CN108520639A - A kind of method for early warning and system preventing vehicle collision - Google Patents
A kind of method for early warning and system preventing vehicle collision Download PDFInfo
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- CN108520639A CN108520639A CN201810622333.6A CN201810622333A CN108520639A CN 108520639 A CN108520639 A CN 108520639A CN 201810622333 A CN201810622333 A CN 201810622333A CN 108520639 A CN108520639 A CN 108520639A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The embodiment of the present invention provides a kind of method for early warning and system preventing vehicle collision.Method includes：According to the speed of third vehicle, and relative to the relative velocity, relative angle and relative distance of the second vehicle, whether judgement third vehicle meets the first safe driving condition；According to the speed of the second vehicle, and relative to the relative velocity, relative angle and relative distance of the first vehicle, whether the second vehicle of judgement meets the second safe driving condition；If it is determined that third vehicle is unsatisfactory for the first safe driving condition, and the second vehicle is unsatisfactory for the second safe driving condition, then sends pre-warning signal to the first vehicle.Method and system provided in an embodiment of the present invention are primarily upon the transfer of lateral precarious position, solve the very low defect of adaptibility to response of the existing onboard safety systems for urgent lane-change, while ensure that the promptness and accuracy rate of early warning.
Description
Technical field
The present embodiments relate to motor-driven vehicle going security technology area more particularly to a kind of early warning preventing vehicle collision
Method and system.
Background technology
In multilane traveling, the moving situation in neighbouring track may be on having certain influence, for example, same from the movement of vehicle
On the track of three, direction, exists simultaneously three vehicles and move forward.Assuming that from parking stall in leftmost side track, when rightmost side track vehicle
When occurring abnormal lane-change urgent to middle lane suddenly in the process of moving, the vehicle of middle lane inevitably will be to from vehicle
Place track lane-change, and this lane-change process is usually relatively more urgent, often to causing security risk from the traveling of vehicle.It is existing
Onboard safety systems for the adaptibility to response of urgent lane-change is very low or accuracy rate of early warning is high but the time it is not prompt enough to
So that vehicle there is morning time of very high security risk or early warning during travelling but early warning accuracy rate is low.
Invention content
The embodiment of the present invention provides a kind of method for early warning and system preventing vehicle collision, to solve existing vehicle-mounted peace
The very low defect of adaptibility to response of the total system for urgent lane-change, while ensure that the promptness and accuracy rate of early warning.
The embodiment of the present invention provides a kind of method for early warning preventing vehicle collision, including：
According to the speed of third vehicle, and relative to the relative velocity, relative angle and relative distance of the second vehicle, sentence
Whether the fixed third vehicle meets the first safe driving condition；According to the speed of second vehicle, and relative to first
Relative velocity, relative angle and the relative distance of vehicle, judge whether second vehicle meets the second safe driving condition
If it is determined that the third vehicle is unsatisfactory for the first safe driving condition, and second vehicle be unsatisfactory for it is described
Second safe driving condition then sends pre-warning signal to first vehicle；
Wherein, first vehicle, second vehicle and the third vehicle are respectively in first lane, second lane
With the vehicle travelled on third lane, the first lane, the second lane and the third lane are adjacent successively.
The embodiment of the present invention provides a kind of early warning system preventing vehicle collision, including：
Determination module, for the speed according to third vehicle, and relative velocity, relative angle relative to the second vehicle
And relative distance, judge whether the third vehicle meets the first safe driving condition；According to the speed of second vehicle, with
And relative velocity, relative angle and relative distance relative to the first vehicle, judge whether second vehicle meets the second peace
Full driving condition
Warning module, for if it is determined that the third vehicle is unsatisfactory for the first safe driving condition, and described second
Vehicle is unsatisfactory for the second safe driving condition, then sends pre-warning signal to first vehicle；
Wherein, first vehicle, second vehicle and the third vehicle are respectively in first lane, second lane
With the vehicle travelled on third lane, the first lane, the second lane and the third lane are adjacent successively.
The embodiment of the present invention provides a kind of source of early warning preventing vehicle collision, including memory and processor, the place
Reason device and the memory complete mutual communication by bus；The memory is stored with and can be executed by the processor
Program instruction, the processor call described program instruction to be able to carry out above-mentioned method.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage
Medium storing computer instructs, and the computer instruction makes the computer execute above-mentioned method.
