takes place frequently.
In view of the above-mentioned problems, not yet propose effective solution at present.
The content of the invention
, can not at least to solve the vehicles in correlation technique the embodiments of the invention provide a kind of method for early warning and device
To the technical problem of the comprehensive early warning of surrounding road condition.
A kind of one side according to embodiments of the present invention, there is provided method for early warning, it is characterised in that including：Acquisition is set
The information that multiple detection devices on a vehicle return is put, wherein, above-mentioned multiple detection devices include at least one of：
At least one radar, at least one camera；The information of part or all of return in above-mentioned multiple detection devices determines
Traffic information in above-mentioned vehicle travels；Judge whether to need to carry out early warning according to above-mentioned traffic information；It is being judged as YES
In the case of, carry out early warning and/or by the controller on the above-mentioned vehicles tackle the operation of above-mentioned early warning.
Further, the information of the part or all of return in above-mentioned multiple detection devices determines above-mentioned traffic information
Including：Weight is configured for above-mentioned multiple detection devices according to the first predetermined condition；It is above-mentioned return according to the type of return information
Information configuration weight.
Further, the type of above-mentioned return information includes at least a kind of, according to the part in above-mentioned multiple detection devices
Or the information all returned determines that above-mentioned traffic information also includes：Every a kind of return information is beaten according to the second preparatory condition
Point.
Further, the information of the part or all of return in above-mentioned multiple detection devices determines above-mentioned traffic information
Including：By for the weight of above-mentioned multiple detection devices configuration, be the weight of above-mentioned return information configuration and to above-mentioned per a kind of
The result that return information is given a mark according to above-mentioned second preparatory condition is calculated according to the 3rd preparatory condition, obtain with it is above-mentioned
Risk fraction corresponding to traffic information, above-mentioned risk fraction are used to judge whether to need to carry out early warning.
Further, the type of above-mentioned return information includes at least one of：Target type, collision time, peripheral ring
Border.
Another aspect according to embodiments of the present invention, additionally provide a kind of prior-warning device, it is characterised in that including：Obtain
Unit, for obtaining the information for setting multiple detection devices on a vehicle to return, wherein, above-mentioned multiple detection device bags
Include at least one of：At least one radar, at least one camera；Processing unit, for according to above-mentioned multiple detection devices
In the information of part or all of return determine traffic information in above-mentioned vehicle travels；Judging unit, for according to
Traffic information is stated to judge whether to need to carry out early warning；Operating unit, in the case where being judged as YES, carry out early warning and/or pass through
Controller on the above-mentioned vehicles tackle the operation of above-mentioned early warning.
Further, above-mentioned processing unit includes：First dispensing unit, for being above-mentioned multiple detections according to predetermined condition
Device configures weight；Second dispensing unit, for being that above-mentioned return information configures weight according to the type of return information.
Further, above-mentioned at least one radar is millimetre-wave radar.
Further, above-mentioned at least one radar includes at least one of：Long-range radar, medium range radar, short-range radar.
Further, when the above-mentioned vehicles are automobile, above-mentioned at least one radar is arranged on following on above-mentioned automobile
At least one position：Front end, rear end, left front end, right front ends, left back end, right rear end.
Further, when the above-mentioned vehicles are automobile, above-mentioned at least one camera be arranged on above-mentioned automobile with
At least one lower position：Front end, rear end, roof.
