CN116071958A - Vehicle out-of-control early warning method, early warning system, controller and medium - Google Patents
Vehicle out-of-control early warning method, early warning system, controller and medium Download PDFInfo
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Abstract
The invention discloses a vehicle out-of-control early warning method, an early warning system, a controller and a medium, wherein the method comprises the following steps: acquiring first driving information of a first vehicle and second driving information of a second vehicle; determining potential collision connection relation of the first vehicle and the second vehicle according to the first driving information and the second driving information; based on the potential collision connection relationship, sending out-of-control state information generated by the second vehicle to the first vehicle; and carrying out early warning reminding on the first vehicle according to the out-of-control state information. According to the method, the potential collision connection relation of the vehicle is determined through the running information of the vehicle, the out-of-control state information of the vehicle is further sent to other vehicles with the potential collision connection relation, meanwhile, the out-of-control state information is determined through the triggering information of the anti-lock braking system, the triggering information of the vehicle body stability system and the triggering information of the traction control system, out-of-control early warning of the vehicle is accurately achieved, and the method can be widely applied to the technical field of early warning of the vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle early warning, in particular to a vehicle out-of-control early warning method, an early warning system, a controller and a medium.
Background
V2X (vehicle to everything), the vehicle with communication capability communicates with other vehicles or surrounding environments with communication capability in real time. Namely, the vehicle body realizes auxiliary driving functions of the vehicle, such as forward collision early warning, intersection early warning, road obstacle early warning, vehicle lane change intention, vehicle converging intention and the like, by sending or receiving the vehicle body information and the driving information. However, the existing early warning scene does not judge the driving state information of the remote vehicle (the state information of a remote brake anti-lock system (ABS), the state information of a remote vehicle body stability system (ESP) and the state information of a remote Traction Control System (TCS)). Therefore, how to determine whether a remote vehicle is out of control will affect other vehicles traveling is a major issue to be addressed.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a vehicle out-of-control early warning method, an early warning system, a controller and a medium, which can accurately perform vehicle out-of-control early warning.
In one aspect, an embodiment of the present invention provides a vehicle out-of-control early warning method, including:
acquiring first driving information of a first vehicle and second driving information of a second vehicle;
wherein the first driving information and the second driving information comprise position information, vehicle speed information and course information;
determining potential collision connection relation of the first vehicle and the second vehicle according to the first driving information and the second driving information;
based on the potential collision connection relationship, sending out-of-control state information generated by the second vehicle to the first vehicle;
the out-of-control state information comprises braking anti-lock system triggering information, vehicle body stability system triggering information and traction control system triggering information;
and carrying out early warning reminding on the first vehicle according to the out-of-control state information.
Optionally, determining the potential collision connection relationship of the first vehicle and the second vehicle according to the first driving information and the second driving information includes:
determining a driving relationship between the first vehicle and the second vehicle according to the first driving information and the second driving information;
the driving relationship comprises a vehicle distance, a quadrant relationship, a heading relationship and a lane relationship; the quadrant relationship includes a second vehicle relative to the first vehicle in a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant; heading relationships include homodromous, subtended, crossed, and sideways; lane relationships include the same lane, adjacent lanes, and other lanes;
and determining the potential collision connection relation of the first vehicle and the second vehicle according to the driving relation based on the preset condition.
Optionally, the location information includes longitude and latitude, and determining a driving relationship between the first vehicle and the second vehicle according to the first driving information and the second driving information includes:
and obtaining longitude differences and latitude differences of the first vehicle and the second vehicle according to the longitude and latitude of the first vehicle and the longitude and latitude of the second vehicle, and determining the vehicle distance of the first vehicle and the second vehicle by combining the earth radius.
Optionally, the location information includes longitude and latitude, and determining a driving relationship between the first vehicle and the second vehicle according to the first driving information and the second driving information includes:
determining a first included angle between a connecting line of the first vehicle and the second vehicle and the north direction and a second included angle between the heading of the first vehicle and the north direction according to the heading information of the first vehicle and the second vehicle;
determining a third included angle between a connecting line of the first vehicle and the second vehicle and the course of the first vehicle according to the first included angle and the second included angle;
based on the first threshold range, a quadrant relationship of the first vehicle and the second vehicle is determined according to the third included angle.