A kind of method for early warning and system preventing vehicle collision provided in an embodiment of the present invention is primarily upon laterally dangerous shape
The transfer of state, for the first vehicle, by judging the secondary vehicle for closing on the vehicle travelled on track and being travelled on closest track
Whether first safe driving condition is met, whether to judge third vehicle suddenly to the urgent lane-change in track where the second vehicle, if
Third vehicle is judged suddenly to the urgent lane-change in track where the second vehicle, and the second vehicle and the first vehicle are unsatisfactory for the second safety
Driving condition, then, lanes where the second vehicle of judgement is forced to the first vehicle due to the urgent lane-change of third vehicle,
At this point, the first vehicle generates early warning so that the driver in the first vehicle makes corresponding operating according to pre-warning signal, to avoid
Yin Tache lane-changes so that the first vehicle is hit.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of method for early warning embodiment flow chart preventing vehicle collision of the present invention；
Fig. 2 is a kind of simulated driving scene embodiment schematic diagram of vehicle of the present invention；
Fig. 3 is a kind of source of early warning example structure block diagram preventing vehicle collision of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of method for early warning embodiment flow chart preventing vehicle collision of the present invention, as shown in Figure 1, this method packet
It includes：
According to the speed of third vehicle, and relative to the relative velocity, relative angle and relative distance of the second vehicle, sentence
Whether the fixed third vehicle meets the first safe driving condition；According to the speed of second vehicle, and relative to first
Relative velocity, relative angle and the relative distance of vehicle, judge whether second vehicle meets the second safe driving condition.If
Judge that the third vehicle is unsatisfactory for the first safe driving condition, and second vehicle is unsatisfactory for second security row
Spoke part then sends pre-warning signal to first vehicle.Wherein, first vehicle, second vehicle and the third
Vehicle is respectively the vehicle travelled on first lane, second lane and third lane, the first lane, the second lane
It is adjacent successively with the third lane.
It should be noted that the application scenarios of the embodiment of the present invention are the road at least three tracks in the same direction.For
The first vehicle, the second vehicle, third vehicle in the embodiment of the present invention and the method for early warning for preventing vehicle collision, will combine attached
Figure illustrates.
Fig. 2 is a kind of simulated driving scene embodiment schematic diagram of vehicle of the present invention, as shown in Fig. 2, this road has
Three tracks in the same direction, direction are indicated in fig. 2, are arrow direction.Three tracks of definition from left to right are respectively the first vehicle
Road, second lane and third lane, for travelling on for the first vehicle on first lane, by what is travelled on second lane
Positioned at the first vehicle diagonally forward and it is separated by nearest vehicle with the first vehicle and is known as the second vehicle.It similarly, will be on third lane
Being located at the second vehicle diagonally forward and being separated by nearest vehicle with the second vehicle for traveling is known as third vehicle.
Three vehicles on three tracks move forward simultaneously, if the third vehicle of third lane occur in the process of moving it is different
Often suddenly to the urgent lane-change of second lane, then the second vehicle of second lane inevitably will be to first where the first vehicle
Track lane-change, if first lane is most edge side track, if then the second vehicle is due to third vehicle to be avoided and to the first vehicle
Road lane-change, then the first vehicle can will nowhere hide, in general, serious consequence can be caused to the first vehicle in this case.
And the method that the embodiment of the present invention is provided, it is primarily upon the transfer of lateral precarious position, for the first vehicle, is led to
Cross whether judgement third vehicle meets the first safe driving condition to judge whether third vehicle has suddenly to the second vehicle place
The urgent lane-change of second lane trend, if it is determined that third vehicle has the tendency that suddenly to the urgent lane-change of second lane, and judge
Second vehicle and the first vehicle are unsatisfactory for the second safe driving condition, then explanation is due to the urgent lane-change trend of third lane, shadow
The normally travel to the second vehicle is rung, causing the second vehicle can not be by deceleration only by first lane lane-change
It is just avoided that and is bumped against by third vehicle, that is, the trend of the oriented first lane lane-change of the second vehicle is illustrated, at this point, just can be to
One vehicle sends pre-warning signal so that the driver of the first vehicle makes corresponding operating according to pre-warning signal, to avoid because of third
The urgent lane-change of vehicle so that the first vehicle is hit.
It should be noted that the number of track-lines in the same direction in the application scenarios of the embodiment of the present invention is not limited to three, four, five
Item ... can carry out early warning judgement as stated above.
