CN110264705A - The improper follow the bus erroneous judgement method for removing of vehicle, erroneous judgement exclude module and system - Google Patents
The improper follow the bus erroneous judgement method for removing of vehicle, erroneous judgement exclude module and system Download PDFInfo
- Publication number
- CN110264705A CN110264705A CN201810199409.9A CN201810199409A CN110264705A CN 110264705 A CN110264705 A CN 110264705A CN 201810199409 A CN201810199409 A CN 201810199409A CN 110264705 A CN110264705 A CN 110264705A
- Authority
- CN
- China
- Prior art keywords
- follow
- time
- improper
- bus
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
-
- 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
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of improper follow the bus erroneous judgement method for removing of vehicle, module and system, applied to vehicle, the improper follow the bus erroneous judgement method for removing for running on vehicle system includes the information that follow-up time is persistently received from a front end vehicular events processing unit, according to wherein timestamp for the continuous follow-up time timing lower than an improper follow-up time threshold, if lower than improper follow-up time threshold follow-up time continuously up to a threshold when, system generates improper follow the bus information warning.In the method progress, when being judged as improper follow the bus, compare follow-up time and previous follow-up time at this time, obtain a time difference, if the time difference be greater than a decimal reduction time threshold, that is, judge the time and it is improper successively decrease, at this time, if system judges vehicle without departing from lane and do not beat indicator, that is, record the non-improper follow the bus event for vehicle drive.
Description
Technical field
The present invention discloses a kind of technology that can exclude the erroneous judgement improper follow the bus of vehicle, particularly relates to the side by setting condition
Formula can exclude to judge by accident and correctly judge vehicle really and have the judgment method of improper follow the bus, module is excluded set on interior erroneous judgement with
And system.
Background technique
It in the technology of vehicle management, is driven especially for occupation, vehicle sending company needs some objective informations to sentence
Whether disconnected vehicle drive has a behavior of improper driving, and the behavior of one of improper driving is improper same lane to be followed to go forward
Vehicle, for example, generating malice when vehicle drive because mood is impacted and forcing vehicle, or do not discover and force because of absent minded
The nearby situation of vehicle, all possibly can not immediate response front truck slow down for some reason or the case where emergency brake, eventually may cause harm.
One of routine techniques can be detected at a distance from front truck by the front truck detecting system on vehicle, such as pass through electricity
Magnetic wave, laser, image etc. detect mode, and driving is reminded to keep safe distance, avoid causing because following distance is excessively close
The inadequate problem of the reaction time occurs in any emergency case, the behavior of improper driving can also be classified as.
However, there are still erroneous judgements if judging whether vehicle drive has the behavior of improper driving according only to above situation, such as
There are other vehicles to be cut on the lane between this vehicle and front truck suddenly, though this is also dangerous situation, if assessment drives row accordingly
For, and can not accurately judge the fact.
Summary of the invention
The present invention excludes module and system in relation to a kind of improper follow the bus erroneous judgement method for removing of vehicle, erroneous judgement, is applied to a vehicle
In, judge that the improper follow the bus of this vehicle is because the feelings of erroneous judgement are caused in the front lane of another vehicle insertion vehicle to exclude
Condition, method be according to system can accurate judgement drive whether there is or not the judging result of improper follow the bus, in addition to driving improper follow the bus in judgement
When can sound a warning in real time other than, moreover it is possible to judge that the reason of driving improper follow the bus is because of his vehicle incision vehicle front lane
It is caused, in this way, the case where driving misjudged improper driving itself, can be excluded.Wherein exclude the system application of improper follow the bus erroneous judgement
In a vehicle, system mainly includes the front end vehicular events processing unit for generating follow-up time, can be with PERCOM peripheral communication and biography
The vehicle management interface arrangement and an improper follow the bus erroneous judgement for passing information exclude module.
According to an embodiment, exclude to judge the system primary clustering of improper follow the bus by accident to include front end vehicular events processing unit,
Device is that follow-up time is calculated according to the speed of vehicle and at a distance from front truck；Including vehicle management interface arrangement, energy
External system is connected with communication unit；And improper follow the bus erroneous judgement excludes module, this can be a self-contained unit, or be built into vehicle
Circuit module in management interface device or front end vehicular events processing unit.
Further, it includes a front end interface that improper follow the bus erroneous judgement, which excludes module, to connect the processing of front end vehicular events
Device can receive follow-up time whereby, signal that the signal and indicator of run-off-road use (or can directly be obtained by vehicle
The signal that indicator uses)；Including a vehicle device interface, the information that module generates is excluded to transmit improper follow the bus erroneous judgement.Module
In processing unit execute improper follow the bus and judge method for removing by accident.
According to an embodiment, improper follow the bus erroneous judgement method for removing mainly to exclude judge the improper follow the bus of vehicle be because of
It is judged by accident caused by the front lane of another vehicle insertion vehicle, method includes receiving a follow the bus from front end vehicular events processing unit
Time then compares this follow-up time and is temporarily stored into a memory if this follow-up time is lower than an improper follow-up time threshold
Previous follow-up time, to obtain a time difference, wherein if the time difference is greater than a decimal reduction time threshold, system judges vehicle
Follow-up time and it is improper successively decrease, at this moment, system judges whether to receive run-off-road from front end vehicular events processing unit again
Signal and whether vehicle has use direction lamp.When system does not receive the signal of run-off-road, also without use direction
Lamp, the system judgement of expression drive not changing Lane, that is, record the non-improper follow the bus event for vehicle drive.
Conversely, if system, which is received from front end vehicular events processing unit, to be deviateed when the time difference is greater than decimal reduction time threshold again
The signal in lane, or judge vehicle use direction lamp, that is, it is recorded as vehicle drive and does not consider at a distance from adjacent lane front truck,
The event of improper changing Lane.
Further, systems stay receives the information of follow-up time, and for the follow the bus lower than improper follow-up time threshold
Time carries out timing, if lower than improper follow-up time threshold follow-up time continuously up to a duration threshold, system will generate
One improper follow the bus information warning.
Further, in the program for receiving follow-up time, system also compares follow-up time and a time shorter danger
Follow-up time threshold, if judging that follow-up time is less than or equal to this dangerous follow-up time threshold in any moment, indicating immediately
Danger, system generates a dangerous follow the bus information warning immediately, and is sent to external system by vehicle management interface arrangement.
In another embodiment, when persistently to the follow the bus for being lower than improper follow the bus (or improper changing Lane) time period threshold
Between in the case where timing, and the signal of collision warning is received from front end vehicular events processing unit, because improper follow the bus is again
There is collision to warn, system starts real-time generation one because causing the danger of overtaking collision front truck in improper follow the bus (or improper changing Lane)
Information warning.
