CN113936500A - Early warning method and device for backward traffic of vehicle - Google Patents
Early warning method and device for backward traffic of vehicle Download PDFInfo
- Publication number
- CN113936500A CN113936500A CN202111170834.3A CN202111170834A CN113936500A CN 113936500 A CN113936500 A CN 113936500A CN 202111170834 A CN202111170834 A CN 202111170834A CN 113936500 A CN113936500 A CN 113936500A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- passing
- distance
- early warning
- preset
- 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.)
- Granted
Links
Images
Classifications
-
- 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)
- Traffic Control Systems (AREA)
Abstract
The application discloses early warning method and device for backward traffic passing of vehicles, wherein the method comprises the following steps: after the passing vehicle or the passing pedestrian is identified based on the passing information on the two sides behind the vehicle, calculating the relative distance between the passing vehicle or the passing pedestrian and the vehicle; and when the relative distance on any side is smaller than or equal to a first preset distance and the actual speed of the vehicle is smaller than a first preset speed and the vehicle is detected not to execute the braking action, controlling the vehicle to execute a first active intervention action and parking the vehicle. The embodiment of the application detects the braking action of the driver, and when the driver does not brake, the vehicle is actively interfered according to the distance between the passing object behind the vehicle and the vehicle speed, so that accidents are avoided, and the safety of the vehicle is further ensured. Therefore, the problems that in the related art, when the relative distance between the obstacle and the vehicle is too small, continuous alarming is achieved, intelligence is low, experience is poor and the like are solved.
Description
Technical Field
The application relates to the technical field of vehicle intelligent control, in particular to a method and a device for early warning backward traffic passing of a vehicle.
Background
In the process of backing a car, a driver has a vision blind area, and if the driver does not observe the vision blind area carefully, the driver is very easy to collide, and needs to be warned in the process of backing the car.
In the related art, a reverse sensor is installed behind a vehicle, the distance between a rear obstacle and the vehicle is detected, and when the distance is smaller than a set threshold value, an alarm signal is directly sent to a driver.
However, in the related art, when the relative distance between the obstacle and the vehicle is too small, the alarm is continuously given, the intelligence is low, the experience is poor, and a solution is urgently needed.
Disclosure of Invention
The application provides a method and a device for early warning backward traffic of a vehicle, which are used for solving the problems that related technologies continuously give an alarm when the relative distance between an obstacle and the vehicle is too small, intelligence is low, and experience is poor.
The embodiment of the first aspect of the application provides a backward traffic passing early warning method for a vehicle, which comprises the following steps: identifying the passing information of two sides behind the vehicle; after a passing vehicle or a passing pedestrian is identified based on the passing information, calculating the relative distance between the passing vehicle or the passing pedestrian and the vehicle; and when the relative distance on any side is smaller than or equal to a first preset distance and the actual speed of the vehicle is smaller than a first preset speed and the vehicle is detected not to execute a braking action, controlling the vehicle to execute a first active intervention action and parking the vehicle.
Optionally, in an embodiment of the present application, the method further includes: calculating the relative speed between the passing vehicle or the passing pedestrian and the vehicle; and if the relative distance on either side is greater than the first preset distance and less than or equal to a second preset distance, and the relative speed is greater than a second preset speed, controlling the vehicle to perform a first early warning action, and performing acoustic and/or optical reminding on a driver and the passing vehicle or the passing pedestrian, wherein the second preset distance is greater than the first preset distance.
Optionally, in an embodiment of the present application, after controlling the vehicle to perform the first warning action, the method further includes: detecting the duration of the early warning action; and when the duration is detected to be longer than the preset duration and the vehicle is not subjected to the braking action, if the relative distance is smaller than or equal to the first preset distance and the actual vehicle speed is greater than the first preset speed, continuously controlling the vehicle to execute the early warning action.
Optionally, in an embodiment of the present application, the method further includes: identifying static information of two sides behind the vehicle; calculating an actual distance between a static obstacle and the vehicle after the static obstacle is identified based on the static information; and when the actual distance on any side is smaller than or equal to a third preset distance, controlling the vehicle to execute a second early warning action and carrying out acoustic and/or optical reminding on a driver, wherein the third preset distance is smaller than the first preset distance.
Optionally, in an embodiment of the present application, the method further includes: and when the actual distance on any side is smaller than or equal to a fourth preset distance, controlling the vehicle to execute a second active intervention action, and parking the vehicle, wherein the fourth preset distance is smaller than the third preset distance.
