CN108725441A - Monitoring method, device and the computer readable storage medium of vehicle traveling - Google Patents
Monitoring method, device and the computer readable storage medium of vehicle traveling Download PDFInfo
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- CN108725441A CN108725441A CN201810527182.6A CN201810527182A CN108725441A CN 108725441 A CN108725441 A CN 108725441A CN 201810527182 A CN201810527182 A CN 201810527182A CN 108725441 A CN108725441 A CN 108725441A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000012806 monitoring device Methods 0.000 claims abstract description 14
- 238000006073 displacement reaction Methods 0.000 claims description 87
- 238000010586 diagram Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 206010057315 Daydreaming Diseases 0.000 description 4
- 230000006399 behavior Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000013507 mapping Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
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Classifications
-
- 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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of monitoring methods of vehicle traveling, including：Vehicle when driving, monitor the current traffic information and vehicle in the multiple blind areas of vehicle driving information；According to the traffic information and the driving information, judge that the vehicle currently whether there is risk of collision；If so, determining the vehicle control information for evading the risk of collision；Send out the driving prompt message for including the vehicle control information.The invention also discloses the monitoring devices and computer readable storage medium of a kind of vehicle traveling.The present invention improves the safety of vehicle traveling.
Description
Technical field
Monitoring method, device and the computer travelled the present invention relates to automobile technical field more particularly to a kind of vehicle can
Read storage medium.
Background technology
With the rapid development of economy, vehicle has become traffic work indispensable in people's daily life and work
Tool brings great convenience for user's trip.In vehicle travel process, the road in vehicle blind zone is not seen due to driver
Situation is easy to happen collision accident.Currently, generally by the video of blind area is shot using camera, and carry out video and show,
To checked for driver to reduce the probability of collision accident generation.However, how to drive vehicle to prevent collision accident
Occur, the driving experience for the driver that places one's entire reliance upon, once when driver because it is nervous, absent minded, reaction slowly etc.
Factor when causing to fail to take effective driver behavior in time, can still crash.Therefore, the safety of vehicle traveling
Property need to be improved.
Invention content
The main object of the present invention is to provide a kind of monitoring method, device and the computer-readable storage medium of vehicle traveling
Matter, it is intended to solve the problems, such as that existing vehicle safety is not high.
To achieve the above object, the present invention proposes the monitoring method of vehicle traveling, the monitoring method packet of the vehicle traveling
Include following steps：
Vehicle when driving, monitor the current traffic information and vehicle in the multiple blind areas of vehicle driving information；
According to the traffic information and the driving information, judge that the vehicle currently whether there is risk of collision；
If so, determining the vehicle control information for evading the risk of collision；
Send out the driving prompt message for including the vehicle control information.
Preferably, after the step of driving prompt message sent out comprising the vehicle control information, further include：
According to the vehicle control information, automatic Pilot control is carried out to the vehicle, to evade the risk of collision.
Preferably, described according to the vehicle control information, before the step of carrying out automatic Pilot control to the vehicle,
Further include：
Obtain the current Driving control information of the vehicle；
If the Driving control information and the vehicle control information are inconsistent, then follow the steps according to the vehicle control
Information carries out automatic Pilot control to the vehicle.
Preferably, the vehicle control information includes brake pedal displacement information, accelerator pedal displacement amount information and side
It is described according to the vehicle control information to disc spins angle information, the step of vehicle progress automatic Pilot control, is wrapped
It includes：
According to the brake pedal displacement information, corresponding first control signal is exported to the first stepper motor of vehicle,
The first stepper motor rotation, driving brake pedal move corresponding displacement；And/or
According to the accelerator pedal displacement amount information, corresponding second control signal is exported to the second stepper motor of vehicle,
The second stepper motor rotation, driving gas pedal move corresponding displacement；And/or
According to the steering wheel rotation angle information, exports corresponding third and controls signal to vehicle third stepper motor,
The third stepper motor rotation, driving direction disc spins respective angles.
Preferably, the determination evades the step of vehicle control information of the risk of collision and includes：
According to the corresponding blind zone position of the risk of collision, determine that corresponding control mode, the control mode include stopping
Vehicle control, Throttle Opening Control and steering wheel control；
Calculate the corresponding vehicle control information of the control mode.
Preferably, the driving information includes the first position information and First Speed information of the vehicle, the road conditions
Information includes the second position information and second speed information of potential colliding object in blind area, it is described according to the traffic information and
The driving information judges that the step of vehicle currently whether there is risk of collision includes：
According to the First Speed information and the second speed information, relative velocity is calculated；
According to the relative velocity and the first position information and the second position information, the vehicle is judged
It currently whether there is risk of collision.
Preferably, the monitoring method of the vehicle traveling further includes step：
It generates vehicle and travels corresponding journal file, the journal file includes the traffic information, traveling letter
Breath and the vehicle control information；
The journal file is uploaded to Cloud Server, so that the Cloud Server preserves the journal file.