Detailed description of the invention
Fig. 1 shows schematic diagram of the vehicle on road with front truck relationship；
Fig. 2 shows the vehicle situation schematic diagram that his vehicle is cut when driving on road；
Fig. 3 shows the system architecture embodiment schematic diagram that erroneous judgement function is excluded with improper follow the bus；
Fig. 4 follow the bus erroneous judgement that contraindicates excludes module function block implementation example figure in systems；
Fig. 5 shows that the improper follow the bus of vehicle judges the embodiment of the method flow chart that erroneous judgement is excluded in process；
Fig. 6 shows that the improper follow the bus of vehicle excludes the embodiment flow chart that judgement in erroneous judgement method has dangerous follow the bus immediately；
Fig. 7 shows that the improper follow the bus of vehicle excludes the embodiment flow chart that judgement in erroneous judgement method has risk of collision immediately；
Fig. 8 shows that the improper follow the bus of vehicle judges one of the method another embodiment flow chart that erroneous judgement is excluded in process；
Fig. 9 shows that the improper follow the bus of vehicle judges to exclude the two of the method another embodiment flow chart of erroneous judgement in process.
Specific embodiment
When the system that may determine that improper follow the bus judges that vehicle drive has improper follow the bus (Ben Che and leading vehicle distance on road
Cross close) behavior when, indicate several improper driving behaviors, for example, situation one: driving does not consider safe follow-up time, persistently connects
Closely travel on the front truck in same lane；Situation two: driving and do not consider safe follow-up time with adjacent lane front truck, and improper cuts
Change to adjacent lane；Situation three: the vehicle of adjacent lane does not consider the safe distance between vehicles with this vehicle, the improper vehicle for cutting this vehicle traveling
On road.
But the judgement of various improper driving is possible under specific circumstances be erroneous judgement, for example, above situation three, when adjacent
The vehicle in lane cuts this front side, so that the vehicle distances that system judges that this vehicle is cut suddenly with this are too short, when leading to follow the bus
Between it is too short and improper follow the bus may be judged as, though really dangerous situation, improper driving what vehicle management assessment drove
When sailing behavior, this kind of judgement should be excluded.
A kind of improper follow the bus erroneous judgement method for removing of vehicle, the erroneous judgement of improper follow the bus exclude module and are as disclosed in the present invention
System, proposition can exclude not this vehicle (rear car) driving behavior and lead to the technology of improper follow the bus situation, can exclude judgement this
The improper follow the bus of vehicle is because another vehicle is inserted into erroneous judgement caused by this front side lane.When consider to drive whether dangerous driving
When situation, the improper follow the bus erroneous judgement main solution of method for removing of vehicle is to consider this vehicle (rear car) and front truck follow the bus mistake
The time change of journey, rather than just judged only for some follow-up time.
Wherein the erroneous judgement of improper follow the bus, which excludes module, to be the self-contained unit in vehicle, have independent communication interface with
Power-supply management system can interface with and calculate the front end vehicular events processing unit of follow-up time in one, and can obtain vehicle row
It sails between the vehicle management interface arrangement of information.In another embodiment, improper follow the bus erroneous judgement, which excludes module, to be setting
Circuit module in the vehicular events processing unit of front end, or can be the circuit module being set in vehicle management interface arrangement.
The function that the above improper follow the bus erroneous judgement excludes hardware computation ability with software program in module is reached.
The improper follow the bus erroneous judgement excludes module, front end vehicular events processing unit and vehicle management interface arrangement and forms one
A system, is installed in vehicle, is judged by accident when excluding module and executing the improper follow the bus of vehicle and judge by improper follow the bus, can be according to using
Person sets Rule of judgment in response to different demands, can carry out timing and metering to the event of improper follow the bus, especially continuous improper
The case where follow the bus, the problem of can not only being judged with debug, moreover it is possible to when conditions are met, in real time to driving, vehicle management system
System or row control center are sent a warning message；Furthermore, also judging whether there is his vehicle incision using the time change of follow the bus process causes
The result of erroneous judgement.
The case where improper follow the bus can refer to vehicle shown in Fig. 1 travelled on road in illustrate with the situation of front truck relationship
Scheme, show on road 10 there is the first vehicle 101 (rear car) and preceding second vehicle 102 (front truck) in figure, the first vehicle 101 is to execute institute
State the vehicle of improper follow the bus judgment method.If the driving for driving the first vehicle 101 undeservedly operates vehicle, such as forces vehicle, it may be possible to
Malice, it is also possible to because of fatigue driving or habit, it is possible to create dangerous.For having the company of fleet management's demand or owner
For, this category information may also can become assessment drive whether one of He Ge judgment basis.
This legend shows that first vehicle, 101 travel speed is V1 (system can obtain this speed V1), 102 speed of the second vehicle on road 10
Degree is V2, is installed with the system for judge improper follow the bus in the first vehicle 101, wherein the erroneous judgement of improper follow the bus exclude module execution it is improper with
Vehicle judgment method is according to the speed V1 of the first vehicle 101 and to pass through shadow according to a front end vehicular events processing unit in process
As identification technique, electromagnetic wave detecting or other conventional approaches judge to obtain at a distance from the second vehicle 102 (d), when obtaining a follow the bus
Between t (t=d/V1), and this follow-up time t become improper follow the bus erroneous judgement in the first vehicle 101 exclude module judge whether there is it is improper
Follow the bus or the main foundation of danger.
It is noted that in a preferred embodiment, system using the considerations of follow-up time is considered in different speeds
Different following distances should be kept from front truck down, so follow-up time is used, and indirect use following distance is (with leading vehicle distance
The current speed of=follow-up time x).Thus formula is rationally it is found that under certain distance, if vehicle is faster, follow-up time is shorter,
It indicates dangerous to increase；And under certain speed, if shorter with leading vehicle distance, shorter follow-up time can be obtained, it is same to indicate
Danger increases.
When whether judge the rear car in same lane under normal circumstances has the improper situation for following front truck, if there is other lanes
Vehicle incision front and back vehicle between, so will lead to the improper follow the bus judgment method being implemented in rear car judge to have immediately it is improper
The event of follow the bus, but such situation not occurs in the improper follow the bus behavior that rear car drives.Fig. 2 then contraindicates follow the bus
When generate erroneous judgement situation example diagram.