An embodiment of a second aspect of the present application provides a warning device is walked to traffic behind vehicle, includes: the first identification module is used for identifying the passing information of two sides behind the vehicle; the first calculation module is used for calculating the relative distance between the passing vehicle or the passing pedestrian and the vehicle after the passing vehicle or the passing pedestrian is identified based on the passing information; the first execution module is used for controlling the vehicle to execute a first active intervention action and parking the vehicle when the relative distance on any side is smaller than or equal to a first preset distance and the actual speed of the vehicle is smaller than a first preset speed and the vehicle is detected not to execute a braking action.
Optionally, in an embodiment of the present application, the method further includes: the second calculation module is used for calculating the relative speed between the passing vehicle or the passing pedestrian and the vehicle; and the second execution module is used for controlling the vehicle to execute a first early warning action and perform acoustic and/or optical reminding on a driver and the passing vehicle or the passing pedestrian if the relative distance on any side is greater than the first preset distance and less than or equal to a second preset distance and the relative speed is greater than a second preset speed, wherein the second preset distance is greater than the first preset distance.
Optionally, in an embodiment of the present application, the method further includes: the detection module is used for detecting the duration of the early warning action after the vehicle is controlled to execute the first early warning action; and the third execution module is used for continuously controlling the vehicle to execute the early warning action if the relative distance is smaller than or equal to the first preset distance and the actual vehicle speed is greater than the first preset speed when the duration is detected to be greater than the preset duration and the vehicle is not detected to execute the braking action.
An embodiment of a third aspect of the present application provides a vehicle, comprising: the early warning system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the early warning method for the backward traffic passing of the vehicle according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor, so as to implement the method for warning of backward traffic traveling of a vehicle according to the foregoing embodiment.
The method comprises the steps of identifying passing information on two sides of the rear of a vehicle, calculating the relative distance between the identified passing vehicle or passing pedestrians and the vehicle, detecting the braking action of a driver when the relative distance is smaller than a set distance and the actual speed of the vehicle is smaller than a set speed, and actively intervening the vehicle according to the distance between a passing object behind the vehicle and the speed of the vehicle when the driver does not take the braking action, so that accidents are avoided, and the safety of the vehicle is further ensured. Therefore, the technical problems that when the relative distance between the obstacle and the vehicle is too small, continuous alarming is achieved, intelligence is low, experience is poor and the like in the related technology are solved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a method for early warning of backward traffic traveling of a vehicle according to an embodiment of the present application;
fig. 2 is a schematic diagram of a control architecture of a backward traffic transit early warning method for a vehicle according to an embodiment of the present application;
fig. 3 is a logic flow diagram of a method for early warning of backward traffic traveling of a vehicle according to an embodiment of the present application;
fig. 4 is an exemplary diagram of a backward traffic transit warning device of a vehicle according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Description of reference numerals: a first identification module-100, a first calculation module-200 and a first execution module-300, a memory-501, a processor-502, a communication interface-503.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes a method and an apparatus for warning backward traffic traveling of a vehicle according to an embodiment of the present application with reference to the drawings. In order to solve the problems that when the relative distance between an obstacle and a vehicle is too small, continuous alarming is achieved, intelligence is low, and experience is poor in the related technology mentioned in the background technology center, the method for early warning backward traffic passing of the vehicle is provided. Therefore, the problems that in the related art, when the relative distance between the obstacle and the vehicle is too small, continuous alarming is achieved, intelligence is low, experience is poor and the like are solved.
Specifically, fig. 1 is a flowchart of a method for warning backward traffic traveling of a vehicle according to an embodiment of the present application.
As shown in fig. 1, the early warning method for backward traffic of the vehicle includes the following steps:
in step S101, the traveling information on both sides behind the vehicle is recognized.
The two sides behind the vehicle have visual blind areas, and in order to accurately perform backward traffic passing early warning, the passing information of the two sides behind the vehicle is firstly identified, such as whether vehicles or pedestrians or other obstacles exist on the two sides behind the vehicle.
As a possible implementation manner, the method of the embodiment of the present application may acquire the road condition behind the vehicle by providing a camera or a sensor at the rear of the vehicle, where the camera or the sensor may be already provided by the vehicle or may be separately provided at the rear of the vehicle. Taking a camera as an example, 2 intelligent cameras are symmetrically distributed on two sides of a bumper at the tail of a vehicle, after the function is started, the intelligent cameras start to work, road images on two sides behind the vehicle are collected through the cameras, and the road images are detected by deep learning methods such as target detection and the like to obtain passing information in the road images. Those skilled in the art may also use other methods to identify the traffic information on both sides of the rear of the vehicle, and are not limited specifically.