It should be noted that the executive agent of the embodiment of the present invention is the processing module being arranged on the first vehicle, processing
Module is preferably microcontroller.Microcontroller to the first vehicle send pre-warning signal mode can be：To setting on the first vehicle
Prior-warning device send pre-warning signal so that the driver on the first vehicle of light or voice reminder that prior-warning device is sent out does
Go out corresponding operating, so that the first vehicle is hit to avoid because of the urgent lane-change of third vehicle.Wherein, prior-warning device can be integrated with finger
Show that lamp or buzzer, prior-warning device carry out early warning by indicator light or buzzer.If prior-warning device is integrated with indicator light, it indicates that
Lamp is red LED lamp, mounted on the region that instrument board upper left side driver is easily noted that.
Method provided in an embodiment of the present invention is primarily upon the transfer of lateral precarious position, for from vehicle (the first vehicle),
Close on whether the vehicle travelled on track (third vehicle) meets the first safe driving condition by judgement time, to judge third vehicle
Whether have the tendency that suddenly to the urgent lane-change in track where the second vehicle, if it is determined that third vehicle has suddenly to the second vehicle institute
In the trend of the urgent lane-change in track, and the second vehicle be unsatisfactory for the second safe driving condition from the first vehicle of vehicle, then, judgement
Second vehicle has the tendency that being forced to from track lane-change where vehicle due to the urgent lane-change of third vehicle, at this point, being generated from vehicle
Early warning makes to avoid because of the urgent lane-change of third vehicle so as to make corresponding operating according to pre-warning signal derived from the driver in vehicle
The case where being hit from vehicle occurs.
Based on above-described embodiment, a kind of method for early warning preventing vehicle collision, according to the speed of third vehicle, and it is opposite
In the relative velocity, relative angle and relative distance of the second vehicle, judge whether the third vehicle meets the first safe driving
Condition；According to the speed of second vehicle, and relative to the relative velocity, relative angle and relative distance of the first vehicle,
Judge whether second vehicle meets the second safe driving condition, further includes before：
Obtain the driving information of each vehicle at a distance from first vehicle in preset range；
According to the driving information of all vehicles, determines and be located at first vehicle front on the second lane and from described
The nearest vehicle of first vehicle as second vehicle, and determines and is located at second vehicle front on the third lane
And the vehicle nearest from second vehicle, as the third vehicle.Wherein, the driving information of each vehicle includes institute
State relative velocity, relative angle and relative distance of each vehicle relative to first vehicle.
It should be noted that the purpose of the embodiment of the present invention is to determine second in numerous vehicles of the first vehicle periphery
Vehicle and third vehicle.
Specifically, millimetre-wave radar can be installed in the first interior or exterior of the vehicle, is obtained by millimetre-wave radar and is in institute
State the driving information of each vehicle in the preset range of the first vehicle.Millimetre-wave radar is by the traveling of all vehicles acquired
Information is sent to microcontroller, and microcontroller screens the driving information of all vehicles received, with determine the second vehicle and
Third vehicle.Wherein, the driving information of each vehicle includes relative velocity, the vehicle of the vehicle relative to first vehicle
Relative angle and relative distance of the vehicle relative to first vehicle relative to first vehicle.It needs to illustrate
It is that millimetre-wave radar is by CAN bus and microcontroller into row data communication, it is preferable that the model RS422-CAN of CAN bus.
Preferably, millimetre-wave radar uses ESR millimetre-wave radars, it is fixedly mounted on the installation of the first vehicle front license plate number
The lower section centre of position, the horizontal installation forward in millimetre-wave radar radar front, the region of millimetre-wave radar scanning is sector.
Based on above-described embodiment, a kind of method for early warning preventing vehicle collision, according to the speed of third vehicle, and it is opposite
In the relative velocity, relative angle and relative distance of the second vehicle, judge whether the third vehicle meets the first safe driving
Condition further comprises：
Relative angle and relative distance according to the third vehicle relative to second vehicle obtain the third vehicle
Longitudinally opposed distance and laterally opposed distance between second vehicle；
Relative angle and relative velocity according to the third vehicle relative to second vehicle obtain the third vehicle
The lateral velocity moved to the second lane；
If the longitudinally opposed distance between the third vehicle and second vehicle is less than or equal to first default longitudinal phase
It adjusts the distance, and, the speed of the third vehicle is more than the first pre-set velocity, and, between the third vehicle and second vehicle
Laterally opposed distance be less than or equal to the first default laterally opposed distance, and, the third vehicle is transported to the second lane
Dynamic lateral velocity is more than the first default lateral velocity, then judges that the third vehicle is unsatisfactory for the first safe driving condition.