In embodiments of the present invention, using a kind of method for early warning, early warning is carried out to the surrounding road condition of the vehicles, by obtaining
Take the information for setting multiple detection devices on a vehicle to return, wherein, above-mentioned multiple detection devices include it is following at least
One of：At least one radar, at least one camera；The information of part or all of return in above-mentioned multiple detection devices
Determine the traffic information in above-mentioned vehicle travels；Judge whether to need to carry out early warning according to above-mentioned traffic information；Judging
In the case of being, carry out early warning and/or by the controller on the above-mentioned vehicles tackle the operation of above-mentioned early warning.Reach
The purpose that the road conditions around the vehicles are carried out with comprehensive early warning has been arrived, it is achieved thereby that the technique effect of safe driving, and then
Solving the vehicles in correlation technique can not be to the technical problem of the comprehensive early warning of surrounding road condition.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is a kind of flow chart of optional method for early warning according to embodiments of the present invention；
Fig. 2 is a kind of optional flow chart for judging early warning according to embodiments of the present invention；
Fig. 3 is a kind of schematic diagram of optional prior-warning device according to embodiments of the present invention；
Fig. 4 is a kind of optional radar, the schematic diagram of camera installation locations according to embodiments of the present invention；
Fig. 5 is a kind of schematic diagram of optional Vehicle target distribution according to embodiments of the present invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, it should all belong to the model that the present invention protects
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except illustrating herein or
Order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
Embodiment 1
According to embodiments of the present invention, there is provided a kind of method for early warning embodiment is, it is necessary to illustrate, in the flow chart of accompanying drawing
The step of showing can perform in the computer system of such as one group computer executable instructions, although also, in flow chart
In show logical order, but in some cases, can be to perform shown or described step different from order herein
Suddenly.
Fig. 1 is a kind of flow chart of optional method for early warning according to embodiments of the present invention, as shown in figure 1, this method bag
Include following steps：
Step S102, the information for setting multiple detection devices on a vehicle to return is obtained, wherein, multiple detection dresses
Put including at least one of：At least one radar, at least one camera；
Step S104, the information of the part or all of return in multiple detection devices are determined in vehicle travels
Traffic information；
Step S106, judge whether to need to carry out early warning according to traffic information；
Step S108, in the case where being judged as YES, carry out early warning and/or answered by the controller on the vehicles
Operation to early warning.
That is, by setting detection device on a vehicle, the surrounding road condition information of the vehicles can be carried out
Detection, wherein detection device can be multiple radars, multiple cameras or other detection devices.Visited when obtaining
After surveying the information that device returns, so that it is determined that the traffic information around the vehicles.It should be noted that traffic information can be
All return, can also partly return.Then with rivers and lakes traffic information, judge whether to need early warning.When judgement needs pre- timing
Early warning and/or the operation for by the controller on the vehicles tackle early warning, early warning operation can include blowing a whistle, and send police
The other modes such as report.
By above-mentioned steps, reach the purpose that the road conditions around the vehicles are carried out with comprehensive early warning, it is achieved thereby that
The technique effect of safe driving, and then solve the vehicles in correlation technique and the technology of the comprehensive early warning of surrounding road condition can not be asked
Topic.
In order to reasonably judge the road conditions around the vehicles, alternatively, according in above-mentioned multiple detection devices
The information of part or all of return determine that above-mentioned traffic information includes：It is above-mentioned multiple detection devices according to the first predetermined condition
Configure weight；It is that above-mentioned return information configures weight according to the type of return information.That is, to installing spy on a vehicle
Survey device and configure different weights, when such as 2 video cameras be present, each video camera configuration 20%, when 4 radars be present, each
Radar configuration 15%.The information type of return includes at least one of：Target type, collision time, surrounding enviroment.Such as target
Type configuration 30%, collision time configuration 30%, surrounding enviroment configuration 40%.Certainly, when other return information types be present,
Other return information types can also be configured.
Alternatively, the type of above-mentioned return information includes at least a kind of, part in above-mentioned multiple detection devices or
The information all returned determines that above-mentioned traffic information also includes：Every a kind of return information is beaten according to the second preparatory condition
Point.For example, the second preparatory condition of information setting in collision time is：A) it is less than 1s, is configured to 40 points；B) it is small to be more than 1s
In 1.4s, 30 points are configured to；C) it is less than 2s more than 1.4s, is configured to 20 points；D) it is less than 3s more than 2s, is configured to 10 points；E) it is big
In 3s, 0 point is configured to.Information in target type sets the second preparatory condition as a) truck：It is configured to 30 points；B) in
Type lorry：It is configured to 20 points；C) car：It is configured to 10 points.Information in surrounding enviroment sets the second preparatory condition to be
A) front and rear to have cart, there is cart left or right：It is configured to 30 points；B) it is front and rear to have cart：It is configured to 20 points；C) front
Or there is cart at rear：It is configured to 10 points；D) there is cart left or right：It is configured to 5 points；E) it is other：It is configured to 0 point.