Preferably, the step of driving prompt message sent out comprising the vehicle control information includes：
Voice output includes the driving prompt message of the vehicle control information.
In addition, to achieve the above object, the present invention also proposes a kind of monitoring device of vehicle traveling, the vehicle traveling
Monitoring device includes：Memory, processor and it is stored in the vehicle row that can be run on the memory and on the processor
Sail monitoring programme；The vehicle traveling monitoring programme realizes the prison of vehicle traveling as described above when being executed by the processor
The step of prosecutor method.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
Vehicle traveling monitoring programme is stored on storage medium, the vehicle traveling monitoring programme is realized when being executed by processor as above
The step of monitoring method of the vehicle traveling.
In technical solution of the present invention, vehicle when driving, the traffic information current by monitoring vehicle multiple blind areas, and
The driving information of vehicle is judging that vehicle there is currently when risk of collision, is determined to evade according to traffic information and driving information
The vehicle control information of the risk of collision sends out the driving prompt message comprising the vehicle control information, is being received for user
When the driving prompt message, according to the vehicle control information got from the driving prompt message, vehicle is driven in time
Control is sailed, to evade risk of collision, avoids collision the generation of accident, this improves the safeties of vehicle traveling.
Description of the drawings
Fig. 1 is the monitoring device structural representation of the vehicle traveling for the hardware running environment that the embodiment of the present invention is related to
Figure；
Fig. 2 is the flow diagram of the monitoring method first embodiment of the vehicle traveling of the present invention；
Fig. 3 is the structural schematic diagram for the optional vehicle that the embodiment of the present invention is related to；
Fig. 4 is the flow diagram of the monitoring method second embodiment of the vehicle traveling of the present invention；
Fig. 5 is the structural schematic diagram for another optional vehicle that the embodiment of the present invention is related to；
Fig. 6 is the flow diagram of the monitoring method 3rd embodiment of the vehicle traveling of the present invention；
Fig. 7 is the structural schematic diagram for another optional vehicle that the embodiment of the present invention is related to；
Fig. 8 is the structural schematic diagram for another optional vehicle that the embodiment of the present invention is related to.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The solution of the embodiment of the present invention is mainly：Vehicle when driving, it is current by monitoring vehicle multiple blind areas
The driving information of traffic information and vehicle, judging vehicle according to traffic information and driving information, there is currently risk of collision
When, it determines the vehicle control information for evading the risk of collision, sends out the driving prompt message comprising the vehicle control information, supply
User is when receiving the driving prompt message, according to the vehicle control information got from the driving prompt message, in time
Driving control is carried out to vehicle and avoids collision the generation of accident to evade risk of collision.Technology through the embodiment of the present invention
Scheme solves the problems, such as that vehicle safety is not high.
The embodiment of the present invention proposes a kind of monitoring device of vehicle traveling.
Referring to Fig.1, Fig. 1 is the monitoring device knot of the vehicle traveling for the hardware running environment that the embodiment of the present invention is related to
Structure schematic diagram.
In subsequent description, using for indicating that the suffix of such as " module ", " component " or " unit " of element is only
The explanation for being conducive to the present invention, itself does not have a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
As shown in Figure 1, the monitoring device of vehicle traveling may include：Processor 1001, communication bus 1002, Yong Hujie
Mouth 1003, network interface 1004, memory 1005.Wherein, communication bus 1002 is logical for realizing the connection between these components
Letter.User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), and optional user connects
Mouth 1003 can also include standard wireline interface and wireless interface.Network interface 1004 may include optionally the wired of standard
Interface, wireless interface (such as WI-FI interfaces).Memory 1005 can be high-speed RAM memory, can also be stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
It will be understood by those skilled in the art that the monitoring device structure that vehicle shown in Fig. 1 travels is not constituted to vehicle
The restriction of the monitoring device of traveling may include either combining certain components or not than illustrating more or fewer components
Same component arrangement.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage media
Believe that module and vehicle travel monitoring programme.
In the present invention, the monitoring device of the vehicle traveling calls the vehicle stored in memory 1005 by processor 1001
Traveling monitoring programme, and execute following operation：
Vehicle when driving, monitor the current traffic information and vehicle in the multiple blind areas of vehicle driving information；
According to the traffic information and the driving information, judge that the vehicle currently whether there is risk of collision；
If so, determining the vehicle control information for evading the risk of collision；
Send out the driving prompt message for including the vehicle control information.
Further, processor 1001 can call the vehicle stored in memory 1005 to travel monitoring programme, also execute
It operates below：
According to the vehicle control information, automatic Pilot control is carried out to the vehicle, to evade the risk of collision.
Further, processor 1001 can call the vehicle stored in memory 1005 to travel monitoring programme, also execute
It operates below：
Obtain the current Driving control information of the vehicle；
If the Driving control information and the vehicle control information are inconsistent, then follow the steps according to the vehicle control
Information carries out automatic Pilot control to the vehicle.