Preferably, the first default longitudinally opposed distance is 20m, and the first pre-set velocity is 40km/h, the first default lateral phase
It adjusts the distance as 3m, the first default lateral velocity is 1m/s.
Based on above-described embodiment, a kind of method for early warning preventing vehicle collision, according to the speed of third vehicle, and it is opposite
In the relative velocity, relative angle and relative distance of the second vehicle, judge whether the third vehicle meets the first safe driving
Condition further comprises：
Relative angle and relative distance according to the third vehicle relative to second vehicle obtain the third vehicle
Longitudinally opposed distance between second vehicle；
Relative angle and relative velocity according to the third vehicle relative to second vehicle obtain the third vehicle
The lateral velocity moved to the second lane；
If the longitudinally opposed distance between the third vehicle and second vehicle is less than or equal to second default longitudinal phase
It adjusts the distance, and, the speed of the third vehicle is more than the second pre-set velocity, and, the third vehicle is transported to the second lane
Dynamic lateral velocity is more than the second default lateral velocity, and, TTC is less than the second predetermined threshold value, then judges the third vehicle not
Meet the first safe driving condition；Wherein,
TTC=L/v；
Longitudinally opposed distances of the L between third vehicle and the second vehicle, v are the transverse direction that third vehicle is moved to second lane
Speed.
Preferably, the second default longitudinally opposed distance is 20m, and the second pre-set velocity is 40km/h, the second default laterally speed
Degree is 1m/s, and the second predetermined threshold value is 2.5s.
Based on above-described embodiment, a kind of method for early warning preventing vehicle collision, according to the speed of second vehicle, and
Relative to the relative velocity, relative angle and relative distance of the first vehicle, judge whether second vehicle meets the second safety
Driving condition further comprises：
Relative angle and relative distance according to second vehicle relative to first vehicle obtain second vehicle
Longitudinally opposed distance and laterally opposed distance between first vehicle；
Relative angle and relative velocity according to second vehicle relative to first vehicle obtain second vehicle
The lateral velocity moved to the first lane；
If the longitudinally opposed distance between second vehicle and first vehicle is less than or equal to the default longitudinal phase of third
It adjusts the distance, and, the speed of second vehicle is more than third pre-set velocity, and, between second vehicle and first vehicle
Laterally opposed distance be less than or equal to third preset laterally opposed distance, and, second vehicle is transported to the first lane
Dynamic lateral velocity is more than third and presets lateral velocity, then judges that second vehicle is unsatisfactory for the second safe driving condition.
Preferably, it is 20m that third, which presets longitudinally opposed distance, and third pre-set velocity is 40km/h, the default lateral phase of third
It adjusts the distance as 3m, it is 1m/s that third, which presets lateral velocity,.
Based on above-described embodiment, a kind of method for early warning preventing vehicle collision, according to the speed of second vehicle, and
Relative to the relative velocity, relative angle and relative distance of the first vehicle, judge whether second vehicle meets the second safety
Driving condition further comprises：
Relative angle and relative distance according to second vehicle relative to first vehicle obtain second vehicle
Longitudinally opposed distance between first vehicle；
Relative angle and relative velocity according to second vehicle relative to first vehicle obtain second vehicle
The lateral velocity moved to the first lane；
If the longitudinally opposed distance between second vehicle and first vehicle is less than or equal to the 4th default longitudinal phase
It adjusts the distance, and, the speed of second vehicle is more than the 4th pre-set velocity, and, second vehicle is transported to the first lane
Dynamic lateral velocity is more than the 4th default lateral velocity, and, TTC1Less than the 4th predetermined threshold value, then second vehicle is judged not
Meet the second safe driving condition；Wherein,
TTC1=L1/v1；
L1For the longitudinally opposed distance between the second vehicle and the first vehicle, v1The cross moved to first lane for the second vehicle
To speed.
Preferably, the 4th default longitudinally opposed distance is 20m, and the 4th pre-set velocity is 40km/h, the 4th default laterally speed
Degree is 1m/s, and the 4th predetermined threshold value is 2.5s.
