CN115064004A - Vehicle collision active early warning system and method - Google Patents
Vehicle collision active early warning system and method Download PDFInfo
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- CN115064004A CN115064004A CN202210601143.2A CN202210601143A CN115064004A CN 115064004 A CN115064004 A CN 115064004A CN 202210601143 A CN202210601143 A CN 202210601143A CN 115064004 A CN115064004 A CN 115064004A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 34
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- G—PHYSICS
- G08—SIGNALLING
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- 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
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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Abstract
The invention discloses a vehicle collision active early warning system and a vehicle collision active early warning method. The system comprises: the environment sensing module is used for acquiring the relative distance and the relative speed of the surrounding vehicle relative to the driving vehicle; the control unit is used for analyzing and processing the relative distance and the relative speed of the environmental vehicle, judging whether a collision risk exists or not, and sending out an early warning control signal if the collision risk exists; the in-vehicle early warning module is used for receiving the early warning control signal and early warning a driver driving a vehicle; the vehicle external early warning module is used for receiving early warning control signals, early warning the environmental vehicle with the collision risk of the driving vehicle, and simultaneously early warning the driver in the vehicle and the environmental vehicle with the collision risk when the vehicle is likely to collide, so that the possibility of collision avoidance of the two vehicles in cooperation is improved, the possibility of collision accidents when the collision risk exists is reduced, and the loss of the collision accidents is reduced.
Description
Technical Field
The invention relates to the technical field of automobile safety, in particular to an active early warning system and method for vehicle collision.
Background
At present, active collision early warning is a measure for reducing traffic accidents based on early warning of a driver of a vehicle by a vehicle sensor, and early warning of vehicles which are likely to collide cannot be carried out. For example, some drivers are distracted, see mobile phones or drive fatigue, which causes abnormal vehicle running and may cause an emergency of collision with the vehicle, the existing active collision early warning cannot early warn the vehicles with abnormal running, and also cannot effectively remind the drivers of the vehicles, so that collision accidents occur with high probability when collision risks exist, and loss is caused.
Disclosure of Invention
The invention aims to provide a vehicle collision active early warning system which can early warn vehicles which are likely to collide with a vehicle, effectively remind drivers of the vehicles to the maximum extent, enable the two vehicles to avoid collision cooperatively, reduce the occurrence of collision accidents and reduce collision loss.
In order to solve the above technical problem, the present invention provides an active early warning system for vehicle collision, comprising: the environment perception module: the environment perception module is used for acquiring the relative distance and the relative speed of a surrounding vehicle relative to the driving vehicle;
a control unit: the control unit is used for analyzing and processing the relative distance and the relative speed of the environmental vehicle, judging whether the environmental vehicle and the driving vehicle have collision risks or not, if so, sending an early warning control signal, continuously monitoring the collision risks and sending an early warning release signal when the collision risks are released;
early warning module in the car: the in-vehicle early warning module is used for receiving the early warning control signal and early warning a driver driving the vehicle, and is also used for receiving the early warning release signal and stopping early warning the driver driving the vehicle;
the early warning module outside the vehicle: the vehicle external early warning module is used for receiving the early warning control signal, early warning the environmental vehicle with the driving vehicle has a collision risk, and also used for receiving the early warning removing signal, and stopping early warning the environmental vehicle with the driving vehicle has a collision risk.
In the vehicle collision active early warning system, an environment sensing module, a control unit, an in-vehicle early warning module and an out-vehicle early warning module are all arranged on a driving vehicle, namely a vehicle, the relative speed and relative distance information of the surrounding environment vehicle and the driving vehicle are collected through the environment sensing module, a control signal is sent out through the control unit according to the collected environment vehicle information, when collision is possible, the in-vehicle early warning module is controlled to early warn an in-vehicle driver, the out-vehicle early warning module is controlled to early warn the environment vehicle with collision risk simultaneously, effective reminding of the environment vehicle driver with collision risk is realized, the possibility of cooperative collision avoidance of the two vehicles with collision risk is improved, the possibility of collision accidents when collision risk exists is reduced, the loss of the collision accidents is reduced, and emergency risk avoidance measures of the driving vehicle can be reduced, and reducing the accidents of emergency risk avoidance.
As an improvement of the vehicle collision active early warning system, the early warning control signals comprise primary early warning control signals and secondary early warning control signals, and collision risks corresponding to the secondary early warning control signals are higher than those of the primary early warning control signals. And carrying out grading early warning on the collision risk to realize better early warning effect.