Further, the vehicle control information include brake pedal displacement information, accelerator pedal displacement amount information and
Steering wheel rotation angle information, processor 1001 can call the vehicle stored in memory 1005 to travel monitoring programme, also hold
The following operation of row：
According to the brake pedal displacement information, corresponding first control signal is exported to the first stepper motor of vehicle,
The first stepper motor rotation, driving brake pedal move corresponding displacement；And/or
According to the accelerator pedal displacement amount information, corresponding second control signal is exported to the second stepper motor of vehicle,
The second stepper motor rotation, driving gas pedal move corresponding displacement；And/or
According to the steering wheel rotation angle information, exports corresponding third and controls signal to vehicle third stepper motor,
The third stepper motor rotation, driving direction disc spins respective angles.
Further, processor 1001 can call the vehicle stored in memory 1005 to travel monitoring programme, also execute
It operates below：
According to the corresponding blind zone position of the risk of collision, determine that corresponding control mode, the control mode include stopping
Vehicle control, Throttle Opening Control and steering wheel control；
Calculate the corresponding vehicle control information of the control mode.
Further, the driving information includes the first position information and First Speed information of the vehicle, the road
Condition information includes the second position information and second speed information of potential colliding object in blind area, and processor 1001 can be called and be deposited
The vehicle traveling monitoring programme stored in reservoir 1005, also executes following operation：
According to the First Speed information and the second speed information, relative velocity is calculated；
According to the relative velocity and the first position information and the second position information, the vehicle is judged
It currently whether there is risk of collision.
Further, processor 1001 can call the vehicle stored in memory 1005 to travel monitoring programme, also execute
It operates below：
It generates vehicle and travels corresponding journal file, the journal file includes the traffic information, traveling letter
Breath and the vehicle control information；
The journal file is uploaded to Cloud Server, so that the Cloud Server preserves the journal file.
Further, processor 1001 can call the vehicle stored in memory 1005 to travel monitoring programme, also execute
It operates below：
Voice output includes the driving prompt message of the vehicle control information.
The present embodiment through the above scheme, vehicle when driving, the traffic information current by monitoring vehicle multiple blind areas,
And the driving information of vehicle, judging that vehicle there is currently when risk of collision, is determined according to traffic information and driving information
The vehicle control information for evading the risk of collision sends out the driving prompt message comprising the vehicle control information, is being connect for user
When receiving the driving prompt message, according to the vehicle control information got from the driving prompt message, in time to vehicle into
Row Driving control avoids collision the generation of accident to evade risk of collision, and this improves the safeties of vehicle traveling.
Based on above-mentioned hardware configuration, the monitoring method embodiment of vehicle traveling of the present invention is proposed.
With reference to the flow diagram for the monitoring method first embodiment that Fig. 2, Fig. 2 are vehicle of the present invention traveling.
In the first embodiment, the monitoring method of the vehicle traveling includes the following steps：
Step S10, vehicle when driving, monitoring the current traffic information and vehicle in the multiple blind areas of vehicle traveling letter
Breath；
Step S20 judges that the vehicle currently whether there is collision wind according to the traffic information and the driving information
Danger；If so, thening follow the steps S30；If it is not, then returning to step S10；
Step S30 determines the vehicle control information for evading the risk of collision；
Step S40 sends out the driving prompt message comprising the vehicle control information.
In vehicle travel process, since driver does not see the road conditions in vehicle blind zone, cause to be easy to happen
Collision accident.Currently, generally by the video of blind area is shot using camera, and carry out video and show, to for driver
Member checks to reduce the probability of collision accident generation.However, how to drive vehicle to prevent the generation of collision accident, it is completely dependent on
In the driving experience of driver, once when driver because it is nervous, absent minded, reaction slowly etc. factors, cause to fail
When taking effective driver behavior in time, can still it crash.
In order to reduce the probability to crash in vehicle traveling, the safety of traveling is improved, the present invention proposes a kind of
The monitoring method of vehicle traveling, the monitoring device of the vehicle traveling suitable for above-described embodiment.Optionally, which travels
Monitoring device may be disposed in vehicle, or independently arranged control device.
In the present embodiment, during vehicle travels, real-time or periodically current to the multiple blind areas of vehicle traffic information
It is monitored, and monitors the current driving information of vehicle.Wherein, the current traffic information in blind area includes but not limited to dive in blind area
The location information of colliding object, velocity information, at a distance from vehicle, with the information such as the relative velocity of vehicle, vehicle is current
Driving information includes but not limited to the location information of vehicle, velocity information etc..For ease of description, hereafter the position of vehicle is believed
Breath is known as first position information, and the velocity information of vehicle is known as First Speed information, the position letter of potential colliding object in blind area
It ceases and is known as second position information, the velocity information of potential colliding object is known as second speed information in blind area.It is understood that
Potential colliding object can be the mobile objects such as vehicle in blind area, or barrier etc. fixes object.