The embodiment of the present invention provides a kind of early warning system preventing vehicle collision, including：
Determination module, for according to the speed of third vehicle, and relative to the relative distance of the second vehicle and relatively fast
Degree, judges whether the third vehicle meets the first safe driving condition；According to the speed of second vehicle, and relative to
The relative distance and relative velocity of first vehicle, judge whether second vehicle meets the second safe driving condition.Early warning mould
Block, for if it is determined that the third vehicle is unsatisfactory for the first safe driving condition, and second vehicle be unsatisfactory for it is described
Second safe driving condition then sends pre-warning signal to first vehicle.Wherein, first vehicle, second vehicle
It is respectively the vehicle travelled on first lane, second lane and third lane, the first lane, institute with the third vehicle
It states second lane and the third lane is adjacent successively.
It should be noted that the system of the embodiment of the present invention can be used for executing and shown in FIG. 1 a kind of prevent vehicle collision
The technical solution of method for early warning embodiment, implementing principle and technical effect are similar, and details are not described herein again.
In order to ensure the safety of the first vehicle, in the first vehicle launch, this system is started to work.
System provided in an embodiment of the present invention is primarily upon the transfer of lateral precarious position, for the first vehicle, by sentencing
Determine whether third vehicle meets the first safe driving condition to judge whether third vehicle has suddenly to where the second vehicle
The trend of the urgent lane-change of two lane highways if it is determined that third vehicle has the tendency that suddenly to the urgent lane-change of second lane, and judges second
Vehicle and the first vehicle are unsatisfactory for the second safe driving condition, then explanation is influenced due to the urgent lane-change trend of third lane
The normally travel of second vehicle, causing the second vehicle can not be by deceleration only by first lane lane-change could
It avoids being bumped against by third vehicle, that is, the trend of the oriented first lane lane-change of the second vehicle is illustrated, at this point, just can be to the first vehicle
Send pre-warning signal so that the driver of the first vehicle makes corresponding operating according to pre-warning signal, to avoid because of third vehicle
Urgent lane-change so that the first vehicle is hit.
Based on above-described embodiment, a kind of early warning system preventing vehicle collision further includes：
Driving information acquisition module, for obtaining each vehicle at a distance from first vehicle in preset range
Driving information.Vehicle determining module is determined for the driving information according to all vehicles described in being located on the second lane
First vehicle front and the vehicle nearest from first vehicle as second vehicle, and determine on the third lane
Positioned at second vehicle front and the vehicle nearest from second vehicle, as the third vehicle.Wherein, described each
The driving information of vehicle include each vehicle relative to the relative velocity of first vehicle, relative angle and it is opposite away from
From.
Fig. 3 is a kind of source of early warning example structure block diagram preventing vehicle collision of the present invention, as shown in figure 3, described set
It is standby to include：Processor (processor) 301, memory (memory) 302 and bus 303；Wherein, the processor 301 and institute
It states memory 302 and completes mutual communication by the bus 303；The processor 301 is for calling the memory 302
In program instruction, to execute the method that above-mentioned each method embodiment is provided, for example, including：According to the speed of third vehicle,
And relative velocity, relative angle and relative distance relative to the second vehicle, judge whether the third vehicle meets first
Safe driving condition；According to the speed of second vehicle, and relative to the relative velocity, relative angle and phase of the first vehicle
It adjusts the distance, judges whether second vehicle meets the second safe driving condition；If it is determined that the third vehicle be unsatisfactory for it is described
First safe driving condition, and second vehicle is unsatisfactory for the second safe driving condition, then is sent out to first vehicle
Send pre-warning signal.