Optionally, the location information includes longitude and latitude, and determining a driving relationship between the first vehicle and the second vehicle according to the first driving information and the second driving information includes:
determining a first course angle of the first vehicle and a second course angle of the second vehicle according to the course information;
determining a heading difference value according to the first heading angle and the second heading angle;
based on the second threshold range, a heading relationship of the first vehicle and the second vehicle is determined from the heading difference.
Optionally, the location information includes longitude and latitude, and determining a driving relationship between the first vehicle and the second vehicle according to the first driving information and the second driving information includes:
determining the distance between the first vehicle and the second vehicle and the included angle between the connecting line of the first vehicle and the second vehicle and the north direction according to the position information and the heading information;
determining the relative distance of the lanes according to the distance and the included angle;
and on the basis of the third threshold range, determining the lane relation between the first vehicle and the second vehicle according to the lane relative distance and in combination with a preset reference value.
Optionally, determining the potential collision connection relationship between the first vehicle and the second vehicle according to the driving relationship based on the preset condition includes:
when the speed information of the first vehicle is larger than a preset speed threshold value; and when the vehicle distance is smaller than a preset vehicle distance threshold value; and when the quadrant relationship is that the second vehicle is in the first quadrant or the fourth quadrant relative to the first vehicle; and when the course relation is the same direction; and when the lane relationships are the same or adjacent; a potential collision connection relationship of the first vehicle and the second vehicle is determined.
In another aspect, an embodiment of the present invention provides a vehicle out-of-control warning system, including:
the first module is used for acquiring first running information of the first vehicle and second running information of the second vehicle;
wherein the first driving information and the second driving information comprise position information, vehicle speed information and course information;
the second module is used for determining potential collision connection relation between the first vehicle and the second vehicle according to the first driving information and the second driving information;
the third module is used for sending out-of-control state information generated by the second vehicle to the first vehicle based on the potential collision connection relation;
the out-of-control state information comprises braking anti-lock system triggering information, vehicle body stability system triggering information and traction control system triggering information;
and the fourth module is used for carrying out early warning reminding on the first vehicle according to the out-of-control state information.
In another aspect, an embodiment of the present invention provides a vehicle out-of-control early warning controller, including a processor and a memory;
the memory is used for storing programs;
the processor executes a program to implement the method as before.
In another aspect, embodiments of the present invention provide a computer-readable storage medium storing a program for execution by a processor to perform a method as previously described.
Embodiments of the present invention also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read from a computer-readable storage medium by a processor of a computer device, and executed by the processor, to cause the computer device to perform the foregoing method.
The method comprises the steps of firstly obtaining first running information of a first vehicle and second running information of a second vehicle; wherein the first driving information and the second driving information comprise position information, vehicle speed information and course information; determining potential collision connection relation of the first vehicle and the second vehicle according to the first driving information and the second driving information; based on the potential collision connection relationship, sending out-of-control state information generated by the second vehicle to the first vehicle; the out-of-control state information comprises braking anti-lock system triggering information, vehicle body stability system triggering information and traction control system triggering information; and carrying out early warning reminding on the first vehicle according to the out-of-control state information. According to the method, the potential collision connection relation of the vehicle is determined through the running information of the vehicle, the out-of-control state information of the vehicle is further sent to other vehicles with the potential collision connection relation, meanwhile, the out-of-control state information is determined through the triggering information of the anti-lock braking system, the triggering information of the vehicle body stability system and the triggering information of the traction control system, and out-of-control early warning of the vehicle is accurately achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic general flow diagram of a vehicle out-of-control early warning method according to an embodiment of the present invention;
fig. 2 is an overall flow chart of a vehicle out-of-control early warning method according to an embodiment of the present invention;
FIG. 3 is a schematic view of a vehicle distance according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of coordinate axes provided in an embodiment of the present invention;
FIG. 5 is a schematic diagram of an included angle of quadrant judgment according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a heading relationship provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of a lane relationship according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In one aspect, referring to fig. 1, an embodiment of the present invention provides a vehicle out-of-control early warning method, including:
s100, acquiring first running information of a first vehicle and second running information of a second vehicle;
the first travel information and the second travel information each include position information, vehicle speed information, and heading information.