Alternatively, the information of the part or all of return in above-mentioned multiple detection devices determines above-mentioned traffic information bag
Include：By for the weight of above-mentioned multiple detection devices configuration, be the weight of above-mentioned return information configuration and returned to above-mentioned per one kind
The result that breath is given a mark according to above-mentioned second preparatory condition of writing in reply is calculated according to the 3rd preparatory condition, is obtained and above-mentioned road
Risk fraction corresponding to condition information, above-mentioned risk fraction are used to judge whether to need to carry out early warning.It should be noted that the 3rd is pre-
If condition can be configured information corresponding to above-mentioned different information types and information type according to corresponding preparatory condition
The fraction obtained afterwards is being added or other mathematical modelings are calculated.
Specifically, by taking automobile as an example, as shown in Fig. 2 hedging can select suitable hedging mode according to this car local environment,
Driver is alerted by sound or other manner；Can also be in addition unmanned by these information access automobile controllers
System makes suitable hedging method：Such as doubling, slow down etc..
Embodiment 2
Another aspect according to embodiments of the present invention, a kind of prior-warning device is additionally provided, as shown in figure 3, including：Obtain single
Member 30, for obtaining the information for setting multiple detection devices on a vehicle to return, wherein, above-mentioned multiple detection device bags
Include at least one of：At least one radar, at least one camera；Processing unit 32, for being filled according to above-mentioned multiple detections
The information for the part or all of return put determines the traffic information in above-mentioned vehicle travels；Judging unit 34, for root
Judge whether to need to carry out early warning according to above-mentioned traffic information；Operating unit 36, in the case where being judged as YES, carry out early warning and/
Or by the controller on the above-mentioned vehicles tackle the operation of above-mentioned early warning.
Alternatively, above-mentioned processing unit includes：First dispensing unit, for being filled according to predetermined condition for above-mentioned multiple detections
Put configuration weight；Second dispensing unit, for being that above-mentioned return information configures weight according to the type of return information.
Alternatively, above-mentioned at least one radar is millimetre-wave radar.Handed over using multiple millimetre-wave radars and camera detections
Logical instrument surrounding objects, and multiple millimetre-wave radars and camera are merged.With reference to this car surrounding objects situation, provide pre-
It is alert, and provide risk avoidance measures according to surrounding enviroment.The system has to ADAS (advanced DAS (Driver Assistant System)) or Unmanned Systems
Very important meaning.
Alternatively, above-mentioned at least one radar includes at least one of：Long-range radar, medium range radar, short-range radar.It is logical
The above method is crossed, this car surrounding environment is detected using multiple millimetre-wave radars and camera, because millimeter wave has round-the-clock work
Make ability, no matter blow, rain, situations such as weather or the light such as haze are bad can be with normal work.Camera is then just
More accurately information, such as target type, shape, size etc. are given under normal weather condition.
Alternatively, when the above-mentioned vehicles are automobile, above-mentioned at least one radar be arranged on above-mentioned automobile it is following extremely
One of few position：Front end, rear end, left front end, right front ends, left back end, right rear end.
Alternatively, when the above-mentioned vehicles are automobile, above-mentioned at least one camera is arranged on following on above-mentioned automobile
At least one position：Front end, rear end, roof.For example, as shown in figure 4, millimetre-wave radar mentioned by the present invention, front side bag
Containing long-range radar (LRR) and medium range radar (MRR), respectively there is a short-range radar (SRR) car left front and right front, are placed in vehicle body
Respectively there is a short-range radar (SRR) (LRR) left back and right back, and a long-range radar (LRR) is installed at car rear；Other Chinese herbaceous peony
And respectively there is a camera as shown in Figure 4 after car.With reference to the result of detection of each radar, merged to obtain the figure similar to Fig. 5
Picture.The weight of camera is selected according to weather condition in image co-registration.