In the embodiment of the present application, the passing information may include information such as a position, a size, or a moving speed of the passing vehicle or the pedestrian, and is not particularly limited.
In step S102, after the passing vehicle or the passing pedestrian is identified based on the passing information, the relative distance between the passing vehicle or the passing pedestrian and the vehicle is calculated.
When backing a car, the obstacles in a certain distance range on two sides behind the vehicle threaten the backing of the vehicle, and after the passing information is identified through the embodiment, the passing vehicle or the distance between the pedestrian and the vehicle in the passing information is calculated to determine whether the backing of the vehicle is influenced.
On the basis of the above-described embodiments, the passing vehicle or the relative distance between the passing pedestrian and the vehicle can be detected by the camera or the sensor. For example, taking a distance sensor as an example, a passing vehicle on both sides behind the vehicle or a distance between a passing pedestrian and the vehicle is directly detected by the distance sensor. It should be noted that, the calculation method of the relative distance may be adjusted by those skilled in the art according to actual needs, and is not particularly limited.
In step S103, when the relative distance on either side is smaller than or equal to the first preset distance, the actual speed of the vehicle is smaller than the first preset speed, and it is detected that the vehicle does not perform the braking action, the vehicle is controlled to perform a first active intervention action, and the vehicle is parked.
In the process of backing up, if the vehicle speed is too fast, the collision risk is large, therefore, when the relative distance between the passing vehicle or the pedestrian on any side of the vehicle and the vehicle is smaller than or equal to the set distance threshold value, and the actual speed of the vehicle is smaller than the preset speed threshold value, if the driver does not take braking measures, the method of the embodiment of the application actively intervenes the vehicle, for example, the opening and closing degree of the brake pedal is controlled, the vehicle is braked and stopped, and the driving safety is ensured.
For example, after the active intervention function is triggered, the intelligent camera judges that the relative distance L between other vehicles or riders and the vehicle is S1 or less, and when the vehicle speed is lower than 8km/h, if the driver does not take braking measures, the vehicle controller sends a signal, and the system actively performs parking intervention to avoid traffic accidents.
Optionally, in an embodiment of the present application, the method further includes: calculating the relative speed of the passing vehicle or the passing pedestrian and the vehicle; and if the relative distance on any side is greater than the first preset distance and less than or equal to the second preset distance, and the relative speed is greater than the second preset speed, controlling the vehicle to perform a first early warning action, and performing acoustic and/or optical reminding on a driver and a passing vehicle or a passing pedestrian, wherein the second preset distance is greater than the first preset distance.
It can be understood that the vehicle is in READY state, the gear is in R gear, and when the system does not detect that other vehicles or riders approach the vehicle from the rear of the two sides, the early warning function is not triggered. When the vehicle and the rear are in a large distance or the pedestrian is in a large distance, the vehicle does not need to be interfered, and for the safety of backing a car, the embodiment of the application reminds the driver through the acousto-optic signal when the distance between the vehicle and the vehicle or the pedestrian is within a certain range and the relative speed between the vehicle and the vehicle or the pedestrian is greater than a certain value.
In some embodiments, the acoustic alert may be a device such as a sound or a speaker, and the optical alert may be an indicator light or an instrument panel, which are not specifically limited to this, for example, after the function is triggered, the vehicle instrument function warning light is turned on in red and continuously flashes at a certain frequency, and at the same time, the voice alerts the driver to carefully back the vehicle or the corresponding side of the vehicle passes through the warning indicator light in yellow and continuously flashes at a certain frequency.
For example, when the vehicle is in a READY state, the gear is in an R gear, when the system detects that other vehicles or riders approach the vehicle from the rear of the left (right) side, the intelligent camera judges that the relative distance L between the other vehicles or riders and the vehicle is S1< L < S2 at the moment according to the self-learning algorithm, the relative speed V of the intelligent camera and the vehicle is greater than a certain value, the vehicle body controller judges that the vehicle or the riders continuously back to collide with the vehicle and then go backwards, a left (right) side backward-going early warning function is triggered, the instrument function warning lamp is red and continuously flickers at a certain frequency, and the driver is reminded of taking care of backing the vehicle by voice; the corresponding backward-passing early warning indicator lamp is turned on in yellow and continuously flickers at a certain frequency to remind the left (right) side of backward-passing vehicles or riders to pay attention to safety.