For example, as shown in figure 3, pre-seting radar sensor and camera in the position of each blind area of vehicle, on vehicle also
The devices such as velocity sensor, GPS module, memory are set, potential collision in each blind area of vehicle is detected by radar sensor
The information such as the distance between object and vehicle, relative velocity detect the First Speed information etc. of vehicle by velocity sensor, lead to
Cross the first position information of GPS module detection vehicle.The processor of vehicle is according to the relative velocity and vehicle detected
First Speed information calculates the second speed information of potential colliding object.Optionally, above-mentioned each letter that vehicle will detect
In breath storage to vehicle local storage, in order to subsequently be called.
Optionally, the video image in each blind area of vehicle is shot by camera, and is transmitted to the aobvious of vehicle cab
Show and is shown on instrument.Further, every frame that the processor of vehicle shoots camera records a video, records a video per frame the corresponding time
In point, corresponding location information synchronizing storage to vehicle local storage of recording a video per frame.
After monitoring gets the multiple blind areas of vehicle current traffic information and vehicle current driving information, according to this
Traffic information and driving information judge that vehicle currently whether there is risk of collision, namely judge that, for each blind area, vehicle is current
With the presence or absence of risk of collision, if when monitoring there are one blind area there are when risk of collision, then judge vehicle there is currently collision wind
Danger.Specifically, the step S20 includes：
Step a calculates relative velocity according to the First Speed information and the second speed information；
Step b judges institute according to the relative velocity and the first position information and the second position information
It states vehicle and currently whether there is risk of collision.
The of potential colliding object in the First Speed information of the first position information, vehicle that get vehicle, blind area
In two location informations, blind area after the information such as second speed information of potential colliding object, according to the First Speed information and
Two velocity informations calculate the relative velocity of vehicle and potential colliding object in blind area.Wherein, relative velocity includes relative motion
The information such as rate and direction of relative movement.
According in the relative velocity of potential colliding object in vehicle and blind area and the first position information and blind area of vehicle
The second position information of potential colliding object judges that vehicle is with potential colliding object in blind area using Newton's laws of motion calculating
No to meet, vehicle currently whether there is risk of collision.
Vehicle is judged there is currently no when risk of collision when calculating, and return continues to execute step S10, to the multiple blind areas of vehicle
Current traffic information is monitored, and monitors the current driving information of vehicle, to judge vehicle with the presence or absence of collision wind again
Danger.
Vehicle is judged there is currently when risk of collision when calculating, and in order to evade risk of collision, the risk of collision is evaded in determination
Vehicle control information, wherein vehicle control information includes but not limited to brake pedal displacement information, accelerator pedal displacement amount
Information and steering wheel rotation angle information etc..
Further optionally, vehicle is default is equipped with the voice playing devices such as loud speaker, passes through voice playing device voice prompt
There is obstacle in blind area, to remind driver.Further, the video of the blind area of shooting is amplified display, to drive
Video image of the people according to display is sailed, operation judges are made.
Optionally, the step S30 includes：
Step c determines corresponding control mode, the control mode according to the corresponding blind zone position of the risk of collision
Including brake control, Throttle Opening Control and steering wheel control；
Step d calculates the corresponding vehicle control information of the control mode.
Optionally, vehicle is judged there is currently when risk of collision, first according to the corresponding blind area of the risk of collision when calculating
Position determines vehicle currently suitable for the corresponding control mode taken, wherein control mode include but not limited to brake control,
Throttle Opening Control and steering wheel control etc..If for example, the corresponding blind zone position of the risk of collision is in vehicle front, suitable for taking
Control mode be that brake controls, and Throttle Opening Control cannot be taken；If conversely, the corresponding blind zone position of the risk of collision is in vehicle
Rear, then the control mode suitable for taking is Throttle Opening Control, and cannot use brake control.
Risk is reliably avoided collision in order to control vehicle, in the present embodiment, determines control of the vehicle currently suitable for taking
Mode further calculates and takes the corresponding vehicle control information of the control mode namely brake pedal displacement information, throttle
Pedal-displacement information and steering wheel rotation angle information etc..
For example, if it is X to pre-set brake pedal displacement, accelerator pedal displacement amount is Y, brake pedal displacement and vehicle
Displacement be fixed coefficient K1, the displacement of accelerator pedal displacement amount and vehicle is fixed coefficient K2, vehicle in blind area
The distance of potential colliding object is M, and vehicle is with before potential colliding object collision in blind area, and the time of vehicle movement is S, then X=
K1*f(M/S), Y=K2*f(M/S), wherein f(M/S)It is the mapping function about distance M, time S.
In one embodiment, vehicle processor first takes maximum accelerator pedal displacement amount Y, according to Y=K2*f(M/S)Inverse
The displacement M2 of vehicle when going out to pass through Throttle Opening Control, wherein M2 are a parts of M, then calculate vehicle when being controlled by braking
Displacement M1=M-M2, further according to X=K1*f(M/S)Calculate brake pedal displacement X values.Wherein, brake pedal displacement X and
Accelerator pedal displacement amount Y is limited to brake and the velocity of displacement of throttle preferably must be held in a safe range, the safe range
There is different numberical ranges according to different automobile types.