The embodiment of the present invention discloses a kind of computer program product, and the computer program product is non-transient including being stored in
Computer program on computer readable storage medium, the computer program include program instruction, when described program instructs quilt
When computer executes, computer is able to carry out the method that above-mentioned each method embodiment is provided, such as including：According to third vehicle
Speed, and relative to the relative velocity, relative angle and relative distance of the second vehicle, judge whether the third vehicle full
The first safe driving condition of foot；Relative velocity, relative angle according to the speed of second vehicle, and relative to the first vehicle
Degree and relative distance, judge whether second vehicle meets the second safe driving condition；If it is determined that the third vehicle is discontented
Foot the first safe driving condition, and second vehicle is unsatisfactory for the second safe driving condition, then to described first
Vehicle sends pre-warning signal.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage
Medium storing computer instructs, and the computer instruction makes the computer execute the side that above-mentioned each method embodiment is provided
Method, such as including：According to the speed of third vehicle, and the relative velocity relative to the second vehicle, relative angle and it is opposite away from
From judging whether the third vehicle meets the first safe driving condition；According to the speed of second vehicle, and relative to
Relative velocity, relative angle and the relative distance of first vehicle, judge whether second vehicle meets the second security row spoke
Part；If it is determined that the third vehicle is unsatisfactory for the first safe driving condition, and second vehicle is unsatisfactory for described second
Safe driving condition then sends pre-warning signal to first vehicle.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer read/write memory medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or light
The various media that can store program code such as disk.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
To sum up, a kind of method for early warning and system preventing vehicle collision provided in an embodiment of the present invention, by from track
The third vehicle of the millimetre-wave radar being arranged in first vehicle, the second vehicle and time neighbouring track to closest track is visited
It surveys, according to the motion state of the second vehicle and third vehicle, when recognizing the second vehicle and the conflict of third vehicle generation lane-change simultaneously
When will influence the first vehicle, i.e., when identification obtains third vehicle can be to the urgent lane-change in track where the second vehicle, and to the
One normal vehicle operation will send out early warning there are when significant impact to the driver of the first vehicle, it is reminded to pay attention to evacuation.To
More reaction time have been reserved to driver, have avoided the occurrence of the collision accident of the second vehicle and the first vehicle, have been compensated for current
Jejune part in vehicle lane-changing research.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of method for early warning preventing vehicle collision, which is characterized in that including：
According to the speed of third vehicle, and relative to the relative velocity, relative angle and relative distance of the second vehicle, judge institute
State whether third vehicle meets the first safe driving condition；According to the speed of second vehicle, and relative to the first vehicle
Relative velocity, relative angle and relative distance, judge whether second vehicle meets the second safe driving condition；
If it is determined that the third vehicle is unsatisfactory for the first safe driving condition, and second vehicle is unsatisfactory for described second
Safe driving condition then sends pre-warning signal to first vehicle；
Wherein, first vehicle, second vehicle and the third vehicle are respectively in first lane, second lane and the
The vehicle travelled on three lanes, the first lane, the second lane and the third lane are adjacent successively.
2. according to the method described in claim 1, it is characterized in that, the speed according to third vehicle, and relative to
Relative velocity, relative angle and the relative distance of two vehicles, judge whether the third vehicle meets the first safe driving condition；
According to the speed of second vehicle, and relative to the relative velocity, relative angle and relative distance of the first vehicle, judge institute
It states whether the second vehicle meets the second safe driving condition, further includes before：
Obtain the driving information of each vehicle at a distance from first vehicle in preset range；
According to the driving information of all vehicles, determines and be located at first vehicle front on the second lane and from described first
The nearest vehicle of vehicle, as second vehicle, and determine be located on the third lane second vehicle front and from
The nearest vehicle of second vehicle, as the third vehicle；
Wherein, the driving information of each vehicle include each vehicle relative to first vehicle relative velocity,
Relative angle and relative distance.
3. according to the method described in claim 1, it is characterized in that, the speed according to third vehicle, and relative to
Relative velocity, relative angle and the relative distance of two vehicles, judge whether the third vehicle meets the first safe driving condition,
Further comprise：
Relative angle and relative distance according to the third vehicle relative to second vehicle, obtain the third vehicle with
Longitudinally opposed distance and laterally opposed distance between second vehicle；
Relative angle and relative velocity according to the third vehicle relative to second vehicle, obtain the third vehicle to
The lateral velocity of the second lane movement；
If longitudinally opposed distance between the third vehicle and second vehicle be less than or equal to first it is default it is longitudinally opposed away from
From, and, the speed of the third vehicle is more than the first pre-set velocity, and, the cross between the third vehicle and second vehicle
It is less than or equal to the first default laterally opposed distance to relative distance, and, what the third vehicle was moved to the second lane
Lateral velocity is more than the first default lateral velocity, then judges that the third vehicle is unsatisfactory for the first safe driving condition.