S200, determining potential collision connection relation of the first vehicle and the second vehicle according to the first driving information and the second driving information;
it should be noted that, in some embodiments, the driving relationship between the first vehicle and the second vehicle is determined according to the first driving information and the second driving information; the driving relationship comprises a vehicle distance, a quadrant relationship, a heading relationship and a lane relationship; the quadrant relationship includes a second vehicle relative to the first vehicle in a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant; heading relationships include homodromous, subtended, crossed, and sideways; lane relationships include the same lane, adjacent lanes, and other lanes; and determining the potential collision connection relation of the first vehicle and the second vehicle according to the driving relation based on the preset condition.
Determining a driving relationship between a first vehicle and a second vehicle according to the first driving information and the second driving information, wherein the driving relationship comprises determining a vehicle distance, a quadrant relationship, a heading relationship and a lane relationship;
in some embodiments, the longitude difference and the latitude difference of the first vehicle and the second vehicle are obtained according to the longitude and latitude of the first vehicle and the longitude and latitude of the second vehicle, and the vehicle distance of the first vehicle and the second vehicle is determined by combining the earth radius.
In some embodiments, determining a first angle between a connecting line of the first vehicle and the second vehicle and the north direction and a second angle between the heading of the first vehicle and the north direction according to the heading information of the first vehicle and the second vehicle; determining a third included angle between a connecting line of the first vehicle and the second vehicle and the course of the first vehicle according to the first included angle and the second included angle; based on the first threshold range, a quadrant relationship of the first vehicle and the second vehicle is determined according to the third included angle.
In some embodiments, a first heading angle of a first vehicle and a second heading angle of a second vehicle are determined based on the heading information; determining a heading difference value according to the first heading angle and the second heading angle; based on the second threshold range, a heading relationship of the first vehicle and the second vehicle is determined from the heading difference.
In some embodiments, determining a distance between the first vehicle and the second vehicle and an included angle between a connecting line of the first vehicle and the second vehicle and the north direction according to the position information and the heading information; determining the relative distance of the lanes according to the distance and the included angle; and on the basis of the third threshold range, determining the lane relation between the first vehicle and the second vehicle according to the lane relative distance and in combination with a preset reference value.
Wherein the potential collision connection relationship of the first vehicle and the second vehicle is determined according to the driving relationship based on a preset condition, and in some embodiments, when the speed information of the first vehicle is greater than a preset speed threshold; and when the vehicle distance is smaller than a preset vehicle distance threshold value; and when the quadrant relationship is that the second vehicle is in the first quadrant or the fourth quadrant relative to the first vehicle; and when the course relation is the same direction; and when the lane relationships are the same or adjacent; a potential collision connection relationship of the first vehicle and the second vehicle is determined.
S300, based on the potential collision connection relation, sending out-of-control state information generated by the second vehicle to the first vehicle;
the out-of-control state information comprises braking anti-lock system triggering information, vehicle body stability system triggering information and traction control system triggering information;
s400, carrying out early warning reminding on the first vehicle according to the information of the out-of-control state
In the above-described embodiments, the first vehicle and the second vehicle are not specific to a certain vehicle, wherein the first vehicle and the second vehicle may include a plurality of vehicles. When a potential collision connection relationship exists between the first vehicle and the second vehicle, the second vehicle with the out-of-control state information broadcasts the out-of-control state information based on the potential collision connection relationship and sends the out-of-control state information to the corresponding first vehicle, and if the potential collision connection relationship exists between a plurality of vehicles and the second vehicle, the out-of-control state information is broadcast and sent completely, and then the plurality of vehicles of the first vehicle perform early warning reminding.
According to the embodiment of the invention, when the remote vehicle is out of control, the vehicle is out of control early-warning according to the position, the speed, the course angle and the position, the speed and the course angle of the remote vehicle (namely, the second vehicle). The technical scheme of the invention is further described below with reference to the accompanying drawings and specific embodiments:
as shown in fig. 2, the specific steps are as follows:
step one: acquiring running information such as position, speed, course angle and the like of the vehicle HV and the remote vehicle RV through a bsm (Bas ic Safety Message) message set;
step two: judging the speed of the vehicle;
if the speed of the vehicle is smaller than avw _maxspeed (namely, the preset vehicle speed threshold value and the reference value are 0.1 m/s), no subsequent judgment is carried out, and false alarm is prevented from being generated when the vehicle is stationary.