If brake pedal displacement X and accelerator pedal displacement amount Y reach maximum security value (s), namely i.e. brake and oil
Men Jun reaches maximum displacement), at this point, being still unable to reach vehicle potential colliding object distance M values in blind area, then also want
It is controlled using steering wheel.Specifically, set direction spirals gyration as Z, and the displacement of steering wheel rotation angle and vehicle is fixed
COEFFICIENT K 3 first calculates M3=M-M1-M2, then according to Z=K3*f(M3/S), calculate steering wheel rotation angle Z.By brake or
Throttle Opening Control, in addition steering wheel controls, to evade risk of collision.
Optionally, when judging the multiple blind areas of vehicle there are when risk of collision, preferably using the blind area of driver's nearside as base
Standard, is defined as blind area 1, and other blind areas are defined as blind area 2, blind area 3 ... blind area n.Vehicle processor according to above-mentioned computational methods,
Divide and calculates brake pedal displacement X1, accelerator pedal displacement amount Y1, steering wheel rotation angle that risk of collision is avoided in blind area 1
Z1.Then by brake pedal displacement X1, accelerator pedal displacement amount Y1, steering wheel rotation angle Z1 as blind area 2 correspond to X2,
The safe range value of Y2, Z2, then calculate blind area 2 and avoid the brake pedal displacement X2 of risk of collision, accelerator pedal displacement amount
Y2, steering wheel rotation angle Z.Then, by brake pedal displacement X2, accelerator pedal displacement amount Y2, steering wheel rotation angle Z2
As blind area 3 correspond to X3, Y3, Z3 safe range value, then calculate brake pedal displacement X3, accelerator pedal displacement amount Y3,
Steering wheel rotation angle Z3.Similarly, the corresponding brake pedal displacement Xi in each blind area, accelerator pedal displacement amount are calculated successively
Yi, steering wheel rotation angle Zi, until the corresponding brake pedal displacement Xn in the last one blind area, accelerator pedal displacement amount Yn,
Steering wheel rotation angle Zn.By the corresponding brake pedal displacement Xn in the last one blind area, accelerator pedal displacement amount Yn, steering wheel
Rotation angle Zn evades the vehicle control information of risk of collision as vehicle.
Optionally, in order to improve the accuracy to vehicle control, driver is in advance by the brand of vehicle, vehicle model etc.
Information of vehicles is uploaded to corresponding Cloud Server, and vehicle downloads the matched vehicle control of the information of vehicles by processor from Cloud Server
Parameter processed, to carry out corresponding configuration.
After determining to evade the vehicle control information of risk of collision, vehicle processor is sent out to be believed comprising the vehicle control
The driving prompt message of breath.User is when receiving the driving prompt message, you can is obtained according to from the driving prompt message
The vehicle control information arrived carries out Driving control to vehicle in time and avoids collision the generation of accident to evade risk of collision.
Optionally, the voice playing devices such as the loud speaker pre-seted by vehicle, voice output are believed comprising the vehicle control
The driving prompt message of breath.In this way, user need to only listen to the driving prompt message of the voice, to not influence user when driving
Eyes check road conditions, not only ensure the safety of vehicle traveling, also improve user experience.
Scheme provided in this embodiment, vehicle when driving, the traffic information current by monitoring vehicle multiple blind areas, with
And the driving information of vehicle, judging that vehicle there is currently when risk of collision, is determined to advise according to traffic information and driving information
The vehicle control information for keeping away the risk of collision sends out the driving prompt message comprising the vehicle control information, is being received for user
When to the driving prompt message, according to the vehicle control information got from the driving prompt message, vehicle is carried out in time
Driving control avoids collision the generation of accident to evade risk of collision, and this improves the safeties of vehicle traveling.
Further, the monitoring method second embodiment that vehicle traveling of the present invention is proposed based on first embodiment, in this reality
It applies in example, as shown in figure 4, after the step S40, further includes：
Step S50 carries out automatic Pilot control according to the vehicle control information to the vehicle, to evade described touch
Hit risk.
In the first embodiment, although having issued driving prompt message, since there may be because of nervous, note by driver
Meaning power is not concentrated, reacts the factors such as slow, causes to fail to occur the case where taking effective driver behavior in time, at this time still keep away
The generation of unavoidable collision accident.Therefore, in order to further increase the safety of vehicle traveling, in the present embodiment, packet is being sent out
After driving prompt message containing vehicle control information, vehicle processor carries out vehicle automatic according to the vehicle control information
Driving control, to evade risk of collision.That is, according to brake pedal displacement information, accelerator pedal displacement amount information, steering wheel
Rotation angle information etc. carries out automatically controlling the brake of vehicle, throttle, steering wheel etc..