The vehicle is in a READY state, the gear is in an R gear, when the system detects that other vehicles or riders approach the vehicle from the rear of two sides, the intelligent camera judges that the distance L between the other vehicles or the riders and the rear of the two sides of the vehicle is greater than S2 according to the self-learning algorithm, and the early warning function is not triggered.
Optionally, in an embodiment of the present application, after controlling the vehicle to perform the first warning action, the method further includes: detecting the duration of the early warning action; and when the duration is detected to be longer than the preset duration and the vehicle is not detected to execute the braking action, if the relative distance is smaller than or equal to a first preset distance and the actual vehicle speed is greater than a first preset speed, continuously controlling the vehicle to execute the early warning action.
After the driver is warned by sound and light, the driver takes braking measures after receiving the warning signal, and if the driver takes braking measures, the embodiment of the application can stop warning. However, after the early warning lasts for a period of time, the driver does not take a braking measure, and when the relative distance is smaller than a certain distance and the actual vehicle speed is greater than a certain speed, the embodiment of the application continues to execute the early warning action to early warn the driver until the driver takes the braking action. If the relative distance is smaller than a certain distance but the actual speed is smaller than a certain speed, the embodiment of the application intervenes the vehicle while performing acousto-optic early warning, so that the driving safety is ensured.
For example, in one embodiment, the vehicle is in READY state, the gear is in R gear, when the system detects that other vehicles or riders approach the host vehicle from the rear of the left (right) side and has triggered the early warning function, and after a period of time, the driver does not take braking measures, and if the intelligent camera judges that the relative distance L between the other vehicles or riders and the host vehicle is L ≦ S1 according to the self-learning algorithm and the speed of the host vehicle is greater than 8km/h, the system does not perform active parking intervention at this time, and still maintains the early warning state.
In another embodiment, the vehicle is in a READY state, the gear is in an R gear, when the system detects that other vehicles or riders approach the vehicle from the left (right) side rear and trigger the early warning function, after a period of time, the driver does not take braking measures, if the intelligent camera judges that the relative distance L between the other vehicles or riders and the vehicle is not more than S1 according to the self-learning algorithm and the vehicle speed of the vehicle is lower than 8km/h, the vehicle controller sends a signal under the condition of ensuring the braking safety, the system actively parks and intervenes, at the moment, the instrument function warning lamp is red and normally on, the voice reminding function is off, and the backward-passing early warning indicator lamps on both sides are yellow and continuously flash at a certain frequency.
It can be understood that after the early warning function is triggered, when other vehicles and riders drive out of the effective distance from the rear parts of the two sides, the early warning signal automatically exits within a certain time, and the early warning function is closed after the vehicles pass through.
Optionally, in an embodiment of the present application, the method further includes: identifying static information of two sides behind the vehicle; after the static obstacle is identified based on the static information, calculating the actual distance between the static obstacle and the vehicle; and when the actual distance on any side is smaller than or equal to a third preset distance, controlling the vehicle to execute a second early warning action and carrying out acoustic and/or optical reminding on the driver, wherein the third preset distance is smaller than the first preset distance.
When the vehicle is backed, the rear obstacle may be dynamic or static, and when the obstacle is static, the early warning distance to the driver may be appropriately reduced relative to the dynamic obstacle, for example, when the distance between the vehicle and the static obstacle is less than a certain distance, the early warning is performed, and at this time, the embodiment of the application does not need to intervene in the vehicle. When the distance between the vehicle and the static obstacle is larger than a certain distance or within a certain distance range, the driver does not need to be warned, and when the backing distance is reduced to a set distance, the warning is carried out again.
It should be noted that, when performing early warning according to different situations, the early warning mode and the early warning intensity may be adjusted according to different scenes, for example, the flashing frequency of the indicator light or the color of the indicator light is adjusted to distinguish the rear obstacle and the distance between the rear obstacle and the obstacle. In this regard, those skilled in the art may set the setting according to actual situations, and are not particularly limited.
For example, when the vehicle is in a READY state, the gear is in an R gear, and when the system detects that other vehicles or riders are static, the intelligent camera judges that the distance L between the other vehicles or the riders and the rear sides of the vehicle is S1< L ≦ S2 according to the self-learning algorithm, and does not trigger early warning.
The vehicle is in a READY state, the gear is in an R gear, when the system detects that other vehicles or riders are static, the intelligent camera judges that the distance L between the other vehicles or the riders and the rear sides of the two sides of the vehicle is not more than S3 according to the self-learning algorithm, the early warning function is only triggered at the moment, and the system does not actively park and intervene.
