CN111243334A - Novel initiative driving safety perception and early warning system - Google Patents
Novel initiative driving safety perception and early warning system Download PDFInfo
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- CN111243334A CN111243334A CN202010034492.1A CN202010034492A CN111243334A CN 111243334 A CN111243334 A CN 111243334A CN 202010034492 A CN202010034492 A CN 202010034492A CN 111243334 A CN111243334 A CN 111243334A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The invention discloses a novel active driving safety perception and early warning system, which comprises a system assembly, wherein the system assembly comprises a target detection module, an information comprehensive processing module and a display module; the detection module comprises a forward radar module, a lateral radar module and a backward radar module; the information comprehensive processing module main body is a processing algorithm, and the design framework is used for calculating and converting the position, the direction and the relative speed information acquired by all the radar modules by taking a vehicle as a coordinate axis center to obtain information data of relative positions. Compared with the prior art, the invention has the advantages that: the driving and obstacle conditions can be sensed around the driving process in an all-round and all-weather manner, a plurality of moving static targets are simultaneously calculated, judged and early warned, the driving safety factor is improved, the whole structure is simple and practical, and short plates and holes in the existing driving safety technology are made up.
Description
Technical Field
The invention relates to the field of road safety, in particular to a novel active driving safety sensing and early warning system.
Background
In current market products, road condition sensing equipment in the driving process mainly comprises the following types: (1) the 360-degree visible light ring viewing system is used for carrying out image splicing after environment information is obtained through visible light sensors around the vehicle, presenting the environment information around the vehicle, and independently displaying pictures of all visual angles to solve the perception of the vehicle visual blind areas;
(2) the ultrasonic collision reminding system senses the situation of the close-range obstacles through the ultrasonic sensors around the vehicle and reminds the driver of the obstacles in the blind area or the situation that the surrounding vehicles approach in a voice mode or an image mode;
(3) the millimeter wave radar and the laser radar used in the automatic driving are used for obtaining road condition and vehicle condition information in the vehicle driving process, and driving path planning and intelligent automatic driving are carried out through an AI algorithm.
For manually driven automobiles, an active, all-weather and all-directional safety early warning system is lacked at present to assist drivers to drive, and the driving safety coefficient is improved.
Therefore, a novel active driving safety sensing and early warning system is imperative to design.
Disclosure of Invention
The invention aims to solve the technical problems that in the current market products, a 360-degree visible light ring viewing system, an ultrasonic collision reminding system, millimeter wave radar and laser radar obstacle sensing and the like are adopted for road condition sensing equipment in the driving process, and the main problems are as follows: (1) in the scenes with severe visual conditions such as rain, snow, fog, haze and the like, a driver cannot sense the movement track of surrounding moving vehicles and the information of obstacles by vision for 360 degrees; (2) the danger in the driving process can come from a plurality of targets, and an intelligent system is needed to judge and early warn the threat of the targets simultaneously so as to assist drivers to drive safely.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a novel active driving safety perception and early warning system comprises a system assembly, wherein the system assembly comprises a target detection module, an information comprehensive processing module and a display module;
the target detection module comprises a forward radar module, a lateral radar module and a backward radar module;
the information comprehensive processing module main part is processing algorithm, and the design frame is with self vehicle as the coordinate axis center, to position, position and relative velocity information that all radar module groups obtained, calculates the conversion, obtains the information data of relative position, specifically passes through:
(1) obtaining coordinate positions of all radar modules in the vehicle, namely (x0, y0), (x1, y1), (x2, y2) and (x3, y 3);
(2) and (3) performing coordinate conversion according to the relative positions and azimuth angles of other vehicles returned by all the radar modules, wherein the relative distance D and the azimuth angle a are such that the positions of the target vehicle in the coordinates include four types, specifically:
forward radar module position, x ═ x0+ D × sin (a), y ═ y0+ D × cos (a);
left side radar module position, x ═ x1+ D × sin (a), y ═ y1+ D × cos (a);
right lateral radar module position, x ═ x2+ D × sin (a), y ═ y2+ D × cos (a);
backward radar module position, x ═ x3+ D × sin (a), y ═ y3+ D × cos (a);
the display module main body is a multi-target tracking display interface, the target relative coordinate information generated by the information comprehensive processing module is displayed in the graphical interface, and the position, speed and direction tracking display of the multiple targets is carried out.
Compared with the prior art, the invention has the advantages that: the driving and obstacle conditions can be sensed around the driving process in an all-round and all-weather manner, a plurality of moving static targets are simultaneously calculated, judged and early warned, the driving safety factor is improved, the whole structure is simple and practical, and short boards and holes in the existing road safety technology are made up.
As an improvement, the front radar module, the side radar module and the rear radar module are one of two types of radars, namely a millimeter wave radar and an ultrasonic radar.
As an improvement, the forward radar module is arranged at the position of a vehicle head or the position of a front windshield rearview mirror;
the side radar modules are installed on a vehicle rearview mirror or are installed on four corners of a vehicle in a punching mode;
the rear radar module is arranged in front of the rear windshield or at a groove opened in the vehicle trunk.