It is understood that step S50 can be executed after the step s 40, can also be executed before step S40, Huo Zhebu
Rapid S50 and step S40 is performed simultaneously, and in the present embodiment, is not limited to the priority execution sequence of step S50 and step S40.
Optionally, the step S50 includes：
Step e exports corresponding first control signal to the first stepping of vehicle according to the brake pedal displacement information
Motor, the first stepper motor rotation, driving brake pedal move corresponding displacement；And/or
Step f exports corresponding second control signal to the second stepping of vehicle according to the accelerator pedal displacement amount information
Motor, the second stepper motor rotation, driving gas pedal move corresponding displacement；And/or
Step g exports corresponding third and controls signal to vehicle third stepping according to the steering wheel rotation angle information
Motor, the third stepper motor rotation, driving direction disc spins respective angles.
According to vehicles such as brake pedal displacement information, accelerator pedal displacement amount information, steering wheel rotation angle informations
Information is controlled, when being carried out automatically controlling to vehicle, brake is controlled, according to brake pedal displacement information, output is corresponding
First control signal controls the rotation of the first stepper motor, is stepped on by mechanical part driving brake to the first stepper motor of vehicle
Plate moves corresponding displacement.Corresponding second control signal is exported to vehicle according to accelerator pedal displacement amount information for Throttle Opening Control
The second stepper motor, control the second stepper motor rotation, passes through mechanical part and gas pedal is driven to move corresponding displacement.For
Steering wheel controls, and according to steering wheel rotation angle information, exports corresponding third and controls signal to vehicle third stepper motor, control
Third stepper motor rotation processed, passes through mechanical part driving direction disc spins respective angles.
Further, vehicle is also default is equipped with gyro sensor, as shown in Figure 5.In general, road surface is broadly divided into smooth road
Face, upward slope road surface and descending road surface detect the slope number for obtaining road surface by gyro sensor in vehicle travel process
According to.Processor carries out identified vehicle control information to improve update according to the Gradient.For example, for upward slope road surface,
Reduce brake pedal displacement, increases accelerator pedal displacement amount；For descending road surface, increase brake pedal displacement in turn,
Reduce accelerator pedal displacement amount.It is more accurately right to realize by being updated to vehicle control information according to Gradient
Vehicle carries out automatically controlling.
Scheme provided in this embodiment, judging vehicle there are in the case of risk of collision, according to identified vehicle control
Information processed, to vehicle carry out automatic Pilot control, to avoid driver because it is nervous, absent minded, reaction slowly etc. because
Element causes to fail to occur the case where taking effective driver behavior in time, therefore, further improves the safety of vehicle traveling
Property.
Further, the monitoring method 3rd embodiment that vehicle traveling of the present invention is proposed based on second embodiment, in this reality
It applies in example, as shown in fig. 6, before the step S50, further includes：
Step S60 obtains the current Driving control information of the vehicle；
The step S50 includes：
Step S51, if the Driving control information and the vehicle control information are inconsistent, according to the vehicle control
Information carries out automatic Pilot control to the vehicle.
In the present embodiment, the driving experience of the safety of vehicle traveling and driver, drive when sending out in order to balance
After prompt message, vehicle processor obtains the current Driving control information of vehicle, wherein Driving control information includes but unlimited
In information such as brake pedal displacement, accelerator pedal displacement amount, steering wheel rotation angles, namely detection driver whether according to
The driving prompt message carries out vehicle drive.If Driving control information is consistent with identified vehicle control information, namely drives
Personnel carry out vehicle drive according to the driving prompt message, then vehicle processor is handled without response.If conversely, Driving control
Information and identified vehicle control information be inconsistent namely driver may be because nervous, absent minded, reaction is slow etc.
Each factor influences, and vehicle drive is not carried out according to the driving prompt message, at this point, vehicle processor is according to identified vehicle
Information is controlled, automatic Pilot control is carried out to vehicle.
Specifically, vehicle is also default is equipped with Hall sensor and grating sensor, as shown in Figure 7 and Figure 8.Optionally, exist
Hall sensor is respectively set on brake pedal and the structural member of gas pedal, setting grating passes in steering wheel rotational structure position
Sensor.During vehicle travels, the misalignment that gas pedal is detected by Hall sensor corresponds to the linear electricity of output
Pressure, vehicle processor is according to the size of linear voltage and the mapping relations of preset linear voltage and accelerator pedal displacement, really
Make gas pedal currently corresponding displacement.Similarly, it is corresponded to by the misalignment of Hall sensor detection brake pedal defeated
The linear voltage gone out, vehicle processor is according to the size of linear voltage and preset linear voltage and brake pedal displacement
Mapping relations determine brake pedal currently corresponding displacement.Also, vehicle processor calculates acquisition side by grating sensor
The rotation angle current to disk.