Optionally, in an embodiment of the present application, the method further includes: and when the actual distance on any side is smaller than or equal to a fourth preset distance, controlling the vehicle to execute a second active intervention action, and parking the vehicle, wherein the fourth preset distance is smaller than the third preset distance.
On the basis of the embodiment, if the distance between the vehicle and the static obstacle is too small and the vehicle is easy to collide, the embodiment of the application intervenes the vehicle, parks the vehicle and ensures the driving safety.
The following describes a method for warning backward traffic traveling of a vehicle according to the present application with a specific embodiment.
As shown in fig. 2, a system architecture for implementing the method for early warning of backward traffic movement of a vehicle according to the embodiment of the present application is shown, and multiple modules of the vehicle cooperate to perform early warning of backward traffic movement of the vehicle. The early warning method for backward traffic of the vehicle comprises 4 states, namely a real-time monitoring state, an early warning state, an active intervention state and a fault state.
And (3) monitoring the state in real time: the early warning function that the vehicle is backward to traffic is started and has no fault, the vehicle is in a READY state, the gear is in an R gear, other vehicles or a rider approaches the vehicle from the rear of two sides in the process of backing the vehicle, and the system keeps a real-time monitoring state.
Early warning state: the early warning function that the vehicle is backward to traffic is started and has no fault, the vehicle is in a READY state, the gear is in an R gear, other vehicles or riders are detected to approach the vehicle from the rear of two sides in the vehicle backing process, and the early warning condition is met, so that the vehicle is in an early warning state.
An active intervention state: when other vehicles or riders are detected to approach the vehicle from the rear of the left (right) side in the vehicle backing process and an early warning function is triggered, the intelligent camera judges that the relative distance L from the vehicle is not more than S1 and the vehicle speed of the vehicle is lower than 8km/h, if a driver does not take braking measures, the vehicle control unit sends a signal, and the system actively parks and intervenes.
And (3) fault state: if faults of the intelligent camera, the instrument, the backward-passing early warning indicator lamp and the like are found in the self-checking and working processes of the system, the backward-passing early warning is invalid at the moment, the functional icon of the instrument is yellow and normally bright, and the large-screen switch state is maintained unchanged. At this time, the system stops working and is in a fault state.
As shown in fig. 3, the flow logic of the warning method for backward traffic traveling of a vehicle is shown. When the ignition switch is in an ON gear, a user can start and close the early warning function after the vehicle passes through the function switch, and the early warning function is started by default and is set to be in a state memory. Firstly, self-checking a vehicle system, judging whether the early warning system is normal or not, and quitting the early warning function when the system is in failure. When the system is normal, whether the gear is a reverse gear or not is judged, and when the gear is not the reverse gear, the system is not allowed to be activated and has no backward-going early warning function. When the vehicle is in a reverse gear, detecting the distance information between the vehicle and a rear obstacle, and performing corresponding intervention action or early warning action according to the corresponding distance information and the vehicle speed information.
According to the early warning method for backward traffic passing of the vehicle, passing information of two sides behind the vehicle is identified, the relative distance between the identified passing vehicle or passing pedestrian and the vehicle is calculated, when the relative distance is smaller than the set distance, the actual speed of the vehicle is smaller than the set speed, the braking action of a driver is detected, and when the driver does not take the braking action, the vehicle is actively interfered according to the distance between the passing object behind the vehicle and the speed of the vehicle, accidents are avoided, and the safety of the vehicle is further guaranteed. Therefore, the technical problems that when the relative distance between the obstacle and the vehicle is too small, continuous alarming is achieved, intelligence is low, experience is poor and the like in the related technology are solved.
Next, a backward traffic passing early warning device of a vehicle according to an embodiment of the present application will be described with reference to the drawings.
Fig. 4 is a block diagram schematically illustrating a backward traffic travel warning device of a vehicle according to an embodiment of the present application.
As shown in fig. 4, the backward traffic early warning device 10 of the vehicle includes: a first identification module 100, a first calculation module 200 and a first execution module 300.
The first identification module 100 is configured to identify passing information on two sides behind the vehicle. The first calculation module 200 is configured to calculate a relative distance between the passing vehicle or the passing pedestrian and the vehicle after the passing vehicle or the passing pedestrian is identified based on the passing information. The first executing module 300 is configured to, when the relative distance on any side is smaller than or equal to a first preset distance and the actual speed of the vehicle is smaller than a first preset speed and it is detected that the vehicle does not perform the braking action, control the vehicle to perform a first active intervention action and park the vehicle.
