CN113085846B - Vehicle-mounted vision auxiliary driving system and control method thereof - Google Patents
Vehicle-mounted vision auxiliary driving system and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a vehicle-mounted vision-aided driving system and a control method thereof, wherein the method is realized by the vehicle-mounted vision-aided driving system, and the vehicle-mounted vision-aided driving system comprises a Bluetooth electronic tag (10) arranged on a front vehicle; set up bluetooth signal receiving station (11) and set up camera (12) and controller (13) in the automobile body of back car, wherein, bluetooth signal receiving station (11) is including setting up first bluetooth antenna (111), second bluetooth antenna (112) and treater (110) in the locomotive.
Description
Technical Field
The invention relates to a vehicle-mounted vision auxiliary driving system and a control method thereof.
Background
Vehicle-mounted driving control systems generally include a lane keeping assist system, an automatic parking assist system, a braking assist system, a reverse assist system, and a driving assist system. The existing driving auxiliary system also generally comprises functions of vehicle distance recognition and the like. The current distance recognition is generally realized by acquiring the distance of the front vehicle through a camera, ultrasonic waves or the like. However, the camera recognition mode is very popular under the condition that the visual condition is not very good, and weather such as heavy rain, heavy fog, sand dust, haze and the like is difficult to recognize. However, the ultrasonic waves also have a large influence on heavy fog or heavy rain weather, and therefore, it is necessary to optimize the existing AI visual recognition system.
Disclosure of Invention
The invention provides a vehicle-mounted vision auxiliary driving system and a control method thereof, which can effectively solve the problems.
The invention is realized in the following way:
the invention provides a control method of a vehicle-mounted visual auxiliary driving system, which is realized by the vehicle-mounted visual auxiliary driving system, wherein the vehicle-mounted visual auxiliary driving system comprises a Bluetooth electronic tag arranged on a front vehicle; the method comprises the steps of setting up in bluetooth signal receiving station and the camera and the controller of setting up in back car automobile body of back car, wherein, bluetooth signal receiving station is including setting up in first bluetooth antenna, second bluetooth antenna and the treater of locomotive, the method includes:
s1, judging the environment where the vehicle is located, and acquiring the distance of the front vehicle through the camera when the brightness of the environment exceeds a set value; when the brightness of the environment is lower than a set value, the distance between the front vehicle and the vehicle is acquired in an auxiliary way through a Bluetooth system; wherein, the distance of the front car is obtained by the aid of the Bluetooth system specifically comprises the following steps:
s11, acquiring radio frequency information generated by a Bluetooth electronic tag of a preceding vehicle;
s12, analyzing the distance information of the Bluetooth electronic tag relative to the Bluetooth signal receiving station by the radio frequency information;
s13, judging the distance between the front vehicle and the nearest rear vehicle according to the distance information.
The invention further provides a vehicle-mounted visual auxiliary driving system, which comprises a Bluetooth electronic tag arranged on a front vehicle; the Bluetooth signal receiving station comprises a first Bluetooth antenna, a second Bluetooth antenna and a processor, wherein the first Bluetooth antenna, the second Bluetooth antenna and the processor are arranged on a vehicle head; the controller is used for controlling the camera to acquire the distance of the front vehicle when the brightness of the environment exceeds a set value; the controller is further used for assisting in acquiring the distance of the front vehicle through the Bluetooth system when the brightness of the environment is lower than a set value; the first Bluetooth antenna and the second Bluetooth antenna are used for acquiring radio frequency information generated by a Bluetooth electronic tag of a preceding vehicle; the processor is used for analyzing the distance information of the Bluetooth electronic tag relative to the Bluetooth signal receiving station according to the radio frequency information, and the processor is further used for judging the distance between the rear vehicle and the nearest front vehicle according to the distance information.
The beneficial effects of the invention are as follows: according to the vision-aided driving system and the control method thereof, the distance between the front vehicles is acquired through the radio frequency signals, and the radio frequency signals of the Bluetooth system are stable and are not easily influenced, so that the confirmation of the distance between the front vehicles under the condition that the vision condition is not good can be solved, and the driving safety is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a vehicle-mounted vision-aided driving system according to an embodiment of the present invention in use.
Fig. 2 is a frame diagram of an in-vehicle vision-assisted driving system provided by an embodiment of the present invention.
Fig. 3 is a schematic view of an in-vehicle vision-assisted driving system according to another embodiment of the present invention in use.
FIG. 4 is a diagram showing a vehicle-mounted vision-aided driving system according to an embodiment of the present invention when calculating a distance reduction Δd 1-i Schematic diagram of the time.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
In the description of the present invention, the terms "first," "second," and the like 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 defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1-2, an embodiment of the present invention provides a control method of a vehicle-mounted vision-aided driving system, where the method is implemented by the vehicle-mounted vision-aided driving system, and the vehicle-mounted vision-aided driving system includes a bluetooth electronic tag 10 disposed on a preceding vehicle; the method comprises the following steps that the Bluetooth signal receiving station 11 is arranged on a rear car, the camera 12 is arranged on a car body of the rear car and the controller 13 is arranged on the rear car, wherein the Bluetooth signal receiving station 11 comprises a first Bluetooth antenna 111, a second Bluetooth antenna 112 and a processor 110, and the first Bluetooth antenna, the second Bluetooth antenna and the processor 110 are arranged on the car head, and the method comprises the following steps:
s1, judging the environment where the vehicle is located, and acquiring the distance of the front vehicle through the camera 12 when the brightness of the environment exceeds a set value; when the brightness of the environment is lower than a set value, the distance between the front vehicle and the vehicle is acquired in an auxiliary way through a Bluetooth system; wherein, the distance of the front car is obtained by the aid of the Bluetooth system specifically comprises the following steps:
s11, acquiring radio frequency information generated by the Bluetooth electronic tag 10 of the preceding vehicle;
s12, analyzing the distance information of the Bluetooth electronic tag 10 relative to the Bluetooth signal receiving station 11 by the radio frequency information;
s13, judging the distance between the front vehicle and the nearest rear vehicle according to the distance information.
As a further improvement, the first bluetooth antenna 111 and the second bluetooth antenna 112 are symmetrically disposed on two sides of the rear vehicle head, respectively, and the bluetooth electronic tag 10 is disposed in the middle of the rear of the front vehicle. Referring to fig. 3, in other embodiments, the vehicle vision-assisted driving system may further include a third bluetooth antenna 113 disposed at a middle position of the rear vehicle head, so as to improve detection accuracy.
As a further improvement, the transmission distance of the bluetooth electronic tag 10 may be set according to actual requirements. The distance is overlong, the power consumption is higher, and the distance is shorter, so that the brake identification of the front vehicle is not facilitated. Preferably, the transmission distance of the bluetooth electronic tag 10 is in the range of 10 meters to 150 meters.
In addition, in step S11, the bluetooth electronic tag 10 may send out a radio frequency signal in real time, or be in a sleep state, and start to work and send out a radio frequency signal in real time under the activation of the post bluetooth signal receiving station 11, so that an additional control chip or control module may be reduced.
In addition, the bluetooth signal receiving station 11 may switch between a standby mode and an awake mode. For example, the standby mode may be in when the brightness of the environment is higher than a set value; when the brightness of the environment is lower than the set value, the Bluetooth signal receiving station 11 is awakened to enter an awakening mode and operate.
As a further improvement, in step S12, the step of parsing, by the radio frequency information, the distance information of the bluetooth electronic tag 10 with respect to the bluetooth signal receiving station 11 includes:
s121, extracting an RSSI value from the radio frequency information;
s122, eliminating interference of multipath effect on the RSSI value through a K-means clustering algorithm to obtain the RSSI value after interference elimination;
s123, substituting the RSSI value after interference elimination into a loss model of RSSI and distance to obtain the distance d between the first Bluetooth antenna 111 and the second Bluetooth antenna 112 and the Bluetooth electronic tag 10 respectively 1-n D 2-n Where n is identity information of the bluetooth electronic tag 10 of each preceding vehicle. In other words, n may be license plate information written from the last day or may be unique information of the vehicle, such as an engine code, etc., thereby facilitating the recognition of the following vehicle. The K-means clustering algorithm and the loss model of RSSI and distance are not described in detail herein for the prior art.
In step S121, if the RSSI value is too small, the distance is too long or is blocked by the preceding vehicle, and at this time, the filtering may be automatically performed, thereby reducing the calculation amount.