Step three: calculating a vehicle distance;
and calculating the distance LAB of the two vehicles according to the gps information of the two vehicles, and if the distance LAB of the two vehicles is smaller than avw _dist (namely, the preset vehicle distance threshold value and the reference value are 30 m), performing the fourth step. The distance between two vehicles can be deduced by the following steps:
as shown in fig. 3, the longitude and latitude points a (lngA, latA) of the own vehicle and the longitude and latitude points B (lngB, latB) of the distant vehicle are known, and R represents the radius of the earth;
the difference in longitude between the two points AB is calculated as: deltalng= |lnga-lngb|
The difference in altitude between the two points AB is calculated as follows: deltalat= |lata-latb|
And calculating the distance LAB of the two vehicles by the latitude difference, the longitude difference and the earth radius of the two points AB, wherein the formula is as follows:
step four: calculating quadrants;
according to the schematic diagram of the coordinate axis of fig. 4, the fifth step is performed only when the distant car is in the first quadrant of the own car.
As shown in fig. 5, the quadrant judgment method is as follows:
1. knowing the heading angle βhv (i.e., the second angle) representing the own vehicle HV;
2. alpha (i.e., the first included angle) is calculated. Alpha represents an included angle (clockwise) between a connecting line of the far car and the north direction;
3. determination of
(i.e., the third included angle). The included angle between the connection line of HV and RV and the x-axis +.>
4. According to
The quadrant of the remote vehicle relative to the vehicle can be obtained by combining the first threshold range, as follows:
first quadrant:
and (3) a second quadrant:
third quadrant:
step five: calculating a course;
and when the two running directions are in the same direction, performing the step six. The course calculation method comprises the following steps:
the heading angle betahv (determined by the included angle between the heading of the host vehicle and the north direction, namely, the first heading angle) of the far vehicle (determined by the included angle between the heading of the far vehicle and the north direction, namely, the second heading angle) is known, and a heading relation diagram is shown in fig. 6.
Calculating a heading difference value A= |beta RV-beta hv|, (0 < = A < = 180);
1. if a < 180 °, heading difference = a;
2. if A is greater than or equal to 180, heading difference = 360-A.
Defining a second threshold range according to the course angles of the host vehicle and the remote vehicle:
1. threshold for equidirectional: a l igned_max, the reference value is 15 °;
2. threshold of reversal: recoprocal_min with a reference value of 165 °;
3. threshold of crossover: cross_min, cross_max, reference 75 °,105 °.
Perform the condition judgment as in Table 1
TABLE 1
Step six: calculating a lane;
and when the lane relation between the far vehicle and the own vehicle is an adjacent lane or the same lane, performing a step seven.
The lane calculation method is as follows:
according to the lane schematic of fig. 7, define:
distre l-Y represents the relative distance on the Y-axis;
whv the vehicle width of HV, reference value 1.7 m;
wrv: vehicle width representing RV, reference value 1.7 meters;
l ane_add: defining a lane judgment additional distance, and determining a reference value of 0.5 meter;
l ane_width: the width of the adjacent lane, the width of the green lane, and the reference value of 3.6 meters are defined.
1. Distre l-y. According to the calculation of the included angle between the two-point connecting line and the north direction, the method can be as follows: di strel-y=lab x s in delta. Wherein LAB is the distance between two vehicles, and delta is the angle between two vehicles and the x-axis.
2. And carrying out lane judgment based on the third threshold range.
(1) The same lane:
|Di stre l-y|≤((Whv/2+Wrv/2)+l ane_add)；
(2) adjacent lanes:
|Di stre l-y|≤((Whv/2+Wrv/2)+l ane_add)+l ane_width，|Di stre l-y|＞((Whv/2+Wrv/2)+l ane_add)；
(3) other lanes:
|Di stre l-y|＞((Whv/2+Wrv/2)+l ane_add)+l ane_width。
step seven: judging the state of the far car
When the vehicle acquires trigger information such as a brake anti-lock system (ABS), a remote vehicle body stability system (ESP) and a remote vehicle Traction Control System (TCS) of the remote vehicle, the remote vehicle is judged to be in a runaway state, and then step eight is carried out.