Optionally, in an embodiment of the present application, the backward traffic passing early warning device 10 of the vehicle further includes: and the second calculation module is used for calculating the passing vehicle or the relative speed between the passing pedestrian and the vehicle. And the second execution module is used for controlling the vehicle to perform a first early warning action and perform acoustic and/or optical reminding on a driver and a passing vehicle or a passing pedestrian if the relative distance on any side is greater than the first preset distance and less than or equal to the second preset distance and the relative speed is greater than the second preset speed, wherein the second preset distance is greater than the first preset distance.
Optionally, in an embodiment of the present application, the backward traffic passing early warning device 10 of the vehicle further includes: the detection module is used for detecting the duration of the early warning action after the vehicle is controlled to execute the first early warning action. And the third execution module is used for continuously controlling the vehicle to execute the early warning action if the relative distance is less than or equal to the first preset distance and the actual vehicle speed is greater than the first preset speed when the duration is detected to be greater than the preset duration and the vehicle is detected not to execute the braking action.
Optionally, in an embodiment of the present application, the backward traffic passing early warning device 10 of the vehicle further includes: and the second identification module is used for identifying the static information of two sides behind the vehicle. And the third calculation module is used for calculating the actual distance between the static obstacle and the vehicle after the static obstacle is identified based on the static information. And the fourth execution module is used for controlling the vehicle to execute a second early warning action when the actual distance on any side is less than or equal to a third preset distance, and carrying out acoustic and/or optical reminding on the driver, wherein the third preset distance is less than the first preset distance.
Optionally, in an embodiment of the present application, the backward traffic passing early warning device 10 of the vehicle further includes: and the fifth execution module is used for controlling the vehicle to execute a second active intervention action and parking the vehicle when the actual distance on any side is smaller than or equal to a fourth preset distance, wherein the fourth preset distance is smaller than the third preset distance.
It should be noted that the explanation of the embodiment of the method for warning backward traffic movement of a vehicle is also applicable to the device for warning backward traffic movement of a vehicle in this embodiment, and is not repeated here.
According to the early warning device for backward traffic passing of the vehicle, passing information of two sides behind the vehicle is identified, the identified passing vehicle or the relative distance between the passing pedestrian and the vehicle is calculated, the actual speed of the vehicle is smaller than the set speed when the relative distance is smaller than the set distance, the braking action of a driver is detected, and when the driver does not take the braking action, the vehicle is actively interfered according to the distance between the passing object behind the vehicle and the vehicle speed, accidents are avoided, and the safety of the vehicle is further guaranteed. Therefore, the technical problems that when the relative distance between the obstacle and the vehicle is too small, continuous alarming is achieved, intelligence is low, experience is poor and the like in the related technology are solved.
Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The electronic device may include:
a memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502.
The processor 502 executes the program to implement the method for warning of backward traffic traveling of a vehicle provided in the above-described embodiment.
Further, the vehicle further includes:
a communication interface 503 for communication between the memory 501 and the processor 502.
A memory 501 for storing computer programs that can be run on the processor 502.
The memory 501 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may complete communication with each other through an internal interface.
The processor 502 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The present embodiment also provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method for warning of backward traffic traveling of a vehicle as described above.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., 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 application. In this specification, the schematic representations of the terms used above are not necessarily intended to 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 N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
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 at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
Claims (10)
1. The early warning method for backward traffic of the vehicle is characterized by comprising the following steps of:
identifying the passing information of two sides behind the vehicle;
after a passing vehicle or a passing pedestrian is identified based on the passing information, calculating the relative distance between the passing vehicle or the passing pedestrian and the vehicle;
and when the relative distance on any side is smaller than or equal to a first preset distance and the actual speed of the vehicle is smaller than a first preset speed and the vehicle is detected not to execute a braking action, controlling the vehicle to execute a first active intervention action and parking the vehicle.
2. The method of claim 1, further comprising:
calculating the relative speed between the passing vehicle or the passing pedestrian and the vehicle;
and if the relative distance on either side is greater than the first preset distance and less than or equal to a second preset distance, and the relative speed is greater than a second preset speed, controlling the vehicle to perform a first early warning action, and performing acoustic and/or optical reminding on a driver and the passing vehicle or the passing pedestrian, wherein the second preset distance is greater than the first preset distance.