As a further improvement, in step S13, the step of determining the distance of the preceding vehicle closest to the following vehicle according to the distance information includes:
s131, obtaining the distances d between the first Bluetooth antenna 111 and the second Bluetooth antenna 112 and the Bluetooth electronic tag 10 respectively 1-n 、d 2-n Absolute value of difference A n I.e., |d 1-n 、d 2-n |＝A n ；
S132, judging absolute value A n If the size of the vehicle is within the preset range, judging that the vehicle is in front, otherwise judging that the vehicle is not in front;
s133, obtaining an absolute value A n Is within a predetermined range, and a distance d 1-n 、d 2-n The minimum distance d of the front vehicle closest to the rear vehicle 1-i 、d 2-i I is the identity information of the front car nearest to the rear car.
In addition, if the vehicle is in a curve, corresponding correction may be performed based on the map information.
Referring to fig. 1, for example, the following vehicle a can receive radio frequency signals of three vehicles B, C, D, so that the distance d between the first bluetooth antenna 111 and the second bluetooth antenna 112 and the bluetooth electronic tag 10 can be determined according to the following 1-n 、d 2-n Absolute value of difference A n Within a predetermined range, vehicle D is distinguished from vehicle B, C; further, since the distance of the vehicle B is the smallest, it is determined that the following vehicle a is the closest preceding vehicle B.
In step S1, the step of determining the environment in which the vehicle is located may include:
s14, when the rear vehicle turns on a headlight or a fog lamp, the brightness of the current environment is directly judged to be lower than a set value.
In addition, the rear vehicle may further include a brightness sensor, and in step S1, the step of determining an environment in which the vehicle is located may include:
s14, acquiring the brightness of the current environment through the brightness sensor, and judging whether the brightness of the current environment is lower than a set value or not according to the brightness.
As a further improvement, the control method of the in-vehicle vision-assisted driving system further includes:
s2, continuously acquiring the distance d of the nearest front vehicle i from the rear vehicle 1-i 、d 2-i And starting timing T;
s3, judging the distance reduction delta d of the preceding vehicle i in unit time 1-i If the braking speed exceeds the set range, judging that the preceding vehicle is suddenly braked and alarming. It can be understood that by judging the distance decrease Δd of the preceding vehicle i per unit time 1-i Whether the set range is exceeded or not, whether the front vehicle is sudden braking or not can be judged, and if the front vehicle is sudden braking, the driver is reminded.
In step S3, further, in order to accurately acquire the distance decrease Δd of the preceding vehicle i 1-i Further acquisition of the vehicle speed of the rear vehicle and the amount of change in the vehicle speed are required. Referring to fig. 4, specifically, the start timing T may be obtained in real time by the vehicle-mounted system 1 Speed of the vehicle and first end time T 2 The speed of the vehicle in time, thereby obtaining the driving distance S of the rear vehicle in unit time 1 At this time, T 1 Distance L between front and rear vehicles at time 1 And T 2 Distance L between front and rear vehicles at time 2 Can be obtained through calculation by a Bluetooth system. Thus, the travel distance S of the preceding vehicle in unit time can be obtained 2 ＝S 1 +L 2 -L 1 . At T 3 In time, the driving distance S of the preceding vehicle in the second unit time can be obtained 4 ＝S 3 +L 3 -L 2 . According to the deceleration motion formula, S=V×t-1/2a×t 2 I.e. S 2 ＝S 1 +L 2 -L 1 ＝V 1 *t-1/2a 1 *t 2 And S is 4 ＝S 3 +L 3 -L 2 ＝V 2 *t-1/2a 2 *t 2 . Under the premise of assuming that the front vehicle does uniform deceleration motion, and a 1 ＝a 2 Can be simplified and calculated to obtain V 1 -V 2 ＝(S 2 -S 4 ) And/t. In other words, when the difference between the front and rear speeds exceeds the set value, i.e., the distance decrease amount S 2 -S 4 ＝Δd 1-i When the set value is exceeded, sudden braking can be determined.
In addition, in step S3, the distance decrease Δd is proportional to the following vehicle speed V, and the following vehicle speed V is obtained by the in-vehicle control system.
As a further improvement, the control method of the vehicle-mounted vision-assisted driving system may further include:
and S4, alarming when the distance between the front vehicle closest to the rear vehicle is smaller than a set value S, wherein the set value S is in direct proportion to the speed V of the rear vehicle, and the speed V of the rear vehicle is obtained through a vehicle-mounted control system.