When the currently corresponding displacement of detected gas pedal and identified accelerator pedal displacement amount are inconsistent, and/
Or the currently corresponding displacement of detected brake pedal and identified brake pedal displacement it is inconsistent, and/or detection obtain
Steering wheel when currently corresponding rotation angle and identified steering wheel rotation angle are inconsistent namely detected drive
When sailing control information and inconsistent identified vehicle control information, according to identified vehicle control information, vehicle is carried out
Automatic Pilot controls.It is described in embodiment that specific control operation, which can refer to second, and details are not described herein.
Optionally, it is being also continued to while carrying out automatic Pilot control to vehicle according to identified vehicle control information
Brake pedal, gas pedal, the current Driving control information of steering wheel are detected by Hall sensor, grating sensor, directly
The Driving control information obtained to monitoring is consistent with identified vehicle control information.
Further, the monitoring method of the vehicle traveling further includes step：
Step h generates vehicle and travels corresponding journal file, and the journal file includes the traffic information, described
Driving information and the vehicle control information；
The journal file is uploaded to Cloud Server by step i, so that the Cloud Server preserves the journal file.
Further, in order to optimize the control operation to vehicle, vehicle processor is corresponded to according to this risk of collision and is detected
To blind area in traffic information, vehicle driving information and vehicle evade the vehicle control information that risk of collision taken
Equal vehicle drives information, generates corresponding journal file, and the journal file is uploaded to Cloud Server.Work as cloud server
When to the journal file, Cloud Server preserves the journal file, to constantly be carried out to the vehicle control information of vehicle
Renolation.It is follow-up when there is risk of collision in vehicle traveling, based on the journal file that Cloud Server is preserved, to vehicle into
Row Driving control so that the control operation of vehicle is constantly optimized.
Scheme provided in this embodiment, the Driving control information current by obtaining vehicle, if acquired Driving control
Information and vehicle control information are inconsistent namely driver does not carry out according to the vehicle control information driven in prompt message
When vehicle drive, according to the vehicle control information, automatic Pilot control is carried out to vehicle, takes into account driver's to realize
The effect of the safety of driving experience and vehicle traveling.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has vehicle
Travel monitoring programme, vehicle traveling monitoring programme can be executed by one or more than one processor for：
Vehicle when driving, monitor the current traffic information and vehicle in the multiple blind areas of vehicle driving information；
According to the traffic information and the driving information, judge that the vehicle currently whether there is risk of collision；
If so, determining the vehicle control information for evading the risk of collision；
Send out the driving prompt message for including the vehicle control information.
Further, following operation is also realized when the vehicle traveling monitoring programme is executed by processor：
According to the vehicle control information, automatic Pilot control is carried out to the vehicle, to evade the risk of collision.
Further, following operation is also realized when the vehicle traveling monitoring programme is executed by processor：
Obtain the current Driving control information of the vehicle；
If the Driving control information and the vehicle control information are inconsistent, then follow the steps according to the vehicle control
Information carries out automatic Pilot control to the vehicle.
Further, the vehicle control information include brake pedal displacement information, accelerator pedal displacement amount information and
Steering wheel rotation angle information, the vehicle traveling monitoring programme also realize following operation when being executed by processor：
According to the brake pedal displacement information, corresponding first control signal is exported to the first stepper motor of vehicle,
The first stepper motor rotation, driving brake pedal move corresponding displacement；And/or
According to the accelerator pedal displacement amount information, corresponding second control signal is exported to the second stepper motor of vehicle,
The second stepper motor rotation, driving gas pedal move corresponding displacement；And/or
According to the steering wheel rotation angle information, exports corresponding third and controls signal to vehicle third stepper motor,
The third stepper motor rotation, driving direction disc spins respective angles.
Further, following operation is also realized when the vehicle traveling monitoring programme is executed by processor：
According to the corresponding blind zone position of the risk of collision, determine that corresponding control mode, the control mode include stopping
Vehicle control, Throttle Opening Control and steering wheel control；
Calculate the corresponding vehicle control information of the control mode.
Further, the driving information includes the first position information and First Speed information of the vehicle, the road
Condition information includes the second position information and second speed information of potential colliding object in blind area, and the vehicle travels monitoring programme
Following operation is also realized when being executed by processor：
According to the First Speed information and the second speed information, relative velocity is calculated；
According to the relative velocity and the first position information and the second position information, the vehicle is judged
It currently whether there is risk of collision.
Further, following operation is also realized when the vehicle traveling monitoring programme is executed by processor：
It generates vehicle and travels corresponding journal file, the journal file includes the traffic information, traveling letter
Breath and the vehicle control information；
The journal file is uploaded to Cloud Server, so that the Cloud Server preserves the journal file.
Further, following operation is also realized when the vehicle traveling monitoring programme is executed by processor：
Voice output includes the driving prompt message of the vehicle control information.
Each embodiment of monitoring method of computer readable storage medium specific implementation mode of the present invention and above-mentioned vehicle traveling
Essentially identical, details are not described herein.