3. The method of claim 2, further comprising, after controlling the vehicle to perform the first early warning action:
detecting the duration of the early warning action;
and when the duration is detected to be longer than the preset duration and the vehicle is not subjected to the braking action, if the relative distance is smaller than or equal to the first preset distance and the actual vehicle speed is greater than the first preset speed, continuously controlling the vehicle to execute the early warning action.
4. The method of claim 1, further comprising:
identifying static information of two sides behind the vehicle;
calculating an actual distance between a static obstacle and the vehicle after the static obstacle is identified based on the static information;
and when the actual distance on any side is smaller than or equal to a third preset distance, controlling the vehicle to execute a second early warning action and carrying out acoustic and/or optical reminding on a driver, wherein the third preset distance is smaller than the first preset distance.
5. The method of claim 4, further comprising:
and when the actual distance on any side is smaller than or equal to a fourth preset distance, controlling the vehicle to execute a second active intervention action, and parking the vehicle, wherein the fourth preset distance is smaller than the third preset distance.
6. The utility model provides a warning device is walked to traffic behind vehicle which characterized in that includes:
the first identification module is used for identifying the passing information of two sides behind the vehicle;
the first calculation module is used for calculating the relative distance between the passing vehicle or the passing pedestrian and the vehicle after the passing vehicle or the passing pedestrian is identified based on the passing information;
the first execution module is used for controlling the vehicle to execute a first active intervention action and parking the vehicle when the relative distance on any side is smaller than or equal to a first preset distance and the actual speed of the vehicle is smaller than a first preset speed and the vehicle is detected not to execute a braking action.
7. The apparatus of claim 1, further comprising:
the second calculation module is used for calculating the relative speed between the passing vehicle or the passing pedestrian and the vehicle;
and the second execution module is used for controlling the vehicle to execute a first early warning action and perform acoustic and/or optical reminding on a driver and the passing vehicle or the passing pedestrian if the relative distance on any side is greater than the first preset distance and less than or equal to a second preset distance and the relative speed is greater than a second preset speed, wherein the second preset distance is greater than the first preset distance.
8. The apparatus of claim 7, further comprising:
the detection module is used for detecting the duration of the early warning action after the vehicle is controlled to execute the first early warning action;
and the third execution module is used for continuously controlling the vehicle to execute the early warning action if the relative distance is smaller than or equal to the first preset distance and the actual vehicle speed is greater than the first preset speed when the duration is detected to be greater than the preset duration and the vehicle is not detected to execute the braking action.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of warning of backward traffic transit of a vehicle as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a backward traffic transit warning method of a vehicle according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111170834.3A CN113936500B (en) | 2021-10-08 | 2021-10-08 | Early warning method and device for backward traffic of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111170834.3A CN113936500B (en) | 2021-10-08 | 2021-10-08 | Early warning method and device for backward traffic of vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113936500A true CN113936500A (en) | 2022-01-14 |
| CN113936500B CN113936500B (en) | 2022-12-27 |
Family
ID=79278184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111170834.3A Active CN113936500B (en) | 2021-10-08 | 2021-10-08 | Early warning method and device for backward traffic of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113936500B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115512571A (en) * | 2022-09-28 | 2022-12-23 | 上汽通用五菱汽车股份有限公司 | Backing environment monitoring method, device, equipment and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8415158D0 (en) * | 1984-06-14 | 1984-07-18 | Gregson Holdings Ltd | Vehicle reversing aid |
| WO2012095715A2 (en) * | 2011-01-12 | 2012-07-19 | Toyota Jidosha Kabushiki Kaisha | Travel support apparatus |
| CN103692974A (en) * | 2013-12-16 | 2014-04-02 | 广州中国科学院先进技术研究所 | Vehicle driving safety pre-warning method and system based on environmental monitoring |