Further, the in-vehicle early warning module receives the primary early warning control signal, and the early warning for the driver driving the vehicle comprises: controlling at least one of instrument flashing, audio and video equipment playing alarm sound or a display displaying alarm images in the vehicle within set time;
the in-vehicle early warning module receives the secondary early warning control signal, and the early warning for the driver driving the vehicle comprises the following steps: continuously controlling at least one of instrument flashing in the vehicle, sound equipment playing alarm sound or a display displaying alarm images. When the secondary early warning control signal is received, the driving vehicle, namely the vehicle is in a very dangerous state, and the early warning reminding needs to be continuously carried out, so that the early warning strength is improved.
Preferably, the in-vehicle early warning module receives the secondary early warning control signal, and the early warning for the driver driving the vehicle further comprises: the sound equipment plays a prompting sound of 'please leave the current lane as soon as possible'. Further, the environmental vehicle includes a forward vehicle located ahead of the driving vehicle,
the control unit is right carry out analysis processes to the relative distance and the relative speed of preceding vehicle, judge preceding vehicle with it has the collision risk to drive the vehicle, if judge to have the collision risk, then send early warning control signal to continuously monitor the collision risk, send the early warning when the risk is relieved and remove the signal and include:
if the relative distance of the forward vehicle is not greater than a safety distance threshold value, the relative speed of the forward vehicle is less than zero, and the quotient of the relative distance of the forward vehicle and the absolute value of the relative speed of the forward vehicle is not greater than a safety reaction threshold value but greater than a safety reaction limit value, judging that the forward vehicle and the driving vehicle have a collision risk, and sending a primary early warning control signal;
if the relative distance of the forward vehicle is not greater than a safety distance threshold value, the relative speed of the forward vehicle is less than zero, and the quotient of the relative distance of the forward vehicle and the absolute value of the relative speed of the forward vehicle is not greater than a safety reaction limit value, it is judged that the forward vehicle and the driving vehicle have a collision risk, and the secondary early warning control signal is sent out.
In addition, after the early warning control signal is sent, no matter the first-stage early warning control signal or the second-stage early warning control signal, the control unit 2 optionally continues to analyze and process the real-time relative distance and relative speed of the forward vehicle until the forward vehicle is judged to have no collision risk with the vehicle, and sends out an early warning release signal, namely, the early warning control signal is sent out at the beginning of each collision risk, and only once, and the early warning release signal is sent out when the collision risk is released.
Above-mentioned adoption to the technical scheme of vehicle before, the early warning module outside the car receives one-level early warning control signal, to with it has the collision risk to drive the vehicle carry out the early warning to the vehicle and include: the headlight flickers for a first set number of times;
the early warning module outside the car receives second grade early warning control signal, to with it has the collision risk to drive the vehicle to the vehicle carries out the early warning and includes: the headlights are continuously flashing and whistling for a second set number of times or continuously whistling.
Further, the environmental vehicle includes a rearward vehicle located behind the driving vehicle,
the control unit is right carry out analysis processes to the relative distance and the relative speed of the vehicle after to, judge after to the vehicle with it has the collision risk to drive the vehicle, if judge to have the collision risk, then send early warning control signal to continuously monitor the collision risk, send early warning when the collision risk is relieved and remove the signal and include:
if the relative distance between the backward vehicle and the driving vehicle is not greater than a safety distance threshold value, the relative speed of the backward vehicle is greater than zero, and the quotient of the relative distance between the backward vehicle and the relative speed of the backward vehicle is not greater than a safety reaction threshold value but greater than a safety reaction limit value, judging that the backward vehicle and the driving vehicle have a collision risk, and sending a primary early warning control signal;
and if the relative distance of the backward vehicle is not greater than a safety distance threshold value, the relative speed of the backward vehicle is greater than zero, and the quotient of the relative distance of the backward vehicle and the relative speed of the backward vehicle is not greater than a safety reaction limit value, judging that the backward vehicle and the driving vehicle have a collision risk, and sending out the secondary early warning control signal.
The control unit takes actions when a single collision risk of a backward vehicle occurs, and similar to the forward vehicle, sends out an early warning control signal at the beginning of each collision risk, only once, and sends out an early warning release signal when releasing.
Above-mentioned adoption in the technical scheme to the vehicle, the early warning module outside the car receives one-level early warning control signal, to with it has the collision risk to drive the vehicle carry out the early warning to the vehicle and include: flashing a brake lamp for a third set time;
the early warning module outside the car receives second grade early warning control signal, to with it has collision risk to drive the vehicle carry out the early warning to the vehicle and include: the brake lamp continuously flickers and whistles for a fourth set number of times or continuously whistling.
In order to solve the technical problem, the invention provides an active early warning method for vehicle collision, which comprises the following steps:
the method comprises the following steps: acquiring the relative distance and the relative speed of a surrounding vehicle relative to the driving vehicle;
step two: analyzing and processing the relative distance and the relative speed of the environmental vehicle, judging whether the environmental vehicle and the driving vehicle have collision risks or not, if so, sending an early warning control signal to control the driving vehicle to early warn a driver of the vehicle and the environmental vehicle having collision risks with the vehicle;
step three: and after the collision risk is judged to exist, continuously monitoring the collision risk, sending an early warning removal signal when the collision risk is removed, and stopping early warning for a driver driving the vehicle and the environmental vehicle with the collision risk to the driver driving the vehicle.
In conclusion, by adopting the vehicle collision active early warning system and method, the vehicle and the vehicle which is likely to collide are early warned in time by pre-judging the possible rear-end collision or rear-end collision, so that the possibility of cooperative collision avoidance between the vehicles is improved, the probability of collision traffic accidents is reduced, and the collision damage degree is reduced.
Drawings
In the drawings:
fig. 1 is a structural diagram of an active early warning system for vehicle collision according to the present invention.
Fig. 2 is a structural view of a driven vehicle in a situation where a collision with a forward vehicle is possible in the active warning system for vehicle collision according to the present invention.
Fig. 3 is a structural view of a driven vehicle in a situation where a collision with a rear vehicle is possible in the active warning system for vehicle collision according to the present invention.
In the figure, 1, an environment sensing module; 11. a radar; 12. a camera; 2. a control unit; 3. an in-vehicle early warning module; 4. an out-of-vehicle early warning module; 41. a headlight; 42. a brake light; 43. a horn.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
Example 1
Fig. 1-3 illustrate an active early warning system for vehicle collision according to the present invention. As shown in fig. 1, the active warning system for vehicle collision includes:
environment sensing module 1: the environment sensing module 1 is used for acquiring the relative distance and the relative speed of a surrounding vehicle relative to a driving vehicle;
the control unit 2: the control unit 2 is used for analyzing and processing the relative distance and the relative speed of the environmental vehicle, judging whether the environmental vehicle and the driving vehicle have collision risks or not, if so, sending out an early warning control signal, and sending out an early warning removal signal when the collision risks are removed;
in-vehicle early warning module 3: the in-vehicle early warning module 3 is used for receiving the early warning control signal and early warning a driver driving a vehicle, and is also used for receiving an early warning release signal and stopping early warning the driver driving the vehicle;
the early warning module 4 outside the car: the external early warning module 4 is used for receiving early warning control signals, early warning the environmental vehicle with the risk of collision with the driving vehicle, receiving early warning removing signals and stopping early warning the environmental vehicle with the risk of collision with the driving vehicle.
Optionally, the environment sensing module 1 includes a radar 11 and a camera 12, the control unit 2 includes an ECU and a GPU, the in-vehicle warning module 3 includes an instrument, a sound device and a display, and the out-vehicle warning module 4 includes a vehicle lamp and a speaker 43.
When the system is used, a driving vehicle acquires information of surrounding vehicles in real time through a vehicle radar 11, a camera 12 and the like of the driving vehicle, the control unit 2 pre-judges possible collisions including rear-end collision and rear-end collision of the driven vehicle and the like according to the acquired information, and once the collision is judged to possibly occur, an early warning control signal is sent to perform early warning, and meanwhile, the early warning is performed on the driving vehicle and the vehicles which are possibly collided with the driving vehicle, so that the problem that drivers of the surrounding vehicles can not effectively perceive the possible collisions is solved, the possibility of realizing cooperative collision avoidance between the vehicles is improved, and the purposes of reducing the probability of traffic accidents and reducing the damage degree are achieved.
As shown in fig. 2, when the environmental vehicle is a forward vehicle located in front of the driving vehicle, the sensor of the environmental sensing module 1 includes a radar 11 and a camera 12, and is installed in front of the driving vehicle, and continuously identifies the relative speed and the relative distance of the forward vehicle (both refer to the forward vehicle relative to the driving vehicle), and transmits the identified relative speed and the identified relative distance to the control unit 2, and the control unit 2 performs analysis and judgment according to the specific relative speed and the relative distance, and sends out different control signals according to different situations, and performs active early warning, and the analysis and judgment and the active early warning process under the situation that the specific driving vehicle may collide with the rear of the forward vehicle are described as follows:
firstly, measuring the relative speed V (d) (V (d) > 0) and the relative distance L (d) of a forward vehicle relative to a vehicle, namely a driving vehicle, through a radar 11 and a camera 12, wherein the speed is higher than that of the forward vehicle, and the speed is higher than that of the vehicle, otherwise, the speed is lower than that of the vehicle;
if L (d) is greater than L0, and V (d) has no collision risk no matter what value, no early warning is needed. L0 is a safe distance threshold value (calibrated according to a specific vehicle type), when L (d) is greater than L0, the vehicle does not collide with a front vehicle in a rear-end collision manner according to design specifications;
and if V (d) is greater than 0, L (d) has no collision risk no matter what value, and no early warning is needed. When V (d) is greater than 0, the forward vehicle is in a state of gradually keeping away from the vehicle, and rear-end collision accidents between the vehicle and the forward vehicle cannot be caused;
and if L (d) is less than or equal to L0, V (d) is less than 0, L (D)/| V (d) | > T0, and T0 is a safety reaction threshold value (calibrated according to a specific vehicle type), no collision risk exists, and early warning is not needed.
When L (d) is less than or equal to L0, V (d) is less than 0, and L (D)/| V (d) | > T0, the distance between the vehicle and the forward vehicle is less than a safety distance threshold value L0, the forward vehicle is slower than the vehicle, the distance L (d) between the two vehicles is gradually reduced, but the time L (D)/| V (d) | required for collision is more than a safety reaction threshold value T0, and as long as the driver of the vehicle operates correctly, the accident of rear-end collision of the forward vehicle cannot occur;
if L (d) is less than or equal to L0, V (d) is less than 0, and T1 is less than L (D)/V (d) is less than or equal to T0, and T1 is a safety reaction limiting value, a minimum safety reaction threshold value (calibrated according to a specific vehicle type) can be taken, the control unit 2 judges that the vehicle and the forward vehicle have collision risk, and sends a first-stage early warning control signal, the in-vehicle early warning module 3 is started after receiving the first-stage early warning control signal to carry out sound and image early warning on the driver of the vehicle, and the early warning lasts for at least 5 seconds, and the early warning mode comprises at least one of controlling the instrument in the vehicle to flash, playing warning sound by sound equipment or displaying warning images by a display; meanwhile, the exterior early warning module 4 is started after receiving the primary early warning control signal, and controls the headlight 41 to flicker for 2 times.
When L (d) is less than or equal to L0, V (d) is less than 0, and T1 is less than L (D)/V (d) is less than or equal to T0, the distance between the vehicle and the forward vehicle is less than the safe distance threshold value, the forward vehicle is slower than the vehicle, the distance L (d) between the two vehicles is gradually reduced, the time required for collision is L (D)/V (d) is greater than the minimum safe reaction threshold value T1 (calibrated according to specific vehicle types) and less than the safe reaction threshold value T0 (calibrated according to specific vehicle types), and if the forward vehicle and the driver of the vehicle do not take reasonable measures, the accident of rear-end collision of the forward vehicle can occur;
if L (d) is less than or equal to L0, V (d) is less than 0, and L (D)/V (d) is less than T1, the control unit 2 judges that the vehicle and the forward vehicle have collision risk, and sends out a secondary early warning control signal, the in-vehicle early warning module 3 is started after receiving the secondary early warning control signal, and performs sound and image early warning on the driver of the vehicle, and the early warning mode comprises the following steps of continuously controlling the in-vehicle: at least one of instrument flashing, sound equipment playing alarm sound or display alarm image; meanwhile, the exterior warning module 4 is started after receiving the secondary warning control signal, controls the headlight 41 to continuously flash, and whistles for 5 times or continuously whistling.
Because the secondary early warning control signal represents that the vehicle collision risk is higher, the in-vehicle early warning module 3 and the out-vehicle early warning module 4 at the moment can continuously start control to perform corresponding early warning until the triggering condition of L (d) is less than or equal to L0, V (d) is less than 0, and L (D)/V (d) | is less than T1 is released, namely, the triggering condition is not satisfied, the control unit 2 sends out an early warning release signal, and the in-vehicle early warning module 3 and the out-vehicle early warning module 4 can stop early warning.
When L (d) is less than or equal to L0, V (d) is less than 0, and L (D)/V (d) is less than T1, the distance between the vehicle and the forward vehicle is less than a safe distance threshold value, the forward vehicle is slower than the vehicle, the distance L (d) between the two vehicles is gradually reduced, the time L (D)/V (d) required by collision is less than a minimum safe reaction threshold value T1, and the forward vehicle and the driver of the vehicle can have rear-end collision of the forward vehicle even if reasonable measures are taken.
As shown in fig. 3, when the environmental vehicle is a backward vehicle located behind the driving vehicle, the sensor of the environmental sensing module 1 includes a radar 11 and a camera 12, and is installed behind the driving vehicle to identify the relative speed and the relative distance of the backward vehicle; and the control unit 2 is used for analyzing and judging according to the specific relative speed and relative distance according to the control unit 2, sending different control signals according to different conditions and carrying out active early warning, wherein the analyzing and judging and active early warning process under the condition that a vehicle is driven to rear-end by the driver is described as follows:
firstly, measuring the relative speed V (d) (V (d) is greater than 0, which indicates that the backward vehicle is faster than the host vehicle, and V (d)) is less than 0, which indicates that the backward vehicle is slower than the host vehicle, and the relative distance L (d) of the backward vehicle and the host vehicle through the radar 11 and the camera 12;
and if L (d) is greater than L0, and V (d) is no matter what value, no collision risk exists, no early warning is needed, and L0 is a safety distance threshold value (calibrated according to a specific vehicle type). When L (d) is greater than L0, according to the design specification, the vehicle does not collide with the rear vehicle;
if V (d) is less than 0, L (d) has no collision risk no matter what value, and no early warning is needed; when V (d) < 0, the vehicle is in a state of gradually leaving away from the backward vehicle, and rear-end collision accidents between the backward vehicle and the vehicle are not caused;
if L (d) is less than or equal to L0, V (d) is more than 0, and L (D)/V (d) is more than T0, no collision risk exists, and no early warning is needed.
When L (d) is less than or equal to L0, V (d) is more than 0, and L (D)/V (d) is more than T0, the distance between the vehicle and the backward vehicle is less than a safety distance threshold value L0, the vehicle is slower than the backward vehicle, the distance between the two vehicles L (d) is gradually reduced, but the time required for collision L (D)/V (d) is more than a safety reaction threshold value T0 (calibrated according to specific vehicle types), and as long as the driver of the vehicle operates correctly, the accident that the backward vehicle knocks behind cannot occur;
if L (d) is less than or equal to L0, V (d) is more than 0, T1 is less than L (D)/V (d) is less than or equal to T0, T1 is a safety reaction limit value, namely a minimum safety reaction threshold value (calibrated according to a specific vehicle type), the control unit 2 judges that the vehicle has a collision risk with a backward vehicle and sends a primary early warning control signal, the in-vehicle early warning module 3 is started after receiving the primary early warning control signal and carries out sound and image early warning on a driver of the vehicle for at least 5 seconds, and the early warning mode comprises at least one of controlling the instrument in the vehicle to flash, playing warning sound by sound equipment or displaying warning images by a display; meanwhile, the outside-vehicle early warning module 4 is started after receiving the primary early warning control signal, and controls the brake lamp 42 to flash for 3 times.
When L (d) is less than or equal to L0, V (d) is more than 0, and T1 is less than L (D)/V (d) is less than or equal to T, the distance between the vehicle and the backward vehicle is less than a safe distance threshold value, the vehicle is slower than the backward vehicle, the distance L (d) between the two vehicles is gradually reduced, the time L (D)/V (d) required for collision is greater than a minimum safe reaction threshold value T1 (calibrated according to specific vehicle types) and less than a safe reaction threshold value T0 (calibrated according to specific vehicle types), if the forward vehicle and the driver of the vehicle do not take reasonable measures, a rear-end collision of the forward vehicle can occur;
sixthly, if L (d) is less than or equal to L0, V (d) is more than 0, and L (D)/V (d) is less than T1, the control unit 2 judges that the vehicle and the backward vehicle have collision risk and sends a secondary early warning control signal, the in-vehicle early warning module 3 is started after receiving the secondary early warning control signal to carry out sound and image early warning on the driver of the vehicle, and the early warning mode comprises at least one of continuously controlling the flashing of an instrument in the vehicle, playing an alarm sound by sound equipment or displaying an alarm image by a display; meanwhile, the external early warning module 4 of the vehicle is started after receiving the secondary early warning control signal, and controls the brake lamp 42 to continuously flash and whistle for 5 times or continuously whistle.
Because the secondary early warning control signal represents that the vehicle collision risk is higher, the in-vehicle early warning module 3 and the out-vehicle early warning module 4 at the moment can continuously start control to perform corresponding early warning, and the control unit 2 sends an early warning release signal and the in-vehicle early warning module 3 and the out-vehicle early warning module 4 can stop early warning until the triggering condition of L (d) is less than or equal to L0, V (d) is more than 0 and L (D)/V (d) is less than T1 is released, namely the triggering condition is not satisfied.
When L (d) is less than or equal to L0, V (d) is more than 0, and L (D)/V (d) is less than T1, the distance between the vehicle and the backward vehicle is less than a safe distance threshold value, the backward vehicle is faster than the vehicle, the distance L (d) between the two vehicles is gradually reduced, the time L (D)/V (d) required by collision is less than a minimum safe reaction threshold value T1, and the backward vehicle and the driver of the vehicle can also have the accident of rear-end collision with the forward vehicle even if reasonable measures are taken.
The invention discloses a vehicle collision active early warning method, which comprises the following steps:
the method comprises the following steps: acquiring the relative distance and the relative speed of a surrounding vehicle relative to the driving vehicle;
step two: analyzing and processing the relative distance and the relative speed of the environmental vehicle, judging whether the environmental vehicle and the driving vehicle have collision risks or not, if so, sending an early warning control signal to control the driving vehicle to early warn a driver of the vehicle and the environmental vehicle having collision risks with the vehicle;
step three: and after the collision risk is judged to exist, continuously monitoring the collision risk, sending an early warning removal signal when the collision risk is removed, and stopping early warning for a driver driving the vehicle and the environmental vehicle with the collision risk to the driver driving the vehicle.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the scope of protection thereof, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: after reading this disclosure, those skilled in the art will be able to make various changes, modifications and equivalents to the embodiments of the invention, which fall within the scope of the appended claims.
Claims (10)
1. An active early warning system for vehicle collisions, comprising:
context awareness module (1): the environment perception module (1) is used for acquiring the relative distance and the relative speed of a surrounding vehicle relative to the driving vehicle;
control unit (2): the control unit (2) is used for analyzing and processing the relative distance and the relative speed of the environmental vehicle, judging whether the environmental vehicle and the driving vehicle have collision risks or not, if so, sending an early warning control signal, continuously monitoring the collision risks and sending an early warning release signal when the collision risks are released;
in-vehicle early warning module (3): the in-vehicle early warning module (3) is used for receiving the early warning control signal and early warning a driver driving a vehicle, and is also used for receiving the early warning release signal and stopping early warning the driver driving the vehicle;
an out-of-vehicle early warning module (4): the external early warning module (4) is used for receiving the early warning control signal, early warning the environmental vehicle which has the collision risk with the driving vehicle, receiving the early warning removing signal and stopping early warning the environmental vehicle which has the collision risk with the driving vehicle.
2. The active early warning system for vehicle collision as claimed in claim 1, wherein the early warning control signal comprises a primary early warning control signal and a secondary early warning control signal, and the secondary early warning control signal corresponds to a higher collision risk than the primary early warning control signal.
3. The active early warning system for vehicle collision as claimed in claim 2, wherein the in-vehicle early warning module (3) receives the primary early warning control signal, and the early warning for the driver driving the vehicle comprises: controlling at least one of instrument flashing, audio and video equipment playing alarm sound or a display displaying alarm images in the vehicle within set time;
the in-vehicle early warning module (3) receives the secondary early warning control signal, and the early warning for the driver driving the vehicle comprises the following steps: continuously controlling at least one of instrument flashing in the vehicle, sound equipment playing alarm sound or a display displaying alarm images.