In this figure, there is third vehicle 103 being just expert at the 4th vehicle 104 on the first vehicle 101 and the neighbouring lane 20 of the second vehicle 102
In sailing, third vehicle 103 may at some (such as to surmount the 4th vehicle 104) turn to first vehicle 101 and the second vehicle suddenly
Between 102, third vehicle 103 ' of the incision on 101 lane of the first vehicle shown in dotted line is formed, when causing to advance in the first vehicle 101
System-computed goes out the follow-up time of dramatic decrease, wherein the first vehicle 101 is with 103 ' distance d ' of third vehicle divided by the first vehicle 101
Vehicle velocity V 1 obtain follow-up time t ' (d '/V1=t ').The system of first vehicle 101 will judge the first vehicle 101 have it is improper with
The situation of vehicle.
Therefore, the improper follow the bus of vehicle judges method for removing, interlock circuit module (or device) by accident and is formed by system and incites somebody to action
It can consider that the variation of follow-up time may judge driving by accident with removal system in the case of figure 2 and have improper drive by software program
The case where sailing behavior is so conducive to correctly assess driving behavior in fleet management.
The basic framework of the system that improper follow the bus can be excluded to judge by accident can have with reference to shown in Fig. 3 excludes erroneous judgement not
When the system architecture embodiment schematic diagram of the function of follow the bus.
Mainly there are three parts for the system shown in figure, one of those is front end vehicular events processing unit 31, before this
End vehicular events processing unit 31 is able to use various sensors and judges situation in vehicle driving, such as uses image sensing
Device can be obtained the distance between front truck by the information calculation that image identification obtains, or be detectd using laser, electromagnetic wave etc.
Survey technology obtains the distance between vehicle.
One according to the embodiment, it is installed in front end vehicular events processing unit 31 in vehicle wherein major circuit elements
As shown, being equipped with image sensing unit 311, this, can be in vehicle driving such as to the camera for shooting vehicle front image
In be continuously shot, the image of generation is handled by image processing unit 312.
In the function of judging the improper follow the bus of vehicle, image processing unit 312 front truck image can be obtained from continuous image
To distance between two vehicles, then, front end vehicular events processing unit 31 can obtain vehicle instantly speed (it is not shown, such as
Can by interface unit 314 connect driving system obtain vehicle speed information), then by follow-up time computing unit 313 according to speed with
Distance calculates follow-up time.Thus it is possible to which follow-up time is passed by the interface unit 314 of front end vehicular events processing unit 31
It is sent to improper follow the bus erroneous judgement and excludes module 30.
It one is mentioned that herein, front end vehicular events processing unit 31 can directly obtain vehicle by vehicle management interface arrangement 32
Information, speed, direction cresset, brake signal etc., the vehicle management interface arrangement 32 that system includes a such as vehicle device, main circuit list
Member is as shown, include the control control unit 321 that wherein circuit unit operates, and be electrically connected this control unit 321
Interface unit 322, this excludes module 30 to connect improper follow the bus erroneous judgement.In one embodiment, vehicle management interface arrangement 32
Equipped with output/input unit 323, to connect intra-vehicle system, running information can be obtained, including above-mentioned indicator lamp signal, vehicle
Speed, left and right directions lamp, brake signal, rain brush use, related hardware sensor 33 as shown.Vehicle management interface arrangement 32
Equipped with communication unit 324, external system is connected by this communication unit 324, the row control center 34 including diagram, the another company of being not excluded for
It is connected to other vehicle management systems, computer installation of administrative staff etc..According to embodiment, improper follow the bus proposed by the invention
Information caused by erroneous judgement exclusion module 30 can be transmitted information to outer by the communication function of vehicle management interface arrangement 32
Portion's system.
It can be a self-contained unit that the improper follow the bus erroneous judgement, which excludes module 30, or to be built into vehicle management interface arrangement 32
Or the circuit module in front end vehicular events processing unit 31.With a front end interface 303 connection front end vehicular events processing dress
31, at least the follow-up time information for the generation of receiving front-end vehicular events processing unit 31 are set, and with a vehicle device interface 304 company
A management interface device 32 is picked up, it can by the information (such as improper follow the bus information warning) that improper follow the bus erroneous judgement exclusion module 30 generates
To be sent to external system by this vehicle management interface arrangement 32.It includes a processing unit that improper follow the bus erroneous judgement, which excludes module 30,
301, to execute improper follow the bus judgment method after executing the instruction being stored in memory unit 302, and missed including improper follow the bus
Sentence the method for exclusion.
According to embodiment, in this system basic framework, vehicle management interface arrangement 32 is such as a kind of connection driving system
Vehicle device can connect external system, for a kind of interface arrangement that fleet management uses, can receive driving system or peripheral device generates
Semiotic function, moreover it is possible to the information that system generates is sent to by external system or particular terminal device with its communication function.
The improper follow the bus erroneous judgement exclude module 30 then as it is a kind of applied in vehicle, the driving behavior analysis of fleet management
Device connects above-mentioned front end vehicular events processing unit 31 and vehicle management interface arrangement by way of specific communications specification
32.Improper follow the bus erroneous judgement excludes module 30 can analyze vehicle driving signal and front end vehicular events processing dress by full-time comparison
Items alarm signal provided by setting 31 analyzes the driving behavior of vehicle driver, judges to drive possible improper driving behavior,
And fleet's row control center can be provided or terminal system warns in real time according to the condition of fleet management's personnel setting, while is each for record
Management tool of the improper driving behavior of kind to be counted as fleet, analyze, appraise through comparison the improper driving behavior of driver.
The front end vehicular events processing unit 31 is can be by image processing techniques according to vehicle front or environment shadow
Driving status as judging vehicle, such as a kind of MobileyeTMThe multi-functional advanced driving assistance system of company's exploitation, wherein having
The image-capable for having vehicle behavior to judge, can transmit vehicle driving signal (such as speed, brake, direction modulating signal), and
The information such as lane bias alarm, frontal collisions warning, follow-up time monitoring and alarm signal are generated according to the result of image procossing.Cause
This, improper follow the bus erroneous judgement excludes module 30 other than it can obtain follow-up time information from front end vehicular events processing unit 31, also
The information such as indicator and vehicle deviation can be obtained in an embodiment.
One according to the embodiment, judge vehicle whether the mode of run-off-road mainly by being installed in vehicle before
End vehicular events processing unit 31 is reached with image identification technology, and wherein major circuit elements are as shown, image sensing list
To be continuously shot vehicle front image, the image of generation is handled member 311 by image processing unit 312, is judging vehicle deviation
In the function in lane, image processing unit 312 can from continuous image the traffic lane line of vehicle front change to obtain vehicle be
The feature of no run-off-road then judges whether there is automotive run-off-road according to feature in image by deviation judging unit 313
Event.For example, the feature of traffic lane line can be captured from the preceding lane reticle image of vehicle, judged by deviation judging unit 313
When the variation of front and back image, picks out vehicle and deviate and the event of leftward or rightward crossover lane.
Fig. 4 follow the bus erroneous judgement that then contraindicates excludes module and realizes the function block of improper follow the bus judgment method in systems
Implementation example figure.
The front end vehicular events processing unit 41 of diagram i.e. can to obtain travelling image 411 and other driving systems
With the running information of offer, the front end vehicular events processing unit 41 such as speed 412, brake 413 and indicator 414, this example is main
It will be to generate the information of follow-up time.
The vehicle management interface arrangement 42 of diagram is then the various sensors 43 being connected in driving system, and can be taken
Device signal in other vehicles, and telecommunication circuit is equipped with, with can be with row control center 44, terminal installation, vehicle management system
Equal External system communications.
Improper follow the bus erroneous judgement in system excludes the connection of module 40 front end vehicular events processing unit 41 and connects with vehicle management
Mouthful device 42 is implemented in the software journey that improper follow the bus erroneous judgement excludes processing unit in module 40 with the description of several function blocks in figure
The improper follow the bus judgment method and improper follow the bus that sequence is realized judge method for removing by accident, and software function required for implementation method is extremely
Less include signal receiving interface 401, in this instance, can be used to the follow-up time of the generation of receiving front-end vehicular events processing unit 41
Information；Signal is handled by signal analysis unit 402, including the operations such as timing, counting, is judged by condition comparing unit 404
Whether the condition that meets issue warning is had.
Before this, in order to realize the improper follow the bus erroneous judgement method for removing of vehicle, improper follow the bus erroneous judgement excludes module 40 and is equipped with
Signal cache unit 403 excludes the obtained follow-up time of module 40 for keeping in improper follow the bus erroneous judgement, mainly judges instantly
There are the previous pen or more follow-up times when the case where improper follow the bus.Signal cache unit 403 can be interior in circuit module thus
It deposits, wherein temporary information will be to judge whether there is the case where judging improper follow the bus by accident.
Condition used in condition comparing unit 404 can be set according to user's demand, and the parameter of setting is such as judged as
The duration threshold of the threshold of improper follow-up time, improper follow the bus, and it is confirmed whether to be that his vehicle incision causes improper follow the bus
The threshold etc. of erroneous judgement.When judgement has the event of improper follow-up time, condition comparing unit 404 is i.e. from signal cache unit 403
Previous pen or more follow-up times are obtained, the difference for comparing and obtaining is generated, whether has the improper incision institute of his vehicle with this diversity judgement
The case where generation, can exclude to be the case where driving improper follow the bus accordingly.
For example, an improper follow-up time threshold is set under certain demands, this is that a judgement there are improper follow the bus feelings
The reference threshold of condition, such as 1.2 seconds (but being not intended to limit the invention), actual implementation can for user under security consideration according to reality
Border demand and set, that is, from the received follow-up time of front end vehicular events processing unit 41 be less than or equal to 1.2 seconds when, no
When follow the bus judges the event for excluding module and being first judged as improper follow the bus by accident.Then, system is worked as by the comparison of condition comparing unit 404
Under a newest improper follow the bus event follow-up time and previous follow-up time, it can be determined that go out whether to have the unreasonable time
Difference, with this exclude be this vehicle drive improper driving behavior.
If system will continue to determine whether the feelings of improper follow the bus in the case where his typically no above-mentioned vehicle incision
Condition excludes erroneous judgement.Wherein one of mode is to set a duration threshold (such as 10 seconds, 15 seconds) according to user's demand, when
The event of improper follow the bus continuously reaches this duration threshold, that is, confirms the driving behavior that this is improper follow the bus, and will generate will
The alarm signal of dangerous driving is issued to driving or external system.If follow-up time does not reach improper follow-up time door in the above judgement
Sill, or continue not up to duration threshold, timing time resets (reset) or says zero.Furthermore, system can set one
Dangerous follow-up time threshold, such as shorter 0.5 second (the not limitation present invention), this was possible to generate dangerous judgement immediately, no
By whether improper follow the bus whether reaches duration threshold, system will directly generate dangerous follow the bus information warning to this situation.
Improper follow the bus erroneous judgement exclusion module 40 is equipped with recording unit 405, the information generated under steam to record vehicle,
Including follow-up time, it is judged as the event and the events such as duration and the information that gives a warning of improper follow the bus, it may include vehicle
The information that the driving systems such as speed generate, as the foundation for inquiring or assessing driving condition in the future.Improper follow the bus erroneous judgement excludes module
40 are equipped with information passing unit 406, vehicle management interface arrangement 42 are connected, to transmit information.
Fig. 5 shows the embodiment flow chart of the improper follow the bus erroneous judgement method for removing of vehicle, and which includes the judgements of improper follow the bus
The process (A) excluded with erroneous judgement.
In step S501, the improper follow the bus erroneous judgement run in vehicle excludes module and holds in the main flow run
Continued access, which is received, continues the follow the bus that (can periodically generate) generates as above-described embodiment is previously mentioned front end vehicular events processing unit
Time.At this point, system in order to provide more complete information warning, can execute the process (B) of dangerous follow the bus as shown in FIG. 6.
At this point, process continues, such as step S503, counted according to the timestamp (time stamp) in obtained follow-up time information
When, such as judge timer (timer) the execution timing for excluding processor in module by accident by improper follow the bus.Then, in step S505
In, system is judged by accident by improper follow the bus excludes the signal cache unit in module temporary acquired follow-up time and correlation time
Information, such as timestamp, in step S507, compare received follow-up time and default improper follow-up time door
Do sill judge whether lower than improper follow-up time threshold?
If the case where follow-up time is simultaneously not less than this improper follow-up time threshold (no), and expression is not improper follow the bus, i.e., such as
Step S509, resetting timer (such as zero, or one new starting point of reset), process returns to step S501, continues
It carries out continuing to receive follow-up time and contrast judgement.Namely system only for lower than improper follow-up time threshold with
The vehicle time carries out timing.Conversely, indicating to meet if follow-up time is lower than (being less than or equal to) this improper follow-up time threshold (YES)
The follow-up time of this condition just at last improper follow the bus the case where, be included in the condition of timing.At this point, according to a flow embodiment, this
When can execute as Fig. 7 show judge whether there is from front end vehicular events processing unit receive collision warning and have immediately collision danger
The process (C) of danger.