It should be noted that in embodiment 2 in each embodiment of device and embodiment 1 method each embodiment
It is corresponding, will not be repeated here.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in some embodiment
The part of detailed description, it may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, others can be passed through
Mode is realized.Wherein, device embodiment described above is only schematical, such as the division of the unit, Ke Yiwei
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (11)
- A kind of 1. method for early warning, it is characterised in that including：Obtain the information for setting multiple detection devices on a vehicle to return, wherein, the multiple detection device include with It is at least one lower：At least one radar, at least one camera；The information of part or all of return in the multiple detection device determines the road conditions in the vehicle travels Information；Judge whether to need to carry out early warning according to the traffic information；In the case where being judged as YES, carry out early warning and/or by the controller on the vehicles tackle described pre- Alert operation.
- 2. according to the method for claim 1, it is characterised in that partly or entirely returning in the multiple detection device The information returned determines that the traffic information includes：It is that the multiple detection device configures weight according to the first predetermined condition；It is that the return information configures weight according to the type of return information.
- 3. according to the method for claim 2, it is characterised in that the type of the return information includes at least one kind, according to The information of part or all of return in the multiple detection device determines that the traffic information also includes：Every a kind of return is believed Breath is given a mark according to the second preparatory condition.
- 4. according to the method for claim 3, it is characterised in that partly or entirely returning in the multiple detection device The information returned determines that the traffic information includes：By the weight configured for the multiple detection device, be that the return information is matched somebody with somebody The weight put and the result given a mark to every a kind of return information according to second preparatory condition are pre- according to the 3rd If condition is calculated, risk fraction corresponding with the traffic information is obtained, the risk fraction is used to judge whether to need Carry out early warning.
- 5. according to the method for claim 2, it is characterised in that the type of the return information includes at least one of： Target type, collision time, surrounding enviroment.
- A kind of 6. prior-warning device, it is characterised in that including：Acquiring unit, for obtaining the information for setting multiple detection devices on a vehicle to return, wherein, the multiple spy Surveying device includes at least one of：At least one radar, at least one camera；Processing unit, the information for the part or all of return in the multiple detection device determine the vehicles Traffic information in traveling；Judging unit, for judging whether to need to carry out early warning according to the traffic information；Operating unit, in the case where being judged as YES, carry out early warning and/or answered by the controller on the vehicles Operation to the early warning.
- 7. device according to claim 6, it is characterised in that the processing unit includes：First dispensing unit, for being that the multiple detection device configures weight according to predetermined condition；Second dispensing unit, for being that the return information configures weight according to the type of return information.
- 8. device according to claim 6, it is characterised in that at least one radar is millimetre-wave radar.
- 9. device according to claim 6, it is characterised in that at least one radar includes at least one of：Far Cheng Leida, medium range radar, short-range radar.
- 10. device according to claim 6, it is characterised in that when the vehicles are automobile, at least one thunder Up at least one of position being arranged on the automobile：Front end, rear end, left front end, right front ends, left back end, right rear end.
- 11. device according to claim 6, it is characterised in that described at least one to take the photograph when the vehicles are automobile At least one of position being arranged on as head on the automobile：Front end, rear end, roof.
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| CN201610818448.3A CN107813821B (en) | 2016-09-12 | 2016-09-12 | Early warning method and device |
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| CN201610818448.3A CN107813821B (en) | 2016-09-12 | 2016-09-12 | Early warning method and device |
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Cited By (2)
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| CN109017557A (en) * | 2018-06-20 | 2018-12-18 | 上海科世达-华阳汽车电器有限公司 | A kind of vehicle road condition detection system and autonomous driving vehicle |
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| CN108806215A (en) * | 2018-06-14 | 2018-11-13 | 安徽科力信息产业有限责任公司 | The precision correcting method and system of multi-source traffic information data reliability index |
| CN109017557A (en) * | 2018-06-20 | 2018-12-18 | 上海科世达-华阳汽车电器有限公司 | A kind of vehicle road condition detection system and autonomous driving vehicle |
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