The present embodiment through the above scheme, vehicle when driving, the traffic information current by monitoring vehicle multiple blind areas,
And the driving information of vehicle, judging that vehicle there is currently when risk of collision, is determined according to traffic information and driving information
The vehicle control information for evading the risk of collision sends out the driving prompt message comprising the vehicle control information, is being connect for user
When receiving the driving prompt message, according to the vehicle control information got from the driving prompt message, in time to vehicle into
Row Driving control avoids collision the generation of accident to evade risk of collision, and this improves the safeties of vehicle traveling.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or system.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions use so that a station terminal equipment (can be mobile phone,
Computer, server or network equipment etc.) execute method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of monitoring method of vehicle traveling, which is characterized in that the monitoring method of the vehicle traveling includes the following steps：
Vehicle when driving, monitor the current traffic information and vehicle in the multiple blind areas of vehicle driving information；
According to the traffic information and the driving information, judge that the vehicle currently whether there is risk of collision；
If so, determining the vehicle control information for evading the risk of collision；
Send out the driving prompt message for including the vehicle control information.
2. the monitoring method of vehicle traveling as described in claim 1, which is characterized in that described to send out comprising the vehicle control
After the step of driving prompt message of information, further include：
According to the vehicle control information, automatic Pilot control is carried out to the vehicle, to evade the risk of collision.
3. the monitoring method of vehicle traveling as claimed in claim 2, which is characterized in that described to be believed according to the vehicle control
Before the step of ceasing, automatic Pilot control is carried out to the vehicle, further include：
Obtain the current Driving control information of the vehicle；
If the Driving control information and the vehicle control information are inconsistent, then follow the steps and believed according to the vehicle control
Breath carries out automatic Pilot control to the vehicle.
4. the monitoring method of vehicle traveling as claimed in claim 2, which is characterized in that the vehicle control information includes brake
Pedal-displacement information, accelerator pedal displacement amount information and steering wheel rotation angle information, it is described to be believed according to the vehicle control
It ceases, includes to the step of vehicle progress automatic Pilot control：
According to the brake pedal displacement information, corresponding first control signal is exported to the first stepper motor of vehicle, it is described
First stepper motor rotates, and driving brake pedal moves corresponding displacement；And/or
According to the accelerator pedal displacement amount information, corresponding second control signal is exported to the second stepper motor of vehicle, it is described
Second stepper motor rotates, and driving gas pedal moves corresponding displacement；And/or
According to the steering wheel rotation angle information, exports corresponding third and control signal to vehicle third stepper motor, it is described
Third stepper motor rotates, driving direction disc spins respective angles.
5. the monitoring method of vehicle traveling as claimed in claim 4, which is characterized in that the risk of collision is evaded in the determination
Vehicle control information the step of include：
According to the corresponding blind zone position of the risk of collision, determine that corresponding control mode, the control mode include that brake is controlled
System, Throttle Opening Control and steering wheel control；
Calculate the corresponding vehicle control information of the control mode.
6. the monitoring method of vehicle traveling as described in claim 1, which is characterized in that the driving information includes the vehicle
First position information and First Speed information, the traffic information include the second position information of potential colliding object in blind area
It is described according to the traffic information and the driving information with second speed information, judge that the vehicle currently whether there is and touches
The step of hitting risk include：
According to the First Speed information and the second speed information, relative velocity is calculated；
According to the relative velocity and the first position information and the second position information, judge that the vehicle is current
With the presence or absence of risk of collision.
7. the monitoring method of vehicle traveling as described in claim 1, which is characterized in that the monitoring method of the vehicle traveling is also
Including step：
Generate vehicle and travel corresponding journal file, the journal file include the traffic information, the driving information with
And the vehicle control information；
The journal file is uploaded to Cloud Server, so that the Cloud Server preserves the journal file.
8. such as the monitoring method of claim 1-7 any one of them vehicles traveling, which is characterized in that described to send out comprising described
The step of driving prompt message of vehicle control information includes：
Voice output includes the driving prompt message of the vehicle control information.
9. a kind of monitoring device of vehicle traveling, which is characterized in that the monitoring device of the vehicle traveling includes：Memory, place
It manages device and is stored in the vehicle traveling monitoring programme that can be run on the memory and on the processor；The vehicle traveling
The monitoring method for realizing the vehicle traveling as described in any one of claim 1-8 when monitoring programme is executed by the processor
Step.
10. a kind of computer readable storage medium, which is characterized in that be stored with vehicle row on the computer readable storage medium
Monitoring programme is sailed, the vehicle traveling monitoring programme is realized when being executed by processor as described in any one of claim 1-8
The step of monitoring method of vehicle traveling.
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| CN201810527182.6A CN108725441A (en) | 2018-05-28 | 2018-05-28 | Monitoring method, device and the computer readable storage medium of vehicle traveling |
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| CN201810527182.6A CN108725441A (en) | 2018-05-28 | 2018-05-28 | Monitoring method, device and the computer readable storage medium of vehicle traveling |
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Application publication date: 20181102 |