Step eight: scene reporting
When the host vehicle acquires that the remote vehicle is in an out-of-control state, an out-of-control prompt is generated, and the remote vehicle is reported as the out-of-control vehicle, so that safe driving is realized.
In summary, the invention determines the potential collision connection relation of the vehicle according to the running information of the vehicle, further transmits the out-of-control state information of the vehicle to other vehicles with the potential collision connection relation, and determines the out-of-control state information according to the triggering information of the anti-lock braking system, the triggering information of the vehicle body stability system and the triggering information of the traction control system, thereby accurately realizing the out-of-control early warning of the vehicle.
In another aspect, an embodiment of the present invention provides a vehicle out-of-control warning system, including: the first module is used for acquiring first running information of the first vehicle and second running information of the second vehicle; wherein the first driving information and the second driving information comprise position information, vehicle speed information and course information; the second module is used for determining potential collision connection relation between the first vehicle and the second vehicle according to the first driving information and the second driving information; the third module is used for sending out-of-control state information generated by the second vehicle to the first vehicle based on the potential collision connection relation; the out-of-control state information comprises braking anti-lock system triggering information, vehicle body stability system triggering information and traction control system triggering information; and the fourth module is used for carrying out early warning reminding on the first vehicle according to the out-of-control state information.
The content of the method embodiment of the invention is suitable for the system embodiment, the specific function of the system embodiment is the same as that of the method embodiment, and the achieved beneficial effects are the same as those of the method.
Another aspect of the embodiment of the invention also provides a vehicle out-of-control early warning controller, which comprises a processor and a memory;
the memory is used for storing programs;
the processor executes the program to implement the method as described above.
The content of the method embodiment of the invention is suitable for the controller embodiment, the specific function of the controller embodiment is the same as that of the method embodiment, and the achieved beneficial effects are the same as those of the method.
Another aspect of the embodiments of the present invention also provides a computer-readable storage medium storing a program that is executed by a processor to implement a method as described above.
The content of the method embodiment of the invention is applicable to the computer readable storage medium embodiment, the functions of the computer readable storage medium embodiment are the same as those of the method embodiment, and the achieved beneficial effects are the same as those of the method.
Embodiments of the present invention also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read from a computer-readable storage medium by a processor of a computer device, and executed by the processor, to cause the computer device to perform the foregoing method.
In some alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed, and in which sub-operations described as part of a larger operation are performed independently.
Furthermore, while the invention is described in the context of functional modules, it should be appreciated that, unless otherwise indicated, one or more of the described functions and/or features may be integrated in a single physical device and/or software module or one or more functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary to an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be apparent to those skilled in the art from consideration of their attributes, functions and internal relationships. Accordingly, one of ordinary skill in the art can implement the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative and are not intended to be limiting upon the scope of the invention, which is to be defined in the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution apparatus, device, or apparatus, such as a computer-based apparatus, processor-containing apparatus, or other apparatus that can fetch the instructions from the instruction execution apparatus, device, or apparatus and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution apparatus, device, or apparatus.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the embodiments described above, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are included in the scope of the present invention as defined in the appended claims.
Claims (10)
1. A vehicle out-of-control early warning method is characterized by comprising the following steps:
acquiring first driving information of a first vehicle and second driving information of a second vehicle;
wherein the first travel information and the second travel information each include position information, vehicle speed information, and heading information;
determining potential collision connection relation of the first vehicle and the second vehicle according to the first running information and the second running information;
transmitting information of a runaway state generated by the second vehicle to the first vehicle based on the potential collision connection relation;
the out-of-control state information comprises braking anti-lock system triggering information, vehicle body stability system triggering information and traction control system triggering information;
and carrying out early warning reminding on the first vehicle according to the out-of-control state information.