In step S4, the set value S is satisfied with the vehicle speed V of the following vehicle, s=k×v, where k is 0.4×10 -3 h～0.8*10 -3 h. Preferably, when the vehicle speed V of the rear vehicle is greater than or equal to 80 km/h, k is 0.6 x 10 -3 h～0.8*10 -3 h, performing H; when the speed V of the rear vehicle is less than 80 km/h, k is 0.4 x 10 -3 h～0.6*10 -3 h。
Referring to fig. 1-2, the present invention further provides a vehicle-mounted vision-assisted driving system.
As a further improvement, in the vehicle-mounted vision-assisted driving system, the first bluetooth antenna 111 and the second bluetooth antenna 112 are respectively and symmetrically arranged at two sides of a rear vehicle head, and the bluetooth electronic tag 10 is arranged at a middle part of a vehicle tail of the front vehicle; and the processor 110 is further configured to extract an RSSI value from the radio frequency information; then eliminating the interference of multipath effect to the RSSI value through a K-means clustering algorithm to obtain the RSSI value after eliminating the interference; finally, the RSSI value after interference elimination is substituted into a loss model of RSSI and distance, so as to obtain the distance d between the first Bluetooth antenna 111 and the second Bluetooth antenna 112 and the Bluetooth electronic tag 10 respectively 1-n D 2-n Wherein, the method comprises the steps of, wherein,n is identity information of the bluetooth electronic tag 10 of each preceding vehicle.
The embodiment of the invention also provides a computer storage medium which, when being executed by a processor, realizes the control method of the vehicle-mounted vision auxiliary driving system.
In the several embodiments provided herein, it should be understood that the disclosed systems and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The control method of the vehicle-mounted vision-aided driving system is characterized by being realized by the vehicle-mounted vision-aided driving system, wherein the vehicle-mounted vision-aided driving system comprises a Bluetooth electronic tag (10) arranged on a front vehicle; set up bluetooth signal receiving station (11) and set up camera (12) and controller (13) in back car automobile body in back car, wherein, bluetooth signal receiving station (11) are including setting up first bluetooth antenna (111), second bluetooth antenna (112) and processor (110) in the locomotive, the method includes:
s1, judging the environment where the vehicle is located, and acquiring the distance of the front vehicle through the camera (12) when the brightness of the environment exceeds a set value; when the brightness of the environment is lower than a set value, the distance between the front vehicle and the vehicle is acquired in an auxiliary way through a Bluetooth system; wherein, the distance of the front car is obtained by the aid of the Bluetooth system specifically comprises the following steps:
s11, acquiring radio frequency information generated by a Bluetooth electronic tag (10) of a preceding vehicle;
s12, analyzing the distance information of the Bluetooth electronic tag (10) relative to the Bluetooth signal receiving station (11) by the radio frequency information;
s121, extracting an RSSI value from the radio frequency information;
s122, eliminating interference of multipath effect on the RSSI value through a K-means clustering algorithm to obtain the RSSI value after interference elimination;
s123, substituting the RSSI value after interference elimination into a loss model of RSSI and distance, thereby obtaining the distance d between the first Bluetooth antenna (111) and the second Bluetooth antenna (112) and the Bluetooth electronic tag (10) respectively 1-n D 2-n Wherein n is the identity information of the Bluetooth electronic tag (10) of each front vehicle;
s13, judging the distance between the rear vehicle and the nearest front vehicle according to the distance information;
s131, obtaining the distances d between the first Bluetooth antenna (111) and the second Bluetooth antenna (112) and the Bluetooth electronic tag (10) respectively 1-n 、d 2-n Absolute value of difference A n I.e., |d 1-n 、d 2-n |＝A n ；
S132, judging absolute value A n If the size of the vehicle is within the preset range, judging that the vehicle is in front, otherwise judging that the vehicle is not in front;
s133, obtaining an absolute value A n Is within a predetermined range, and a distance d 1-n 、d 2-n The minimum distance d of the front vehicle closest to the rear vehicle 1-i 、d 2-i I is identity information of a front vehicle nearest to the rear vehicle;