In this main flow, such as step S511, system judges exclusion module acquirement by accident by improper follow the bus and is temporarily stored into signal
The record of preceding one or many follow-up times in cache unit, by condition comparing unit compare instantly judgement lower than it is improper with
Follow-up time in the follow-up time and record of vehicle time period threshold will compare obtained time difference and a system such as step S513
Does the decimal reduction time threshold of setting compare, and judges whether to be greater than this for determining the threshold value whether follow-up time normally successively decreases?
If the time difference is greater than decimal reduction time threshold (YES), expression and the improper feelings successively decreased between two front and back follow-up times
Condition continues to execute step S515；Conversely, this time difference is not more than default if follow-up time is normally to successively decrease
Decimal reduction time threshold (no), i.e. continuation step S519.
It one is mentioned that herein, if actual conditions are strictly to have his vehicle to be inserted into this vehicle from other lane under vehicle normal driving
Before, when vehicular events processing unit in front end will obtain a follow the bus for quickly reducing (improper to successively decrease) in system instantly
Between, but this situation is not the improper driving behavior that this vehicle drives, and therefore, system is judged by comparing with previous follow-up time
Whether follow-up time instantly normally successively decreases.Wherein mainly continuous two follow-up times are subtracted each other, are passed when the time difference less than one
Subtract time period threshold, that is, is judged as and successively decreases in proper order；Or can continuous more front and backs compare, as the movement of confirmation, if continuous more it
Between follow-up time difference be both less than decrement parameter, then be judged as the follow the bus situation successively decreased in proper order；Conversely, system will tentatively judge
It is to have abnormal the case where cutting.
When system judgement occurs and improper (YES) of successively decreasing, situation may be that description above be previously mentioned at this time
Reason, including driven for this vehicle and be inserted into other lanes and approach other vehicles, or there is his vehicle to cut the lane before this vehicle.In
It is process enters step S515, in one embodiment, system reference front end vehicular events processing unit passes through image identification institute
The signal for not beating indicator and run-off-road is provided, and obtains the letter of vehicle use direction lamp from vehicle management interface arrangement
Number.When system judgement at this time follow-up time and it is improper successively decrease when, if not from front end vehicular events processing unit obtain deviate vehicle
The signal in road does not obtain the signal (no) of use direction lamp yet, and system, which judges this vehicle not, the behavior of crossover lane, at this moment sends out
Raw follow-up time abnormal the case where successively decreasing, not drives improper drivings generation by this vehicle, and such as step S517, system will record non-
For the improper follow the bus event of vehicle drive, that is, when examining driving behavior in the future, this event is not included in the feelings of improper driving
Condition, conducive to the correctness for judging driving behavior.
Conversely, system is handled from front end vehicular events if same occur (YES) when follow-up time is improper to successively decrease
Device obtains the signal (expression do not beat indicator and leave lane) of run-off-road, or when having use direction lamp, in this situation
Under, system judges that this vehicle switches lane (YES), and the improper behavior for being decremented to the driving of this vehicle of produced follow-up time causes, will remember
Record is the event of the improper follow the bus of vehicle drive.
According to the above process, step S515 main purpose is to judge whether that improper the case where successively decreasing drives for what this vehicle drove
Caused by sailing behavior, whether for this vehicle drive behavior cause improper the case where successively decreasing (as drive changing Lane, or by
Lane in front of his vehicle incision), or, or follow-up time is judged in step S513 normally to successively decrease (no more than decimal reduction time
Threshold), program will all execute step S519, continue to judge whether the time that improper follow-up time is continued reaches duration door
Sill?
In step S519, when judging timing result and not up to duration threshold (no), process continues back at step
The problem of S501 persistently receives follow-up time and timing, so can judge improper follow the bus with debug.When timing result has reached
Duration threshold (YES), i.e. execution step S521, system confirm the behavior for driving and having improper follow the bus, improper follow the bus erroneous judgement accordingly
It excludes module and generates improper follow the bus information warning, external system can be sent to by vehicle management interface arrangement, and can be real
When warning drive.
One be mentioned that herein, step S509 lie in program execution timing course in, when follow-up time not less than it is improper with
Vehicle time period threshold, i.e. reclocking are not just inconsistent improper follow the bus condition yet, avoid judging by accident, and the step also can be compared continuously repeatedly
Follow-up time just resets timer to confirm the danger for having excluded improper follow the bus.
In the main flow (A) that improper follow the bus judgement described above is excluded with erroneous judgement, at any one time, in system not
It is judged by accident when follow the bus and excludes the module full-time execution embodiment process as shown in Figure 6 for judging to have dangerous follow the bus immediately in vehicle traveling
(B)。
Step S601 display system continuously carries out the process (A) that improper follow the bus judgement is excluded with erroneous judgement, and simultaneously any
Moment executes step S603, judge received follow-up time whether be lower than the shorter dangerous follow-up time door of default
Sill?
If follow-up time is not below this dangerous follow-up time threshold (no), system still continues main flow (step
S601)；Conversely, if the follow-up time judgement received at any one time is lower than (being less than or equal to) this danger follow-up time threshold
(YES), i.e. execution step S605, generate dangerous follow the bus information warning, are filled by improper follow the bus judgment module by vehicle management interface
The communication function set is sent to external system, and can be alerted and be driven by specific manner of communication immediately.
According to another embodiment, judgement has risk of collision immediately in the improper follow the bus erroneous judgement method for removing of vehicle as shown in Figure 7
Embodiment process (C), this process is, in the process (A) that the improper follow the bus judgement executed by step S701 is excluded with erroneous judgement,
If judge the improper follow the bus event lower than improper follow-up time threshold, at this point, judging whether Receiving collision such as step S703
Warning?
When judging to have improper follow the bus event again from front end vehicular events processing unit receive a collision warn
Signal (YES) is thusly-formed extremely urgent overtaking collision possibility that is, such as step S705 one overtaking collision information warning of generation, equally can be by not
When follow the bus judgment module is sent out by the communication function of vehicle management interface arrangement, and driving can be alerted in a specific way；
Conversely, returning to main flow (step S701).
In this example, front end vehicular events processing unit generate one of mode of collision warning be with image identification technology,
Relative velocity and relative distance between Ben Che and front truck are obtained from the variation of continuous image, and sets sentencing for one or more collisions
Broken strip part generates collision warning, and received by improper follow the bus judgment module, becomes when there is the case where condition for meeting collision
The warning foundation of urgent overtaking collision.