2. The vehicle run-away warning method according to claim 1, wherein the determining the potential collision connection relationship of the first vehicle and the second vehicle based on the first travel information and the second travel information includes:
determining a driving relationship between the first vehicle and the second vehicle according to the first driving information and the second driving information;
wherein the driving relationship comprises a vehicle distance, a quadrant relationship, a heading relationship and a lane relationship; the quadrant relationship includes that the second vehicle is in a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant relative to the first vehicle; the heading relation comprises the same direction, opposite directions, crossing and lateral directions; the lane relationship includes the same lane, adjacent lanes and other lanes;
and determining the potential collision connection relation between the first vehicle and the second vehicle according to the driving relation based on preset conditions.
3. The method of claim 2, wherein the location information includes longitude and latitude, and the determining the driving relationship between the first vehicle and the second vehicle according to the first driving information and the second driving information includes:
and obtaining longitude differences and latitude differences of the first vehicle and the second vehicle according to the longitude and latitude of the first vehicle and the longitude and latitude of the second vehicle, and determining the vehicle distance of the first vehicle and the second vehicle by combining the earth radius.
4. The method of claim 2, wherein the location information includes longitude and latitude, and the determining the driving relationship between the first vehicle and the second vehicle according to the first driving information and the second driving information includes:
determining a first included angle between a connecting line of the first vehicle and the second vehicle and the north direction and a second included angle between the heading of the first vehicle and the north direction according to the heading information of the first vehicle and the second vehicle;
determining a third included angle between a connecting line of the first vehicle and the second vehicle and the course of the first vehicle according to the first included angle and the second included angle;
and determining the quadrant relation between the first vehicle and the second vehicle according to the third included angle based on a first threshold range.
5. The method of claim 2, wherein the location information includes longitude and latitude, and the determining the driving relationship between the first vehicle and the second vehicle according to the first driving information and the second driving information includes:
determining a first course angle of the first vehicle and a second course angle of the second vehicle according to the course information;
determining a heading difference value according to the first heading angle and the second heading angle;
and determining the heading relation of the first vehicle and the second vehicle according to the heading difference value based on a second threshold range.
6. The method of claim 2, wherein the location information includes longitude and latitude, and the determining the driving relationship between the first vehicle and the second vehicle according to the first driving information and the second driving information includes:
determining the distance between the first vehicle and the second vehicle and the included angle between the connecting line of the first vehicle and the second vehicle and the north direction according to the position information and the heading information;
determining the relative distance of the lanes according to the distance and the included angle;
and based on a third threshold range, determining the lane relation between the first vehicle and the second vehicle according to the lane relative distance and in combination with a preset reference value.
7. The method for warning of vehicle runaway according to claim 2, wherein said determining a potential collision connection relationship between said first vehicle and said second vehicle based on said traveling relationship based on preset conditions comprises:
when the speed information of the first vehicle is larger than a preset speed threshold value; and when the vehicle distance is smaller than a preset vehicle distance threshold value; and when the quadrant relationship is that the second vehicle is in a first quadrant or a fourth quadrant relative to the first vehicle; and when the heading relation is in the same direction; and when the lane relationships are the same or adjacent; a potential collision connection relationship of the first vehicle and the second vehicle is determined.
8. A vehicle runaway warning system, comprising:
the first module is used for acquiring first running information of the first vehicle and second running information of the second vehicle;
wherein the first travel information and the second travel information each include position information, vehicle speed information, and heading information;
the second module is used for determining potential collision connection relation between the first vehicle and the second vehicle according to the first driving information and the second driving information;
a third module for transmitting out-of-control status information generated by the second vehicle to the first vehicle based on the potential collision connection relationship;
the out-of-control state information comprises braking anti-lock system triggering information, vehicle body stability system triggering information and traction control system triggering information;
and the fourth module is used for carrying out early warning reminding on the first vehicle according to the out-of-control state information.
9. A vehicle out-of-control early warning controller is characterized by comprising a processor and a memory;
the memory is used for storing programs;
the processor executing the program implements the method of any one of claims 1 to 7.
10. A computer storage medium, characterized in that the storage medium stores a program, which is executed by a processor to implement the method of any one of claims 1 to 7.
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| CN202310032975.1A CN116071958A (en) | 2023-01-10 | 2023-01-10 | Vehicle out-of-control early warning method, early warning system, controller and medium |
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| CN202310032975.1A CN116071958A (en) | 2023-01-10 | 2023-01-10 | Vehicle out-of-control early warning method, early warning system, controller and medium |
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