the controller (13) is used for controlling the camera (12) to acquire the distance of the front vehicle when the brightness of the environment exceeds a set value; the controller (13) is further used for assisting in acquiring the distance of the front vehicle through the Bluetooth system when the brightness of the environment is lower than a set value; the first Bluetooth antenna (111) and the second Bluetooth antenna (112) are used for acquiring radio frequency information generated by a Bluetooth electronic tag (10) of a preceding vehicle; the processor (110) is used for analyzing the distance information of the Bluetooth electronic tag (10) relative to the Bluetooth signal receiving station (11) according to the radio frequency information, and the processor (110) is further used for judging the distance between the rear vehicle and the nearest front vehicle according to the distance information;
s2, continuously acquiring the distance d of the nearest front vehicle from the rear vehicle 1 、d 2 And starting timing T;
s3, judging whether the distance reduction delta d of the front vehicle in unit time exceeds a set range, if so, judging that the front vehicle brakes suddenly and alarming;
in step S3, in order to accurately acquire the distance decrease Δd of the preceding vehicle i 1-i The vehicle speed of the rear vehicle and the variation of the vehicle speed are required to be further acquired; specifically, the starting timing T can be obtained in real time through the vehicle-mounted system 1 Speed of the vehicle and first end time T 2 The speed of the vehicle is obtained, thereby obtaining the travel distance S of the rear vehicle in unit time 1 At this time, T 1 Distance L between front and rear vehicles at time 1 And T 2 Distance L between front and rear vehicles at time 2 Can be obtained through calculation of a Bluetooth system; thus, the travel distance S of the preceding vehicle in unit time can be obtained 2 ＝S 1 +L 2 -L 1 The method comprises the steps of carrying out a first treatment on the surface of the At T 3 In time, the driving distance S of the preceding vehicle in the second unit time can be obtained 4 ＝S 3 +L 3 -L 2 The method comprises the steps of carrying out a first treatment on the surface of the According to the deceleration motion formula, S=V×t-1/2a×t 2 I.e. S 2 ＝S 1 +L 2 -L 1 ＝V 1 *t-1/2a 1 *t 2 And S is 4 ＝S 3 +L 3 -L 2 ＝V 2 *t-1/2a 2 *t 2 The method comprises the steps of carrying out a first treatment on the surface of the Under the premise of assuming that the front vehicle does uniform deceleration motion, and a 1 ＝a 2 Can be simplified and calculated to obtain V 1 -V 2 ＝(S 2 -S 4 ) T; in other words, when the difference between the front and rear speeds exceeds the set value, i.e., the distance decrease amount S 2 -S 4 ＝Δd 1-i When the set value is exceeded, sudden braking can be determined.
2. The control method of the in-vehicle vision-assisted driving system according to claim 1, wherein in step S1, the step of determining an environment in which the vehicle is located includes:
s14, when the rear vehicle turns on a headlight or a fog lamp, the brightness of the current environment is directly judged to be lower than a set value.
3. The control method of the vehicle-mounted vision-assisted driving system according to claim 1, wherein the rear vehicle further includes a brightness sensor, and in step S1, the step of determining an environment in which the vehicle is located includes:
s14, acquiring the brightness of the current environment through the brightness sensor, and judging whether the brightness of the current environment is lower than a set value or not according to the brightness.
4. The control method of the in-vehicle vision-aided driving system according to claim 1, characterized by further comprising:
and S4, alarming when the distance between the front vehicle closest to the rear vehicle is smaller than a set value S, wherein the set value S is in direct proportion to the speed V of the rear vehicle, and the speed V of the rear vehicle is obtained through a vehicle-mounted control system.
5. The control method of the vehicle-mounted vision-assisted driving system according to claim 4, wherein in step S4, the set value S is satisfied with the vehicle speed V of the following vehicle, s=k×v, where k is 0.4×10 -3 h～0.8*10 -3 h。
6. The control method of the vehicle-mounted vision-aided driving system of claim 5, wherein the vehicle speed V of the following vehicle is 80 km/h or more, and k is 0.6x10 -3 h～0.8*10 -3 h, performing H; the speed V of the rear vehicle is less than 80 km/h, and k is 0.4 x 10 -3 h～0.6*10 -3 h。
7. The control method of the in-vehicle vision-aided driving system of claim 5, wherein in step S3, the distance decrease Δd is proportional to a following vehicle speed V, and the following vehicle speed V is obtained by an in-vehicle control system.
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