The another embodiment for judging method for removing by accident according to improper follow the bus, such as the process that Fig. 8 and Fig. 9 are shown, in driving procedure
In, system defines several Car following models, comprising:
Initial mode (Mode 0): this default mode initial for system, follow-up time is big when indicating general initial
In the improper follow-up time threshold the case where；
First mode (Mode 1): it indicates that driving does not consider safe follow-up time, and persistently approaches and travel on same lane
Front truck, cause follow-up time less than or equal to improper follow-up time threshold；
Second mode (Mode 2): it indicates to drive the safe follow-up time not considered with adjacent lane front truck, improper switching
To adjacent lane, cause follow-up time less than or equal to improper follow-up time threshold；And
The third mode (Mode 3): indicate that the vehicle of adjacent lane does not consider the safe distance between vehicles with this vehicle, improper incision is originally
On the lane of vehicle traveling, cause follow-up time less than or equal to improper follow-up time threshold.
In improper follow the bus erroneous judgement method for removing process (A ') that Fig. 8 is disclosed, at the beginning, such as step S801, improper follow the bus
Erroneous judgement excludes module when initially without any abnormal follow the bus situation, is initial mode (Mode 0)；Then in step S803, sentence
If disconnected system connects when being in first mode (Mode 1) or second mode (Mode 2) from front end vehicular events processing unit
The signal of collision warning is received, then issue causes the warning of overtaking collision front truck danger to be believed because of improper follow the bus or improper changing Lane
Number.Process at the beginning, system is not in first or second mode or the third mode (no), therefore continues from front end vehicle thing
Part processing unit receives follow-up time (step S807), the temporary follow-up time generated and relevant information (step S809) and basis
Timestamp timing (step S811).However, if in down-stream, process as shown in Figure 9 can be transformed into first from initial mode
Or second mode or the third mode, and in the signal (YES) for receiving collision warning at this time, then such as step S805, improper follow the bus is missed
Sentence the information warning for excluding module for overtaking collision danger is issued.
Step S813 is continued to execute, judges whether acquired follow-up time is lower than improper follow-up time threshold, if sentencing
Disconnected follow-up time is lower than improper follow-up time threshold (YES), will execute the process (D) shown such as Fig. 9；If follow-up time is sentenced at this time
Break and be not less than improper follow-up time threshold (no), then follow the steps S815, judges whether at this time in initial mode, if being
Initial mode (YES), expression are not changed into the first, second or third mode because of abnormal, and step of also arriving S821 will determine
When think highly of and set, reclocking；If not at this time being initial mode (no), and it may be the first, second or third mode, but because with
The vehicle time is not below improper follow-up time threshold, therefore first state recording gets up (step S817), and returns to initial mode
(step S819), and reset timer (step S821).
In Fig. 8 step S813, if judgement at that time follow-up time be lower than improper follow-up time threshold (YES), indicate into
Enter abnormal following state, improper follow the bus erroneous judgement at this time excludes the process (D) that improper follow the bus erroneous judgement exclusion will be executed in module, such as
Shown in Fig. 9.
In above-mentioned steps S813, if follow-up time is lower than improper follow-up time threshold, expression has detected improper follow the bus
The case where, process continues step S901, and whether Car following model is initial mode instantly for judgement, that is, judges whether that this is for the first time
Improper follow the bus situation has been changed to from initial mode.If mode is not initial mode (no) instantly for judgement, the follow the bus of vehicle is indicated
Mode has been the first, second or third mode, and process continues to execute whether step S915 (is lower than under first or second mode
Dangerous follow-up time threshold?) with step S919 (reach duration threshold?).
Then step will judge that this improper Car following model divides into first, second and the third mode.
If judging in step S901, mode starts to generate follow the bus unusual condition instantly as initial mode (YES), expression, this
Follow-up time at this time is compared the previous follow-up time for being temporarily stored into memory, and judged in step S905 by Shi Zhihang step S903
Whether the two time difference is greater than the decimal reduction time threshold of default, if judging, the time difference is not more than decimal reduction time threshold (no),
Such as step S907, if this Car following model is first mode, be expressed as generally successively decreasing, that is, compare belong to it is gradual successively decrease, but
But still there is the problem of improper follow the bus.If judging in step S905, the time difference is greater than decimal reduction time threshold (YES), indicates excessive
At this moment the case where successively decreasing needs to judge to be which kind of situation causes excessive the case where successively decreasing, i.e., such as step S909, improper follow the bus erroneous judgement
It excludes module and judges whether that vehicle has use direction lamp or generation vehicle inclined from the front end received information of vehicular events processing unit
From signal, if judging, vehicle has use direction lamp or has the case where vehicle deviation (YES), indicates that this improper follow the bus situation is
Caused by vehicle drive run-off-road (or changing Lane), at this moment such as step S911, the mode of this improper follow the bus is set as second
Mode；It is set as the third mode such as step S913 if not receiving use direction lamp or vehicle offset signal (no), system is sentenced
This improper follow the bus situation of breaking is to cut this vehicle lane by his vehicle.
When process is judged as improper follow the bus, having distinguished Car following model from above step is the first, second or third mould
Formula executes step S915 for connecting, and judges whether in first mode (the progressive improper follow the bus situation successively decreased) or second mode (this
Vehicle changing Lane generates improper follow the bus situation) under also less than one dangerous follow-up time threshold, that is, judge whether there is and endanger immediately
The situation of danger, if so, system will issue dangerous follow the bus information warning, according to above embodiments, i.e., improper such as step S917
Follow the bus erroneous judgement excludes module and generates information warning by vehicle management interface arrangement, and continues step S919.
If expression there is no dangerous immediately, continuation step S919, according to improper not less than dangerous follow-up time threshold (no)
Timing result in the case of follow the bus judges whether to reach a duration threshold, if follow the bus situation improper in this way continues to system
The duration threshold of setting will be such as step S921 the case where expression for a long time in improper follow the bus, and it is improper that system issues
Follow-up time information warning too long.
Conversely, process will be returned to the step S803 of process shown in Fig. 8 (A ') if having not yet been reached duration threshold (no),
Other than judging whether there is risk of collision, also Car following model and timer can be reset after the dangerous releasing such as improper follow the bus.
According to above embodiments, judge that user is provided in the system of improper follow the bus sets various condition ginsengs according to demand
Number is also to drive to exclude by the comparison for the threshold that successively decreases wherein obtaining each event of improper follow the bus with threshold vehicle with improper
The event that improper driving behavior itself generates, then with duration threshold accurately obtain driving the behavior of improper follow the bus；And it is dangerous
Follow-up time threshold is to there is immediately dangerous situation to propose warning, and system is in the case where the improper follow the bus, if before passing through
End vehicular events processing unit obtains collision warning, can propose warning to the situation for having overtaking collision danger immediately.
Row of the improper follow the bus judgment method disclosed in this invention in addition to judging really improper follow the bus with duration threshold
, also to exclude to have the improper incision of his vehicle that system is caused to be judged as driving not in addition by the way of comparing front and back follow-up time
When the behavior of follow the bus, can the improper driving behavior of accurate judgement in the case where avoiding erroneous judgement, avoid dangerous driving, can separately endanger
It takes appropriate measures in real time in dangerous situation, prevents potential traffic accident and occur.In addition, due to storage, system when system executes normal
The work such as meter, analysis alarm signal, whether the more acurrate assessment driving behavior of energy is safe driving or dangerous driving, be can be used as whereby
The foundation of its driving behavior of examination of driver and correcting in fleet management.
The foregoing is merely preferable possible embodiments of the invention, all impartial changes done according to scope of the present invention patent
Change and modify, is all covered by the present invention.
Claims (10)
1. a kind of improper follow the bus judges method for removing by accident, be applied in a vehicle, to exclude to judge the improper follow the bus of the vehicle be because
Erroneous judgement caused by the front lane of the vehicle is inserted into for another vehicle, it is characterised in that the method includes:
A follow-up time is received from a front end vehicular events processing unit, which has a timestamp；
If the follow-up time is lower than an improper follow-up time threshold, that is, compare the follow-up time and the previous pen for being temporarily stored into a memory
Follow-up time obtains a time difference, wherein equally from the front end, vehicular events processing unit is connect the previous follow-up time
It receives；
If the time difference is greater than a decimal reduction time threshold, judges the follow-up time of the vehicle and improper successively decrease；And
If the signal of a run-off-road is not received by the front end vehicular events processing unit, and the vehicle not use direction lamp,
Record the non-improper follow the bus event for the vehicle drive.
2. improper follow the bus as described in claim 1 judges method for removing by accident, which is characterized in that if the time difference successively decreases greater than this
Between threshold when, by the front end, vehicular events processing unit receives the signal or the vehicle use direction lamp of the run-off-road, that is, remembers
Record is the event that the improper changing Lane of the vehicle drive causes follow-up time too short.
3. improper follow the bus as claimed in claim 1 or 2 judges method for removing by accident, which is characterized in that also persistently receive follow-up time
Information, for lower than the improper follow-up time threshold follow-up time carry out timing；And if it is lower than the improper follow-up time
The follow-up time of threshold continuously up to a duration threshold, generates an improper follow the bus and continues information warning too long.
4. improper follow the bus as claimed in claim 3 judges method for removing by accident, which is characterized in that if having follow-up time not less than this
When follow-up time threshold, i.e. reclocking.
5. improper follow the bus as claimed in claim 4 judges method for removing by accident, which is characterized in that when receiving the follow-up time, also
The follow-up time and a dangerous follow-up time threshold are compared, if the follow-up time is less than or equal to the danger follow-up time threshold, i.e.,
Generate a dangerous follow the bus information warning.
6. improper follow the bus as claimed in claim 4 judges method for removing by accident, which is characterized in that when in the follow-up time not lower than this
When follow-up time threshold, and the signal of collision warning is received, that is, generates one and led because of improper follow the bus or improper changing Lane
Cause the information warning of overtaking collision front truck danger.
7. a kind of improper follow the bus erroneous judgement excludes module, it is set in a vehicle, it is characterised in that the module includes:
One front end interface, to connect a front end vehicular events processing unit, to receive the front end vehicular events processing unit
The signal of the follow-up time of generation and a run-off-road；
One vehicle device interface, to connect a vehicle management interface arrangement, obtaining the signal of use direction lamp, and transmission should
Improper follow the bus erroneous judgement excludes the information that module generates；
One processing unit executes the software program being stored in a memory unit, judges method for removing by accident to execute an improper follow the bus,
To exclude to judge that the improper follow the bus of the vehicle is because another vehicle is inserted into erroneous judgement caused by the front lane of the vehicle, this method
Include:
A follow-up time is received, which has a timestamp；
If the follow-up time is lower than an improper follow-up time threshold, that is, compare the follow-up time and the previous pen for being temporarily stored into a memory
Follow-up time obtains a time difference；
If the time difference is greater than a decimal reduction time threshold, judges the follow-up time of the vehicle and improper successively decrease；And
If not receiving the signal of the run-off-road, and the vehicle not use direction lamp, that is, record it is non-for the vehicle drive not
When follow the bus event.
8. improper follow the bus erroneous judgement as claimed in claim 7 excludes module, which is characterized in that when receiving the follow-up time, also
The follow-up time and a dangerous follow-up time threshold are compared, if the follow-up time is less than or equal to the danger follow-up time threshold, i.e.,
A dangerous follow the bus information warning is generated, and an external system is sent to by the vehicle management interface arrangement；When the follow the bus
Between be lower than the improper follow-up time threshold, and from the front end vehicular events processing unit receive a collision warning signal, i.e.,
Generating one leads to the information warning of overtaking collision front truck danger because of improper follow the bus or improper changing Lane, and is connect by the vehicle management
Mouth device is sent to the external system.
9. improper follow the bus erroneous judgement excludes module as claimed in claim 7 or 8, which is characterized in that in this method, also persistently connect
The information for receiving follow-up time carries out timing for the follow-up time lower than the improper follow-up time threshold；And if not lower than this
When the follow-up time of follow-up time threshold is continuously up to a duration threshold, one improper follow the bus of generation continues the letter of warning too long
Breath.