As the improvement, when the front radar module, the lateral radar module and the rear radar module are installed, the angle of each radar image and the distance of the center position of the vehicle need to be determined, and the coordinate conversion of the angle needs to be carried out when a certain angle exists so as to achieve accurate target position information.
As the improvement, the information comprehensive processing module is provided with five types of driving safety models, including:
(1) obtaining a relative safe driving distance according to the Chinese law regulation and the current driving speed, and judging as a serious threat situation if the front vehicle approaches or changes lane to reach the distance within the safe distance;
(2) when the vehicle runs at a high speed, the front vehicle runs slowly or has an obstacle, and though the front vehicle does not enter the safe driving distance range, the front vehicle still judges that the front vehicle is a serious threat;
(3) the method comprises the following steps that (1) when the lanes on two sides of a vehicle have a vehicle parallel driving condition, the condition is judged to be an alarm threat condition;
(4) the rear side vehicle approaches a scene exceeding the safe distance and is judged as an alarm threat condition;
(5) and judging the overtaking conditions of the left side and the right side as alarm threats.
Drawings
Fig. 1 is a schematic structural diagram of a novel active driving safety sensing and early warning system.
Fig. 2 is a schematic view of a working process of a novel active driving safety sensing and early warning system.
Fig. 3 is an installation schematic diagram of a detection module of a novel active driving safety perception and early warning system.
Fig. 4 is a schematic diagram of the operation of the detection module of the active driving safety sensing and early warning system.
Fig. 5 is a schematic working diagram of an information comprehensive processing module of the novel active driving safety perception and early warning system.
Fig. 6 is a schematic diagram of the operation of the display module of the active driving safety sensing and early warning system.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
When the system is specifically implemented, the novel active driving safety perception and early warning system comprises a system assembly, wherein the system assembly comprises a target detection module, an information comprehensive processing module and a display module;
the target detection module comprises a forward radar module, a lateral radar module and a backward radar module;
the information comprehensive processing module main part be processing algorithm, the design frame is with self vehicle as the coordinate axis center, to position, position and relative speed information that all radar module groups obtained, calculate the conversion, obtain the information data of relative position, specifically pass through:
(1) obtaining coordinate positions of all radar modules in the vehicle, namely (x0, y0), (x1, y1), (x2, y2) and (x3, y 3);
(2) and (3) performing coordinate conversion according to the relative positions and azimuth angles of other vehicles returned by all the radar modules, wherein the relative distance D and the azimuth angle a are such that the positions of the target vehicle in the coordinates include four types, specifically:
forward radar module position, x ═ x0+ D × sin (a), y ═ y0+ D × cos (a);
left side radar module position, x ═ x1+ D × sin (a), y ═ y1+ D × cos (a);
right lateral radar module position, x ═ x2+ D × sin (a), y ═ y2+ D × cos (a);
backward radar module position, x ═ x3+ D × sin (a), y ═ y3+ D × cos (a);
the display module main body is a multi-target tracking display interface, the target relative coordinate information generated by the information comprehensive processing module is displayed in a graphical interface, and the position, the speed and the direction of the multi-target are tracked and displayed.
The forward radar module, the lateral radar module and the backward radar module main body are one of two types of radars of millimeter wave radars or ultrasonic radars.
The forward radar module is arranged at the position of a vehicle head or the position of a front windshield rearview mirror;
the lateral radar module is arranged on a vehicle rearview mirror or arranged on four corners of a vehicle in a punching mode;
the rear radar module is arranged in front of the rear windshield or at a groove opened in the vehicle trunk.
Forward direction radar module, side direction radar module and back radar module when the installation, the angle that need confirm every radar formation of image and the distance of vehicle central point put, need carry out the coordinate conversion of angle when having certain angle to reach accurate target location information.
The information comprehensive processing module is provided with five types of driving safety models, including:
(1) obtaining a relative safe driving distance according to the Chinese law regulation and the current driving speed, and judging as a serious threat situation if the front vehicle approaches or changes lane to reach the distance within the safe distance;
(2) when the vehicle runs at a high speed, the front vehicle runs slowly or has an obstacle, and though the front vehicle does not enter the safe driving distance range, the front vehicle still judges that the front vehicle is a serious threat;
(3) the method comprises the following steps that (1) when the lanes on two sides of a vehicle have a vehicle parallel driving condition, the condition is judged to be an alarm threat condition;
(4) the rear side vehicle approaches a scene exceeding the safe distance and is judged as an alarm threat condition;
(5) and judging the overtaking conditions of the left side and the right side as alarm threats.
The working principle of the invention is as follows: the invention comprises a target detection module (millimeter wave radar or ultrasonic radar), an information comprehensive processing module (information fusion processing algorithm) and a display module (multi-target tracking display interface), wherein the millimeter wave radar is used for detecting targets at middle, far and near distances and can acquire the position, direction and relative speed information of the targets, the ultrasonic radar is used for detecting the targets at the near distances and can acquire the position information of the targets, but cannot acquire the direction angle and the relative speed and only can perform position estimation. For cost reasons, an ultrasonic radar may be used instead of the short-range millimeter wave radar. The more the radar quantity that the automobile body was arranged can be more comprehensive with the information coverage all around the vehicle, and concrete realization can be tailor as required to reach the best price/performance ratio requirement.