4. The active pre-warning system for vehicle collision as claimed in claim 2, wherein the environmental vehicle comprises a forward vehicle located in front of the driving vehicle,
the control unit (2) is to carry out analysis processes to the relative distance and the relative speed of preceding vehicle, judge preceding vehicle with it has the collision risk to drive the vehicle, if judge to have the collision risk, then send early warning control signal to continuously monitor the collision risk, send the early warning when the risk is relieved and remove the signal and include:
if the relative distance of the forward vehicle is not greater than a safety distance threshold value, the relative speed of the forward vehicle is less than zero, and the quotient of the relative distance of the forward vehicle and the absolute value of the relative speed of the forward vehicle is not greater than a safety reaction threshold value but greater than a safety reaction limit value, judging that the forward vehicle and the driving vehicle have a collision risk, and sending a primary early warning control signal;
if the relative distance of the forward vehicle is not greater than a safety distance threshold value, the relative speed of the forward vehicle is less than zero, and the quotient of the relative distance of the forward vehicle and the absolute value of the relative speed of the forward vehicle is not greater than a safety reaction limit value, it is judged that the forward vehicle and the driving vehicle have a collision risk, and the secondary early warning control signal is sent out.
5. The active early warning system for vehicle collision according to claim 4, wherein the external early warning module (4) receives the primary early warning control signal, and the early warning for the forward vehicle having collision risk with the driving vehicle comprises: the headlamp flickers for a first set number of times;
the outer early warning module of car (4) receipt the second grade early warning control signal, to with it has the collision risk to drive the vehicle to the vehicle carries out the early warning and includes: the headlights are continuously flashing and whistling for a second set number of times or continuously whistling.
6. The active pre-warning system for vehicle collision as claimed in claim 2, wherein the environment vehicle comprises a backward vehicle located behind the driving vehicle,
the control unit (2) is right carry out analysis processes to the relative distance and the relative speed of the backward vehicle, judge the backward vehicle with whether there is the collision risk to the driving vehicle, if judge that there is the collision risk, then send early warning control signal to continuously monitor the collision risk, send the early warning when the collision risk is relieved and remove the signal and include:
if the relative distance between the backward vehicle and the driving vehicle is not greater than a safety distance threshold value, the relative speed of the backward vehicle is greater than zero, and the quotient of the relative distance between the backward vehicle and the relative speed of the backward vehicle is not greater than a safety reaction threshold value but greater than a safety reaction limit value, judging that the backward vehicle and the driving vehicle have a collision risk, and sending a primary early warning control signal;
and if the relative distance of the backward vehicle is not greater than a safety distance threshold value, the relative speed of the backward vehicle is greater than zero, and the quotient of the relative distance of the backward vehicle and the relative speed of the backward vehicle is not greater than a safety reaction limit value, judging that the backward vehicle and the driving vehicle have a collision risk, and sending out the secondary early warning control signal.
7. The active early warning system for vehicle collision according to claim 4, wherein the external early warning module (4) receives the primary early warning control signal, and the early warning for the backward vehicle having collision risk with the driving vehicle comprises: the brake lamp flickers for a third set number of times;
the early warning module (4) receives outside the car the second grade early warning control signal, to with it has the collision risk to drive the vehicle the back vehicle carries out the early warning and includes: the brake lamp continuously flickers and whistles for a fourth set number of times or continuously whistling.
8. The active warning system for vehicle collision according to claim 1 is characterized in that the environment sensing module (1) comprises a radar (11) and a camera (12), the control unit (2) comprises an ECU and a GPU, the in-vehicle warning module (3) comprises a meter, a sound device and a display, and the out-vehicle warning module (4) comprises a vehicle lamp and a speaker (43).
9. A vehicle collision active early warning method is characterized by comprising the following steps:
the method comprises the following steps: acquiring the relative distance and the relative speed of a surrounding vehicle relative to the driving vehicle;
step two: analyzing and processing the relative distance and the relative speed of the environmental vehicle, judging whether the environmental vehicle and the driving vehicle have collision risks or not, if so, sending an early warning control signal to control the driving vehicle to early warn a driver of the vehicle and the environmental vehicle having collision risks with the vehicle;
step three: and after judging that the collision risk exists, continuously monitoring the collision risk, sending an early warning removal signal when the collision risk is removed, and stopping early warning the driver driving the vehicle and the environmental vehicle having the collision risk with the driving vehicle.
10. The active early warning method for vehicle collision according to claim 9, wherein the early warning control signals comprise a primary early warning control signal and a secondary early warning control signal, and the collision risk corresponding to the secondary early warning control signal is higher than that of the primary early warning control signal.
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