10. a kind of system for excluding to judge improper follow the bus by accident, is applied in a vehicle, it is characterised in that the system includes:
One front end vehicular events processing unit, when according to the speed of the vehicle and a follow the bus is calculated at a distance from a front truck
Between；
One vehicle management interface arrangement connects an external system with a communication unit；And
One improper follow the bus erroneous judgement excludes module, is a self-contained unit, or be built into vehicle management interface arrangement or front end vehicle
In event processing apparatus, which is connected with a front end interface, which is connected with a vehicle device interface
Management interface device, including a processing unit, to execute improper follow the bus erroneous judgement exclusion side as described in claim 1
Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810199409.9A CN110264705A (en) | 2018-03-12 | 2018-03-12 | The improper follow the bus erroneous judgement method for removing of vehicle, erroneous judgement exclude module and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810199409.9A CN110264705A (en) | 2018-03-12 | 2018-03-12 | The improper follow the bus erroneous judgement method for removing of vehicle, erroneous judgement exclude module and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110264705A true CN110264705A (en) | 2019-09-20 |
Family
ID=67911383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810199409.9A Pending CN110264705A (en) | 2018-03-12 | 2018-03-12 | The improper follow the bus erroneous judgement method for removing of vehicle, erroneous judgement exclude module and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110264705A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537835A (en) * | 2009-04-24 | 2009-09-23 | 清华大学 | Integrated electrical control braking system with drive assistance function |
| US20110282627A1 (en) * | 2010-05-13 | 2011-11-17 | Electronics And Telecommunications Research Institute | Method and server of determining advisory safety speed based on road surface states and statistical traffic conditions |
| CN102568158A (en) * | 2010-12-15 | 2012-07-11 | 淄博高新区联创科技服务中心 | Alarming system for automobile vehicle fatigue driving |
| CN105253145A (en) * | 2015-08-17 | 2016-01-20 | 深圳市美好幸福生活安全***有限公司 | Self-adaption parameter adjustment method for automobile advanced driver assistance system |
| US20160046298A1 (en) * | 2014-08-18 | 2016-02-18 | Trimble Navigation Limited | Detection of driver behaviors using in-vehicle systems and methods |
| CN105551303A (en) * | 2015-12-14 | 2016-05-04 | 谭兴奎 | Vehicle-borne following vehicle distance sensing and prompting system |
| CN105679020A (en) * | 2016-01-29 | 2016-06-15 | 深圳市美好幸福生活安全***有限公司 | Driving behavior analysis device and method |
| CN106534366A (en) * | 2016-12-19 | 2017-03-22 | 北京经纬恒润科技有限公司 | Driving behavior analyzing method, device and system |
| CN206141333U (en) * | 2016-11-10 | 2017-05-03 | 合肥工业大学 | Vehicle autopilot auto -change over device based on divert one's attention driving action and differentiate |
| US9688283B2 (en) * | 2014-02-25 | 2017-06-27 | Cartasite, Llc | Enhanced driver and vehicle performance and analysis |
| CN107031652A (en) * | 2017-03-28 | 2017-08-11 | 安徽师范大学 | Driving behavior appraisal procedure |
| CN107134173A (en) * | 2017-06-15 | 2017-09-05 | 长安大学 | A kind of lane-change early warning system and method recognized with driving habit |
-
2018
- 2018-03-12 CN CN201810199409.9A patent/CN110264705A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537835A (en) * | 2009-04-24 | 2009-09-23 | 清华大学 | Integrated electrical control braking system with drive assistance function |
| US20110282627A1 (en) * | 2010-05-13 | 2011-11-17 | Electronics And Telecommunications Research Institute | Method and server of determining advisory safety speed based on road surface states and statistical traffic conditions |
| CN102568158A (en) * | 2010-12-15 | 2012-07-11 | 淄博高新区联创科技服务中心 | Alarming system for automobile vehicle fatigue driving |
| US9688283B2 (en) * | 2014-02-25 | 2017-06-27 | Cartasite, Llc | Enhanced driver and vehicle performance and analysis |
| US20160046298A1 (en) * | 2014-08-18 | 2016-02-18 | Trimble Navigation Limited | Detection of driver behaviors using in-vehicle systems and methods |
| CN105253145A (en) * | 2015-08-17 | 2016-01-20 | 深圳市美好幸福生活安全***有限公司 | Self-adaption parameter adjustment method for automobile advanced driver assistance system |
| CN105551303A (en) * | 2015-12-14 | 2016-05-04 | 谭兴奎 | Vehicle-borne following vehicle distance sensing and prompting system |
| CN105679020A (en) * | 2016-01-29 | 2016-06-15 | 深圳市美好幸福生活安全***有限公司 | Driving behavior analysis device and method |
| CN206141333U (en) * | 2016-11-10 | 2017-05-03 | 合肥工业大学 | Vehicle autopilot auto -change over device based on divert one's attention driving action and differentiate |
| CN106534366A (en) * | 2016-12-19 | 2017-03-22 | 北京经纬恒润科技有限公司 | Driving behavior analyzing method, device and system |
| CN107031652A (en) * | 2017-03-28 | 2017-08-11 | 安徽师范大学 | Driving behavior appraisal procedure |
| CN107134173A (en) * | 2017-06-15 | 2017-09-05 | 长安大学 | A kind of lane-change early warning system and method recognized with driving habit |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11380193B2 (en) | Method and system for vehicular-related communications | |
| WO2021217752A1 (en) | Vehicle-pedestrian collision risk region calculation method and safety evaluation system | |
| EP2654028B1 (en) | Orientation sensitive traffic collision warning system | |
| TWI612502B (en) | System and method for avoiding abnormal vehicle | |
| CN109859513A (en) | Road junction roadway air navigation aid and device | |
| CN110568850A (en) | vehicle control method for internal fault of unmanned vehicle and electronic equipment | |
| CN104903172A (en) | Method for assessing the risk of collision at an intersection | |
| CN113853640B (en) | electronic control device | |
| CN114148321B (en) | Automatic emergency braking and safety evaluation method considering collision risk | |
| CN104656651A (en) | Apparatus And Method For Controlling Automatic Driving Of Vehicle Based On Sensor Fusion | |
| JP5874553B2 (en) | Driving characteristic diagnosis system, driving characteristic diagnosis device | |
| KR101086281B1 (en) | Preventing system and the method of car crash | |
| CN109887321B (en) | Unmanned vehicle lane change safety judgment method and device and storage medium | |
| CN113335311B (en) | Vehicle collision detection method and device, vehicle and storage medium | |
| JP3945305B2 (en) | Driver future situation prediction device | |
| CN112141094A (en) | Vehicle and anti-collision method and device thereof | |
| CN110264705A (en) | The improper follow the bus erroneous judgement method for removing of vehicle, erroneous judgement exclude module and system | |
| JP4915874B2 (en) | Driving assistance device | |
| CN115497282B (en) | Information processing device, information processing method, and storage medium | |
| CN110264782A (en) | The improper follow the bus judgment method of vehicle, improper follow the bus judgment module and system | |
| CN115257722A (en) | Pedestrian avoidance method and device oriented to safety and efficiency | |
| CN105702090B (en) | A kind of reversing alarm set and method | |
| CN113393664A (en) | Driving support device | |
| TWI658956B (en) | Method and module for excluding misjudgment of improper vehicle following, and system thereof | |
| Ucar et al. | Nearby Unsafe Driving Detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190920 |
|
| WD01 | Invention patent application deemed withdrawn after publication |