In the driving process, the information around the vehicle, which is acquired by the target detection module (millimeter wave radar or ultrasonic radar), is concentrated into the vehicle-mounted information comprehensive processing module (information fusion processing algorithm) equipment for information fusion processing.
The display module (multi-target tracking display interface) displays the relative coordinate information of the target obtained by the information comprehensive processing module (information fusion processing algorithm) in the graphical interface, and tracks and displays the position, the speed and the direction of the multi-target, as shown in fig. 6, the vehicle condition information in a complex environment can be perceived through vision, particularly, the scene with poor visual conditions can be seen, and the driving safety factor can be greatly improved.
In five types of traffic safety models arranged in the information comprehensive processing module:
(1) in the second type of model, when the vehicle is running at a high speed, the vehicle is running slowly or has an obstacle, and although the vehicle does not enter the safe driving distance range, the vehicle still judges that the vehicle is a serious threat. The speed of the set vehicle under high-speed running can be configured, such as more than 60 km/h;
(2) and a fourth type of model, namely a scene that the rear vehicle approaches to exceed the safe distance, is judged as the alarm threat condition. Wherein the set safe distance is configurable, such as a normal distance set to the forward direction.
The invention utilizes the all-weather characteristic of the radar sensor to acquire all-round information around the vehicle, unifies the information into self motion coordinates through an information fusion algorithm to acquire relative road vehicle conditions, and carries out threat judgment and alarm, thereby improving the safety index in driving.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the invention, "plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
In the description herein, reference to the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (5)
1. The utility model provides a novel initiative driving safety perception and early warning system, includes the system assembly, its characterized in that: the system assembly comprises a target detection module, an information comprehensive processing module and a display module;
the target detection module comprises a forward radar module, a lateral radar module and a backward radar module;
the information comprehensive processing module main part be processing algorithm, the design frame is with self vehicle as the coordinate axis center, to position, position and relative speed information that all radar module groups obtained, calculate the conversion, obtain the information data of relative position, specifically pass through:
(1) obtaining coordinate positions of all radar modules in the vehicle, namely (x0, y0), (x1, y1), (x2, y2) and (x3, y 3);
(2) and (3) performing coordinate conversion according to the relative positions and azimuth angles of other vehicles returned by all the radar modules, wherein the relative distance D and the azimuth angle a are such that the positions of the target vehicle in the coordinates include four types, specifically:
forward radar module position, x ═ x0+ D × sin (a), y ═ y0+ D × cos (a);
left side radar module position, x ═ x1+ D × sin (a), y ═ y1+ D × cos (a);
right lateral radar module position, x ═ x2+ D × sin (a), y ═ y2+ D × cos (a);
backward radar module position, x ═ x3+ D × sin (a), y ═ y3+ D × cos (a);
the display module main body is a multi-target tracking display interface, the target relative coordinate information generated by the information comprehensive processing module is displayed in a graphical interface, and the position, the speed and the direction of the multi-target are tracked and displayed.
2. The novel active driving safety perception and early warning system of claim 1, wherein: the forward radar module, the lateral radar module and the backward radar module main body are one of two types of radars of millimeter wave radars or ultrasonic radars.
3. The novel active driving safety perception and early warning system of claim 1, wherein: the forward radar module is arranged at the position of a vehicle head or the position of a front windshield rearview mirror;
the lateral radar module is arranged on a vehicle rearview mirror or arranged on four corners of a vehicle in a punching mode;
the rear radar module is arranged in front of the rear windshield or at a groove opened in the vehicle trunk.
4. The novel active driving safety perception and early warning system of claim 1, wherein: forward direction radar module, side direction radar module and back radar module when the installation, the angle that need confirm every radar formation of image and the distance of vehicle central point put, need carry out the coordinate conversion of angle when having certain angle to reach accurate target location information.
5. The novel active driving safety perception and early warning system of claim 1, wherein: the information comprehensive processing module is provided with five types of driving safety models, including:
(1) obtaining a relative safe driving distance according to the Chinese law regulation and the current driving speed, and judging as a serious threat situation if the front vehicle approaches or changes lane to reach the distance within the safe distance;
(2) when the vehicle runs at a high speed, the front vehicle runs slowly or has an obstacle, and though the front vehicle does not enter the safe driving distance range, the front vehicle still judges that the front vehicle is a serious threat;
(3) the method comprises the following steps that (1) when the lanes on two sides of a vehicle have a vehicle parallel driving condition, the condition is judged to be an alarm threat condition;
(4) the rear side vehicle approaches a scene exceeding the safe distance and is judged as an alarm threat condition;
(5) and judging the overtaking conditions of the left side and the right side as alarm threats.
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Cited By (4)
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