4. according to the method described in claim 1, it is characterized in that, the speed according to third vehicle, and relative to
Relative velocity, relative angle and the relative distance of two vehicles, judge whether the third vehicle meets the first safe driving condition,
Further comprise：
Relative angle and relative distance according to the third vehicle relative to second vehicle, obtain the third vehicle with
Longitudinally opposed distance between second vehicle；
Relative angle and relative velocity according to the third vehicle relative to second vehicle, obtain the third vehicle to
The lateral velocity of the second lane movement；
If longitudinally opposed distance between the third vehicle and second vehicle be less than or equal to second it is default it is longitudinally opposed away from
From, and, the speed of the third vehicle is more than the second pre-set velocity, and, what the third vehicle was moved to the second lane
Lateral velocity is more than the second default lateral velocity, and, TTC is less than the second predetermined threshold value, then judges that the third vehicle is unsatisfactory for
First safe driving condition；Wherein,
TTC=L/v；
Longitudinally opposed distances of the L between third vehicle and the second vehicle, v are the laterally speed that third vehicle is moved to second lane
Degree.
5. according to the method described in claim 1, it is characterized in that, the speed according to second vehicle, and it is opposite
In the relative velocity, relative angle and relative distance of the first vehicle, judge whether second vehicle meets the second safe driving
Condition further comprises：
Relative angle and relative distance according to second vehicle relative to first vehicle, obtain second vehicle with
Longitudinally opposed distance and laterally opposed distance between first vehicle；
Relative angle and relative velocity according to second vehicle relative to first vehicle, obtain second vehicle to
The lateral velocity of the first lane movement；
If longitudinally opposed distance between second vehicle and first vehicle less than or equal to third preset it is longitudinally opposed away from
From, and, the speed of second vehicle is more than third pre-set velocity, and, the cross between second vehicle and first vehicle
It is less than or equal to third to relative distance and presets laterally opposed distance, and, what second vehicle was moved to the first lane
Lateral velocity is more than third and presets lateral velocity, then judges that second vehicle is unsatisfactory for the second safe driving condition.
6. according to the method described in claim 1, it is characterized in that, the speed according to second vehicle, and it is opposite
In the relative velocity, relative angle and relative distance of the first vehicle, judge whether second vehicle meets the second safe driving
Condition further comprises：
Relative angle and relative distance according to second vehicle relative to first vehicle, obtain second vehicle with
Longitudinally opposed distance between first vehicle；
Relative angle and relative velocity according to second vehicle relative to first vehicle, obtain second vehicle to
The lateral velocity of the first lane movement；
If longitudinally opposed distance between second vehicle and first vehicle be less than or equal to the 4th it is default it is longitudinally opposed away from
From, and, the speed of second vehicle is more than the 4th pre-set velocity, and, what second vehicle was moved to the first lane
Lateral velocity is more than the 4th default lateral velocity, and, TTC1Less than the 4th predetermined threshold value, then judge that second vehicle is unsatisfactory for
Second safe driving condition；Wherein,
TTC1=L1/v1；
L1For the longitudinally opposed distance between the second vehicle and the first vehicle, v1The laterally speed moved to first lane for the second vehicle
Degree.
7. a kind of early warning system preventing vehicle collision, which is characterized in that including：
Determination module, for the speed according to third vehicle, and relative velocity, relative angle and phase relative to the second vehicle
It adjusts the distance, judges whether the third vehicle meets the first safe driving condition；According to the speed of second vehicle, Yi Jixiang
For the relative velocity, relative angle and relative distance of the first vehicle, judge whether second vehicle meets the second security row
Spoke part
Warning module, for if it is determined that the third vehicle is unsatisfactory for the first safe driving condition, and second vehicle
It is unsatisfactory for the second safe driving condition, then sends pre-warning signal to first vehicle；
Wherein, first vehicle, second vehicle and the third vehicle are respectively in first lane, second lane and the
The vehicle travelled on three lanes, the first lane, the second lane and the third lane are adjacent successively.
8. system according to claim 7, which is characterized in that further include：
Driving information acquisition module, the row for obtaining each vehicle at a distance from first vehicle in preset range
Sail information；
Vehicle determining module determines for the driving information according to all vehicles and is located at first vehicle on the second lane
Front and the vehicle nearest from first vehicle, as second vehicle, and determine and are located at institute on the third lane
The second vehicle front is stated and the vehicle nearest from second vehicle, as the third vehicle；
Wherein, the driving information of each vehicle include each vehicle relative to first vehicle relative velocity,
Relative angle and relative distance.
9. a kind of source of early warning preventing vehicle collision, which is characterized in that including memory and processor, the processor and institute
It states memory and completes mutual communication by bus；The memory, which is stored with, to be referred to by the program that the processor executes
It enables, the processor calls described program instruction to be able to carry out the method as described in claim 1 to 6 is any.
10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute the method as described in claim 1 to 6 is any.
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