| US20170158128A1 (en) * | 2015-12-07 | 2017-06-08 | Metal Industries Research & Development Centre | Alarm method for reversing a vehicle by sensing obstacles using structured light |
| CN108919279A (en) * | 2018-05-14 | 2018-11-30 | 吉利汽车研究院（宁波）有限公司 | A kind of reversing radar obstruction warning method and system |
| CN109766851A (en) * | 2019-01-15 | 2019-05-17 | 珠海格力电器股份有限公司 | Determination method and device, the Car reversion image-forming equipment of barrier |
| WO2020111408A1 (en) * | 2018-11-28 | 2020-06-04 | (주)팔로우테크닉스 | Autonomous driving-based succeeding vehicle driving device and method, using drive control information of preceding vehicle |
| CN111332239A (en) * | 2019-09-17 | 2020-06-26 | 厦门乐创智联科技有限公司 | Anti-collision early warning system for backing |
| CN112009398A (en) * | 2020-08-18 | 2020-12-01 | 三一专用汽车有限责任公司 | Vehicle control method and device, vehicle and storage medium |
-
2021
- 2021-10-08 CN CN202111170834.3A patent/CN113936500B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8415158D0 (en) * | 1984-06-14 | 1984-07-18 | Gregson Holdings Ltd | Vehicle reversing aid |
| WO2012095715A2 (en) * | 2011-01-12 | 2012-07-19 | Toyota Jidosha Kabushiki Kaisha | Travel support apparatus |
| CN103692974A (en) * | 2013-12-16 | 2014-04-02 | 广州中国科学院先进技术研究所 | Vehicle driving safety pre-warning method and system based on environmental monitoring |
| US20170158128A1 (en) * | 2015-12-07 | 2017-06-08 | Metal Industries Research & Development Centre | Alarm method for reversing a vehicle by sensing obstacles using structured light |
| CN108919279A (en) * | 2018-05-14 | 2018-11-30 | 吉利汽车研究院（宁波）有限公司 | A kind of reversing radar obstruction warning method and system |
| WO2020111408A1 (en) * | 2018-11-28 | 2020-06-04 | (주)팔로우테크닉스 | Autonomous driving-based succeeding vehicle driving device and method, using drive control information of preceding vehicle |
| CN109766851A (en) * | 2019-01-15 | 2019-05-17 | 珠海格力电器股份有限公司 | Determination method and device, the Car reversion image-forming equipment of barrier |
| CN111332239A (en) * | 2019-09-17 | 2020-06-26 | 厦门乐创智联科技有限公司 | Anti-collision early warning system for backing |
| CN112009398A (en) * | 2020-08-18 | 2020-12-01 | 三一专用汽车有限责任公司 | Vehicle control method and device, vehicle and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115512571A (en) * | 2022-09-28 | 2022-12-23 | 上汽通用五菱汽车股份有限公司 | Backing environment monitoring method, device, equipment and storage medium |
| CN115512571B (en) * | 2022-09-28 | 2023-12-19 | 上汽通用五菱汽车股份有限公司 | Reversing environment monitoring method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113936500B (en) | 2022-12-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7096150B2 (en) | Brake light detection of vehicles traveling in front to adapt the activation of active safety mechanisms | |
| US9415776B2 (en) | Enhanced lane departure system | |
| CN104512394B (en) | The auxiliary braking control method and system of automobile parking process | |
| CN101480943B (en) | Accident avoidance during vehicle backup | |
| CN114179791B (en) | Control method and system for automatic emergency braking, readable storage medium and vehicle | |
| CN108275145B (en) | Vehicle alarm method and system and vehicle | |
| CN111114539B (en) | Vehicle and safe driving method and device of vehicle | |
| US11518374B2 (en) | Vehicle braking support device and braking support control method | |
| JP2010108371A (en) | Apparatus for detecting drop for vehicle | |
| CN107139921B (en) | A kind of steering collision-proof method and system for vehicle | |
| CN113936500B (en) | Early warning method and device for backward traffic of vehicle | |
| CN114162044A (en) | Automobile door opening anti-collision early warning method and device, vehicle and storage medium | |
| JP2008189148A (en) | Traveling state detection device | |
| CN115107758A (en) | Method and device for assisting driver to safely park, vehicle and storage medium | |
| CN114994686A (en) | Vehicle radar early warning method, device and system and vehicle | |
| CN113246978A (en) | Vehicle rearview mirror blind area detection method and detection device | |
| CN113665584A (en) | Vehicle early warning method and device | |
| CN113352988A (en) | Intelligent driving safety auxiliary method, device, equipment, program product and medium | |
| JP7243034B2 (en) | Collision determination device and method | |
| CN113753067B (en) | Lane departure intervention control method and device | |
| CN114802230B (en) | Vehicle control method and device, intelligent vehicle and readable storage medium | |
| CN116176611A (en) | Parking collision early warning method and device for vehicle | |
| CN115214646A (en) | Active anti-collision control system and method based on EPS | |
| CN114572232A (en) | Attention assistance for dynamic blind zones accompanying the state of the driver during driving | |
| CN114572208A (en) | Control method and device for safe parking of emergency lane of automatic driving vehicle and vehicle |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |