Method for early warning, device, vehicle and the storage medium of vehicle collisionTechnical field
The present invention relates to field of intelligent transportation technology more particularly to a kind of method for early warning of vehicle collision, device, vehicle andStorage medium.
Background technique
With the development of intelligent transportation system (Intelligent Transportation System, ITS), road peaceThe attention of people has also more and more been obtained entirely.
In urban road, it is understood that there may be the friendship of some signal lamps that allows to turn left but not turn left dedicated for instructionCross road mouth.Since straight and turning left is controlled using same signal lamp, that is, indicate what the signal lamp of straight trip and instruction turned leftSignal lamp lights simultaneously, and therefore, vehicle may collide when passing through these intersections, as shown in Figure 1.Traditional touchesAlgorithm is hit, it is general by judging whether the vehicle in reversed lane travels on the leftmost side lane of its driving direction and whether openLeft-hand rotation turn signal determines the vehicle and this vehicle with the presence or absence of the risk of collision, and in the wind for determining its with this vehicle and existing collisionAnti-collision warning is carried out when dangerous.
But traditional collision algorithm is carried out when remote Che Yuben vehicle neighbour lane travels in opposite directions and opens left-hand rotation turn signalEarly warning, misinformation probability is higher, and frequent pre-warning signal can generate unnecessary interference to driver, will affect driver insteadNormal driving.
Summary of the invention
In view of this, the embodiment of the present invention provides method for early warning, device, vehicle and the storage medium of a kind of vehicle collision,To improve the accuracy rate of vehicle collision prewarning.
In a first aspect, the embodiment of the invention provides a kind of method for early warning of vehicle collision, comprising:
Obtain the intersection information of the vehicle traveling information of each target vehicle and the intersection of this front side, the target carriageInclude Ben Che and the remote vehicle of target in reversed lanes；
Determine that this vehicle vehicle remote with target reaches the intersection according to the vehicle traveling information and the intersection informationTime difference；
If the time difference is less than the time difference threshold value of setting, anti-collision warning is carried out.
Second aspect, the embodiment of the invention provides a kind of prior-warning devices of vehicle collision, comprising:
Data obtaining module, for obtaining the road of the vehicle traveling information of each target vehicle and the intersection of this front sideMessage breath, the target vehicle includes Ben Che and the remote vehicle of target in reversed lanes；
Time difference determining module, for determining that this vehicle is remote with target according to the vehicle traveling information and the intersection informationVehicle reaches the time difference of the intersection；
Warning module carries out anti-collision warning when for being less than the time difference threshold value of setting in the time difference.
The third aspect, the embodiment of the invention provides a kind of vehicles, comprising:
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processingDevice realizes the method for early warning of vehicle collision as described in the embodiments of the present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computerProgram, which is characterized in that the program realizes the pre- police of vehicle collision as described in the embodiments of the present invention when being executed by processorMethod.
In the technical solution of above-mentioned vehicle collision prewarning, the vehicle of this vehicle vehicle remote with the target in reversed lanes is obtainedThe intersection information of the intersection of driving information and this front side, determines according to the vehicle traveling information and the intersection informationThis vehicle vehicle remote with target reaches the time difference at front cross crossing, and when the time difference being less than the time difference threshold value of setting, intoRow anti-collision warning.The embodiment of the present invention reaches the time of intersection based on Ben Che and remote vehicle by using above-mentioned technical proposalDifference carries out anti-collision warning, can be improved the accuracy rate of vehicle collision prewarning, reduces the generation for the case where vehicle misses early warning, is improvingDriver drive vehicle when safety while, reduce the interference caused by driver of unnecessary pre-warning signal.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention otherFeature, objects and advantages will become more apparent upon:
Fig. 1 is a kind of schematic diagram of the vehicle provided by the invention the case where intersection collides；
Fig. 2 is a kind of flow diagram of the method for early warning for vehicle collision that the embodiment of the present invention one provides；
Fig. 3 is a kind of flow diagram of the method for early warning of vehicle collision provided by Embodiment 2 of the present invention；
Fig. 4 is a kind of schematic diagram of target vehicle left-hand rotation situation provided by Embodiment 2 of the present invention；
Fig. 5 is that a kind of target vehicle provided by Embodiment 2 of the present invention turns around the schematic diagram of situation；
Fig. 6 is a kind of structural block diagram of the prior-warning device for vehicle collision that the embodiment of the present invention three provides；
Fig. 7 is a kind of structural schematic diagram for vehicle that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouchedThe specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to justIn description, only some but not all contents related to the present invention are shown in the drawings.In addition, in the absence of conflict, thisThe feature in embodiment and embodiment in invention can be combined with each other
Embodiment one
The embodiment of the present invention one provides a kind of method for early warning of vehicle collision.This method is applicable in vehicle by intersectingThe case where carrying out early warning to vehicle collision when crossing, can be executed by the prior-warning device of vehicle collision, wherein the device can be withBy software and or hardware realization, can generally be integrated on mobile unit or vehicle.Fig. 2 is one that the embodiment of the present invention one providesThe flow diagram of the method for early warning of kind vehicle collision, as shown in Fig. 2, this method comprises:
The intersection information of the intersection of S110, the vehicle traveling information for obtaining each target vehicle and this front side, it is describedTarget vehicle includes Ben Che and the remote vehicle of target in reversed lanes.
In the present embodiment, reversed lane is opposite with the lane trend in lane locating before this vehicle enters intersectionLane, correspondingly, the remote vehicle of target is the vehicle (i.e. remote vehicle) that surrounding travels in opposite directions with this vehicle, it can be surrounding and this vehicle phaseAll remote vehicles travelled in opposite directions to any remote vehicle or surrounding of traveling with this vehicle, the present embodiment is using the remote vehicle of target as surrounding and this vehicleIt is illustrated for any remote vehicle travelled in opposite directions；This vehicle vehicle remote with target can join automobile for intelligent network.Wherein, intelligent network joinsAutomobile is an important component of intelligent transportation system, and scope had both included with navigation, road information service and long-range vehicleCondition is diagnosed as the automobile information represented and amusement class business, also includes anti-collision warning, to lose control of one's vehicle early warning, prevention pedestrian impact etc.Security classes business, since intelligent network connection automobile has V2V (Vehicle to Vehicle, vehicle to vehicle) communication, V2P (VehicleTo Pedestrian, vehicle to people) communication, V2I (Vehicle to Infrastructure, vehicle to roadside equipment) communication withV2N (Vehicle to Network, vehicle to network) communicates the ability of (being referred to as automobile-used wireless communication technique V2X), therefore, thisVehicle can obtain the vehicle traveling information of the remote vehicle of target and the intersection information at front cross crossing based on V2X.
Specifically, Ben Che vehicle remote with target can be broadcast periodically the vehicle traveling information of itself in the process of moving,Roadside equipment can be broadcast periodically the intersection information of the intersection near its set seated position, thus, this vehicle is travellingThis vehicle can be determined based on positioning system, sensor and/or the interior control instruction generated etc. installed on this vehicle in the processVehicle traveling information, and can receive surrounding vehicle broadcast the vehicle traveling information of its own and receive roadside equipment it is wideThe intersection information for the intersection broadcast, and then be according to the vehicle of the determining surrounding of the vehicle traveling information of the surrounding vehicles receivedThe no remote vehicle to be travelled on reversed lane, if so, the remote Che Yuben vehicle is determined as the remote vehicle of target, to obtain each target carriageVehicle traveling information and front cross crossing intersection information.
Wherein, the vehicle of surrounding can receive the vehicle of the vehicle traveling information of its broadcast for this vehicle, to pass throughFor the V2X communication technology obtains the vehicle traveling information of surrounding vehicles, for the foundation level of current V2X, this vehicle at least may be usedTo get the vehicle traveling information of the vehicle within this vehicle 300m；It is travelled on the whether reversed lane of vehicle of surroundingThe judgment method of remote vehicle can according to need selections, as the position based on vehicle determines lane locating for vehicle, and based on the vehicleRoad moves towards to determine whether the vehicle is remote vehicle in reversed lanes, alternatively, judge this vehicle driving direction and remote vehicleWhether the angle between driving direction is at 180 ° or so (such as whether in the range of at 180 ° ± 7 °) etc..
Illustratively, as shown in table 1, the vehicle traveling information of Ben Che vehicle broadcast remote with target can include but is not limited to vehiclePosition, headstock deflection, speed, 3-axis acceleration, in yaw velocity and turn signal at least one of；Such as 2 institute of tableShow, the intersection information of roadside equipment broadcast can include but is not limited to all lanes of the position of intersection, intersectionAt least one of in the width in information and lane.Wherein, the position of vehicle can be the position of vehicle center point, the longitudinal direction of vehicleAcceleration refers to acceleration of the vehicle in its driving direction, and the position of intersection can be the position of intersection central pointIt sets, the driving direction that the lane that the trend in lane refers to allows a, road refers to the set in all lanes of same direction.
1 vehicle traveling information of table
2 intersection information of table
S120, determine that this vehicle vehicle remote with target reaches described intersect according to the vehicle traveling information and the intersection informationThe time difference at crossing.
Specifically, the vehicle traveling information of this vehicle can be primarily based on and intersection information calculates this vehicle and reaches intersectionAt the first time, and the vehicle traveling information based on the remote vehicle of target and intersection information calculate the remote vehicle of target and reach the second of intersectionTime, such as speed and longitudinal acceleration and Ben Che according to this vehicle at current time calculate this vehicle at a distance from intersection and arriveThe remote vehicle of speed and longitudinal acceleration and target and friendship up to the first time of intersection, according to the remote vehicle of target at current timeThe distance of cross road mouth calculates the second time that the remote vehicle of target reaches intersection；Then according to this at the first time with second timeCalculate the time difference that this vehicle vehicle remote with target reaches car crossing.
If S130, the time difference are less than the time difference threshold value of setting, anti-collision warning is carried out.
In the present embodiment, time difference threshold value can according to need setting, such as to can be set to 3s, 5s or 8s time longDegree.In view of left direction signal lamp and straight trip signal lamp have same phase (i.e. left direction signal lamp and straight trip signal lamp simultaneouslyOpen or close) road allow vehicle driving F-Zero it is usually not high, it is preferred, therefore, that time difference threshold value can be setIt being set to 5s, at this time, it is assumed that Ben Che vehicle remote with target is travelled with the speed of 60km/h (i.e. 16.67m/s), then, it is collidedWhen early warning, the distance between two vehicles can achieve or more than 150m, it is sufficient to reach safe early warning distance, can reduce anti-collision warningRate of false alarm, and can ensure that the practicability of anti-collision warning.Correspondingly, when Ben Che vehicle remote with target reaches the time difference of intersectionWhen less than 5s, anti-collision warning is carried out.Wherein, the mode of anti-collision warning can according to need selection, can such as carry out voice reminderOr alerting patterns, the present embodiment such as early-warning lamp flashing prompting are limited not to this.
Correspondingly, if the time difference be greater than or equal to setting time difference threshold value, it is determined that Ben Che vehicle remote with targetThere is no risk of collision, and can further return and execute S120, until this vehicle is by the intersection.Also, at thisAfter vehicle passes through the intersection, next intersection can also be determined to the intersection of this front side, and return to executionS110, until the time span that this vehicle stops traveling is more than preset time span threshold value or this vehicle is flame-out.
It should be noted that, although the present embodiment is said so that the remote vehicle of target is any remote vehicle of reversed lanes as an exampleBright, still, it includes reversed lanes that the method for early warning of vehicle collision provided in this embodiment, which is equally applicable to the remote vehicle of target,The case where all remote vehicles.When the remote vehicle of target includes all remote vehicles of reversed lanes, the above-mentioned time difference can be this vehicleThe minimum time that vehicle remote with each target reached in the time difference at front cross crossing is poor, to be less than setting in the minimum time differenceTime difference threshold value when, carry out anti-collision warning.That is, this vehicle is only when Ben Che vehicle remote with each target reaches front cross crossingBetween difference be all larger than or be equal to the time difference threshold value when, just not will do it anti-collision warning；Ruo Benche vehicle remote with each target reaches frontWhen there is the time difference less than the time difference threshold value in the time difference of intersection, no matter Ben Che and other a certain or more meshWhether the time difference for marking remote vehicle arrival front cross crossing is greater than or equal to the time difference threshold value, and it is pre- that this vehicle will do it collisionIt is alert.
The method for early warning for the vehicle collision that the embodiment of the present invention one provides obtains this vehicle and the target in reversed lanesThe intersection information of the intersection of the vehicle traveling information and this front side of remote vehicle, according to the vehicle traveling information and the crossingInformation determines that this vehicle vehicle remote with target reaches the time difference at front cross crossing, and in the time difference threshold for being less than setting to the time differenceWhen value, anti-collision warning is carried out.The present embodiment by using above-mentioned technical proposal, based on Ben Che and remote vehicle reach intersection whenBetween difference carry out anti-collision warning, can be improved the accuracy rate of vehicle collision prewarning, reduce the generation for the case where vehicle misses early warning, mentioningWhile safety when high driver drives vehicle, the interference caused by driver of unnecessary pre-warning signal is reduced.
On the basis of the above embodiments, this vehicle is determined according to the vehicle traveling information and the intersection information describedBefore vehicle remote with target reaches the time difference of the intersection, it can also comprise determining that the intersection is left rotaring signalThe intersection that lamp and straight trip signal lamp are opened simultaneously.The present embodiment can be based on when by any intersection Ben Che withThe time difference that the remote vehicle of target reaches intersection carries out anti-collision warning, it is contemplated that vehicle is by left rotaring signal lamp and keeps straight on signal notThe probability to collide when the intersection opened simultaneously is smaller, and therefore, the present embodiment can preferably determine this vehicle and targetBefore remote vehicle reaches the time difference of intersection, first determine whether the intersection of this front side is left rotaring signal lamp and straight tripThe intersection that signal lamp is opened simultaneously, if so, determining that this vehicle vehicle remote with target reaches the time difference of intersection；IfIt is no, then the operation for the time difference for determining that this vehicle vehicle remote with target reaches intersection is no longer executed, is touched with reducing vehicle in vehicleHit the occupied resource of early warning.Wherein, whether intersection is left rotaring signal lamp and straight trip signal lamp while the crossroad openedMouth can simultaneously close off determination, left turn lane and straight traffic based on whether the signal lamp of left turn lane and Through Lane is opened simultaneouslyThe intersection information that the opening time of the signal lamp in road can be sent based on roadside equipment determines.
Embodiment two
Fig. 3 is a kind of flow diagram of the method for early warning of vehicle collision provided by Embodiment 2 of the present invention, the present embodimentOn the basis of the above embodiments, " this vehicle vehicle remote with target will be determined according to the vehicle traveling information and the intersection informationReach the time difference of the intersection " optimization are as follows: each target is determined according to the vehicle traveling information and the intersection informationThe driving status of vehicle, the driving status include straight-going state and non-straight-going state, and the non-straight-going state includes pre- left-hand rotationState, left turn state and at least one of the state that turns around；If this vehicle is in non-straight-going state and/or the remote vehicle of target is in non-Straight-going state then determines that each target vehicle reaches the temporal information of the intersection according to the driving status respectively；It is based onThe temporal information calculates the time difference that this vehicle vehicle remote with target reaches the intersection.
Correspondingly, as shown in figure 3, the method for early warning of vehicle collision provided in this embodiment includes:
The intersection information of the intersection of S210, the vehicle traveling information for obtaining target vehicle and this front side, the meshMarking vehicle includes Ben Che and the remote vehicle of target in reversed lanes.
S220, the driving status that the target vehicle is determined according to the vehicle traveling information and the intersection information, instituteStating driving status includes straight-going state and non-straight-going state, and the non-straight-going state includes pre- left turn state, left turn state and fallsAt least one of head state.
It in the present embodiment, can be according to the position of target vehicle, the open state and target vehicle of left-hand rotation indicatorWith at a distance from intersection, the yaw angle of target vehicle speed and turning radius determine the state of target vehicle.Here, target vehicleWhether being located at left turn lane can determine according to the location information of target vehicle and the location information of left turn lane；Target vehicleIt can be determined according to the location information of target vehicle and the location information of intersection at a distance from intersection；Target vehicleTurning radius can be determined according to the yaw velocity of the speed of target vehicle and target vehicle, such as can be by target vehicleTurning radius be determined as the speed of the target vehicle and the ratio of yaw velocity；The location information of target vehicle, left-hand rotation sideIt can be obtained to the opening imformation, speed and yaw velocity of lamp from the vehicle traveling information of target vehicle；Each left turn laneLocation information and intersection location information can from roadside equipment send intersection information in obtain.Wherein, turn leftLane can be determined according to the signal information in lane each in intersection information and/or position.Since left rotaring signal lamp and straight trip are believedThe road that signal lamp is opened simultaneously usually only has a left turn lane, it is preferred, therefore, that the present embodiment can be according to each laneLeftmost side lane in road is determined as left turn lane by position.
Specifically, left turn lane whether can be located at by judging the target vehicle, the left-hand rotation indicator of target vehicle isWhether no unlatching, target vehicle are less than or equal to the corresponding distance threshold in the intersection, target vehicle at a distance from intersectionYaw velocity whether be greater than or equal to default yaw velocity threshold value and whether the turning radius of target vehicle is greater than phaseThe width of adjacent one-way road determines the driving status of target vehicle, correspondingly, if the target vehicle is located at the target carriageThe left-hand rotation indicator in leftmost side lane and the target vehicle in driving direction is opened, it is determined that the target vehicle is inPre- left turn state；If the target vehicle is less than or equal to the corresponding distance in the intersection at a distance from the intersectionThreshold value, the target vehicle yaw velocity be greater than or equal to the turning of default yaw velocity threshold value and the target vehicleRadius is greater than the width of adjacent one-way road, it is determined that the target vehicle is in left turn state；If the target vehicle and instituteThe distance for stating intersection is less than or equal to the yaw velocity of the corresponding distance threshold in the intersection, the target vehicleMore than or equal to default yaw velocity threshold value and the turning radius of the target vehicle is less than or equal to adjacent one-way roadWidth, it is determined that the target vehicle is in the state that turns around；Otherwise, it is determined that the target vehicle is in straight-going state.
Wherein, pre- left turn state can be understood as vehicle and be ready for the state turned left.Yaw velocity threshold value can rootAccording to needing to be arranged, such as it can be set to -3 degree/s (3 degree/s i.e. in the counterclockwise direction), -5 degree/s, preferably can be set to -3 degree/s, i.e.,Radian/s.Adjacent one-way road be with road locating for target vehicle it is adjacent and parallel and with locating for target vehicleRoad moves towards opposite road, the width in each lane that the width of adjacent one-way road can be included according to adjacent one-way roadDegree determines.
In the present embodiment, the corresponding distance threshold in each intersection can be pre-set and intersection one wayThe width on road and the length correlation of target vehicle vehicle body or incoherent distance value.In view of intersection is of different size andVehicle left-hand rotation is typically different at a distance from when turning around and intersection when length of wagon difference, and therefore, this implementation preferably can be with baseThe distance threshold of intersection is determined in the width of intersection one-way road and the length of target vehicle vehicle body, such as can be withThe sum of width and the target vehicle length of wagon in unidirectional lane or unidirectional lane width and target carriage are set by distance thresholdThe sum of twice etc. of length of wagon, can will preferably set distance threshold to unidirectional lane width and target vehicle vehicle body lengthThe sum of twice of degree.At this point, in the driving status for determining the target vehicle according to the vehicle traveling information and intersection informationIt before, can also include: that the corresponding distance in the intersection is determined according to the vehicle traveling information and the intersection informationThreshold value, the vehicle traveling information include length of wagon, and the intersection information includes the width in each lane around.
If S230, this vehicle are in non-straight-going state and/or the remote vehicle of target is in non-straight-going state, according to the travelingState determines that each target vehicle reaches the temporal information of the intersection respectively.
Since when Ben Che vehicle remote with target is with straight-going state by intersection, Ben Che vehicle remote with target is not deposited generallyIt, therefore, then can be without anti-collision warning when Ben Che vehicle remote with target is in straight-going state in risk of collision.
In the present embodiment, the calculating that target vehicle under each driving status reaches the time of intersection can be presetRule, and when determining that this vehicle and/or the remote vehicle of target are in non-straight-going state, calculating corresponding with each driving status is respectively adoptedRule calculates each target vehicle and travels according to current running state to time span needed for intersection, to obtain each target carriageIntersection temporal information, that is, using the corresponding computation rule of this vehicle travelling state calculate this vehicle reach intersectionRequired temporal information, and the remote vehicle of target is calculated using the corresponding computation rule of the remote vehicle travelling state of target and reaches intersection instituteThe temporal information needed.
Specifically, the determination process that target vehicle reaches the temporal information of intersection can be with are as follows: be directed to each target carriage, if the target vehicle is in straight-going state or pre- left turn state, according to the speed of the target vehicle, longitudinal accelerationDegree, first location information and the second location information determine that the target vehicle reaches the temporal information of the intersection；If the target vehicle is in left turn state, according to the transmits information of the target vehicle and yaw velocity andThe track direction information of locating first lane determines the needed for the target vehicle is completed after the target vehicle turns leftOne time span reaches the temporal information of the intersection as the target vehicle；If the target vehicle is inHead state, then it is locating before being turned around according to the transmits information of the target vehicle and yaw velocity and the target vehicleThe track direction information of second lane determines that the target vehicle completes the second required time span that turns around, as the targetVehicle reaches the temporal information of the intersection.
Illustratively, it is assumed that the yaw velocity of target vehicle isThe distance between target vehicle and intersection areL, the likeness in form speed of target vehicle are V, and the longitudinal acceleration of target vehicle is a, the driving direction and direct north of target vehicleAngle along clockwise direction is βr, since target vehicle is with straight-going state or the time t of pre- straight-going state arrival intersectionMeetTherefore, it when target vehicle is in straight-going state or pre- left turn state, can be counted using following formula (1)Calculate the time that target vehicle reaches intersection:
When target vehicle is in left turn state, target vehicle can be calculated using following formula (2) and reach intersectionTime:
When target vehicle, which is in, turns around state, target vehicle can be calculated using following formula (3) and reach intersectionTime:
Wherein, βlink1The lane of locating first lane is moved towards with direct north along clockwise direction after turning left for target vehicleAngle (as shown in Figure 4), βlink2The lane trend of locating second lane and direct north are along suitable before turning around for target vehicleConterclockwise angle (as shown in Figure 5).
S240, the time difference that this vehicle vehicle remote with target reaches the intersection is calculated based on the temporal information.
Specifically, calculating the time span that this vehicle reaches time span vehicle arrival remote with the target intersection of intersectionDifference absolute value, the time difference that remote with the target vehicle of Ben Che reaches intersection can be obtained.
If S250, the time difference are less than the time difference threshold value of setting, anti-collision warning is carried out.
Vehicle provided in this embodiment is touched so that non-straight-going state only includes pre- left turn state and left turn state as an example belowThe method for early warning hit is illustratively illustrated.Due to being generally not present the case where Ben Che is turned left simultaneously with remote vehicle, becauseWhen there is such case, it is meant that two vehicles reach crossing simultaneously, and before two vehicles reach crossing simultaneously, this vehicle is inevitableThrough carrying out anti-collision warning, therefore, this illustratively illustrates the case where not considering this Che Yuyuan vehicle while being in left turn state.InIn the illustrative explanation, it is assumed that situation 1 is that remote vehicle is in straight-going state and this vehicle is in straight-going state, and situation 2 is at remote vehicleIn pre- left turn state and this vehicle is in straight-going state, and situation 3 is that remote vehicle is in straight-going state and this vehicle is in pre- left turn state, feelingsCondition 4 is that remote vehicle is in pre- left turn state and this vehicle is in pre- left turn state, and situation 5 is that remote vehicle is in left turn state and this vehicle is inNon- left turn state, situation 6 are that remote vehicle is in non-left turn state and this vehicle is in left turn state, then this vehicle carries out the mistake of anti-collision warningJourney can be with are as follows:
A, the running condition information of remote vehicle around obtaining.
B, judge whether remote Che Yuben vehicle travels in opposite directions in adjacent road, if so, thening follow the steps c；If it is not, then executingStep k.
C, judge whether the driving status of this Che Yuyuan vehicle meets situation 1, if meeting, then follow the steps k, if not meeting,Then follow the steps d.
D, judge whether the driving status of this Che Yuyuan vehicle meets situation 2, situation 3 or situation 4 and execute step if meetingRapid e；If not meeting, f is thened follow the steps.
E, formula (1) is respectively adopted and calculates the time that this Che Yuyuan vehicle reaches intersection, is reached with obtaining Ben Che and remote vehicleThe time difference of intersection, and execute step j.
F, judge whether the driving status of this Che Yuyuan vehicle meets situation 5, if meeting, then follow the steps g；If not meeting,Then follow the steps h.
G, the time that remote vehicle reaches intersection is calculated using formula (2), this vehicle is calculated using formula (1) and reaches intersectionTime reaches the time difference of intersection to obtain Ben Che and remote vehicle, and executes step j.
H, judge whether the driving status of this Che Yuyuan vehicle meets situation 6, if meeting, then follow the steps i；If not meeting,Then follow the steps k.
I, the time that this vehicle reaches intersection is calculated using formula (2), remote vehicle is calculated using formula (1) and reaches intersectionTime reaches the time difference of intersection to obtain Ben Che and remote vehicle, and executes step j.
J, judge whether the time difference of this Che Yuyuan vehicle arrival intersection is greater than or equal to the time difference threshold value of setting, ifIt is to then follow the steps k；If it is not, thening follow the steps l.
K, determining this vehicle vehicle remote with this, there is no risk of collision, end operations.
L, anti-collision warning, end operation are carried out.
For example, it is assumed that this vehicle is in pre- left turn state, remote vehicle is in straight-going state；This vehicle is at a distance from intersection500m, speed 13m/s, longitudinal acceleration 0；Remote vehicle is 300m, speed 10m/s, Zong Xiangjia at a distance from intersectionSpeed is 0.5m/s2, time difference threshold value is 5s.Through judging it is found that the driving status of the remote vehicle of this vehicle meets situation 3 at this time, as a result,According to formula (1) it is found that the time needed for this vehicle reaches crossroad isRemote vehicle reaches needed for intersectionTime beSo that the time difference that Ben Che and remote vehicle reach intersection is |Tl-Tr|=18.5s, due to 18.5s > 5s, accordingly, it is determined that risk of collision is not present in Ben Che vehicle remote with this, it is pre- without collidingIt is alert.
For another example, in the case that the road to intersect in intersection is completely vertical, it is assumed that the width of each one-way road is15m, time difference threshold value are 5s, and default yaw velocity threshold value isRadian/s, the corresponding distance threshold in the intersection are singleItem road width adds the distance of two lengths of wagon, this vehicle length of wagon is 4m, and distance of this vehicle apart from intersection is16m, the yaw velocity of this vehicle are -0.1 radian/s, and the speed of this vehicle is 2m/s；Remote vehicle be in straight-going state and remote vehicle and friendshipThe distance of cross road mouth is 120m, and the speed of remote vehicle is 10m/s, and the longitudinal acceleration of remote vehicle is 0.Since the intersection is correspondingDistance be 15+2 × 4=23m, Ben Che at a distance from intersection be less than the distance threshold, the yaw velocity of this vehicle it is absoluteValue is greater than default yaw velocity threshold value, the turning radius of this vehicleThus may determine that this vehicleIn left turn state, the driving status of Ben Che and remote vehicle meets situation 6, can determine that this vehicle is completed according to formula (2) as a result,The required time isIt can determine that the time is needed for remote vehicle reaches intersection according to formula (1)This Che Yuyuan vehicle reach intersection time difference be | Tl-Tr|=3.7s, due to 3.7s < 5s, reallyThere are risk of collision for Ding Benche vehicle remote with this, carry out anti-collision warning.
The method for early warning of vehicle collision provided by Embodiment 2 of the present invention obtains this vehicle and the target in reversed lanesThe intersection information of the intersection of the vehicle traveling information and this front side of remote vehicle；According to the vehicle row of Ben Che vehicle remote with targetIt sails information and the intersection information determines the driving status of this vehicle vehicle remote with target；If Ben Che and/or the remote vehicle of target are in non-Straight-going state then determines that this vehicle reaches the temporal information of intersection according to the driving status of this vehicle, and according to the remote vehicle of targetDriving status determines that the remote vehicle of target reaches the temporal information of intersection；The time of temporal information vehicle remote with target based on this vehicleInformation calculates the time difference that this vehicle vehicle remote with target reaches intersection, and when the time difference being less than setting time difference threshold value,Carry out anti-collision warning.The present embodiment can further increase the accuracy rate of anti-collision warning by using above-mentioned technical proposal, reduceThe probability that no early warning happens.
Embodiment three
The embodiment of the present invention three provides a kind of prior-warning device of vehicle collision.The device can be by software and/or hardware realityIt is existing, it can generally be integrated on mobile unit or vehicle, vehicle collision can be carried out in advance by executing the method for early warning of vehicle collisionIt is alert.Fig. 6 is the structural block diagram of the prior-warning device for the vehicle collision that the embodiment of the present invention three provides, as shown in fig. 6, the device includesData obtaining module 301, time difference determining module 302 and warning module 303, wherein
Data obtaining module 301, for obtaining the vehicle traveling information of each target vehicle and the intersection of this front sideIntersection information, the target vehicle includes Ben Che and the remote vehicle of target in reversed lanes；
Time difference determining module 302, for determining this vehicle and mesh according to the vehicle traveling information and the intersection informationMark the time difference that remote vehicle reaches the intersection；
Warning module 303 carries out anti-collision warning when for being less than the time difference threshold value of setting in the time difference.
The embodiment of the present invention three provide vehicle collision prior-warning device, by data obtaining module obtain this vehicle with anti-To the intersection information of the intersection of the vehicle traveling information and this front side of the remote vehicle of target of lanes, pass through the time differenceDetermining module according to the vehicle traveling information and the intersection information determine remote with the target vehicle of this vehicle reach front cross crossing whenBetween it is poor, and by warning module to the time difference be less than setting time difference threshold value when, carry out anti-collision warning.The present embodiment passes throughBy adopting the above technical scheme, anti-collision warning is carried out based on Ben Che and remote the vehicle time difference for reaching intersection, can be improved vehicleThe accuracy rate of anti-collision warning reduces the generation for the case where vehicle misses early warning, the safety when improving driver and driving vehicleMeanwhile reducing the interference caused by driver of unnecessary pre-warning signal.
In the above scheme, the time difference determining module 302 may include: driving status determination unit, be used for basisThe vehicle traveling information and the intersection information determine that the driving status of each target vehicle, the driving status include straight trip shapeState and non-straight-going state, the non-straight-going state include pre- left turn state, left turn state and at least one of the state that turns around；WhenBetween determination unit, for when this vehicle is in non-straight-going state and/or the remote vehicle of target is in non-straight-going state, respectively according to each instituteIt states driving status and determines that respective objects vehicle reaches the temporal information of the intersection；Time difference calculating unit, for being based onThe temporal information calculates the time difference that this vehicle vehicle remote with target reaches the intersection.
In the above scheme, the vehicle traveling information includes first location information, transmits information, speed, longitudinal directionAcceleration and yaw velocity, the intersection information include the track direction information of second location information and each lane of surrounding,The time determination unit is particularly used in: when this vehicle is in non-straight-going state and/or the remote vehicle of target is in non-straight-going state,For each target vehicle, if the target vehicle is in straight-going state or pre- left turn state, according to the target vehicleSpeed, longitudinal acceleration, first location information and the second location information determine that the target vehicle reaches the intersectionThe temporal information at crossing；If the target vehicle is in left turn state, according to the transmits information of the target vehicleThe track direction information of locating first lane determines the target vehicle after turning left with yaw velocity and the target vehicleFirst time length needed for completing, the temporal information of the intersection is reached as the target vehicle；If instituteIt states target vehicle and is in the state that turns around, then according to the transmits information of the target vehicle and yaw velocity and the meshThe track direction information of locating second lane determines that the target vehicle completion is turned around the second required time before mark vehicle turns aroundLength reaches the temporal information of the intersection as the target vehicle.
In the above scheme, the driving status determination unit is particularly used in: each target vehicle is directed to, if the meshThe left-hand rotation indicator that mark vehicle is located at leftmost side lane and the target vehicle in the target vehicle driving direction is opened, thenDetermine that the target vehicle is in pre- left turn state；If the target vehicle is less than or equal to described at a distance from the intersectionThe corresponding distance threshold in intersection, the target vehicle yaw velocity be greater than or equal to default yaw velocity threshold value andThe turning radius of the target vehicle is greater than the width of adjacent one-way road, it is determined that the target vehicle is in left turn state；If the target vehicle is less than or equal to the corresponding distance threshold in the intersection, the target at a distance from the intersectionThe yaw velocity of vehicle is greater than or equal to default yaw velocity threshold value and the turning radius of the target vehicle is less than or equal toThe width of adjacent one-way road, it is determined that the target vehicle is in the state that turns around；Otherwise, it is determined that the target vehicle is inStraight-going state.
In the above scheme, the driving status determination unit can be also used for: according to the vehicle traveling information and instituteIt states intersection information and determines that the corresponding distance threshold in the intersection, the vehicle traveling information include length of wagon, the roadMessage breath includes the width in each lane of surrounding.
One ground of progress, the prior-warning device of the vehicle collision can also include: crossing determining module, in the basisBefore the vehicle traveling information and the intersection information determine the time difference that this vehicle vehicle remote with target reaches the intersection,Determine that the intersection is the intersection of left rotaring signal lamp and keep straight on signal lamp while unlatching.
The vehicle that any embodiment of that present invention provides can be performed in the prior-warning device for the vehicle collision that the embodiment of the present invention three providesCollision method for early warning, have execute vehicle collision the corresponding functional module of method for early warning and beneficial effect.Not in this realityThe technical detail of detailed description in example is applied, reference can be made to the method for early warning of vehicle collision provided by any embodiment of the invention.
Example IV
Fig. 7 is a kind of structural schematic diagram for vehicle that the embodiment of the present invention four provides, as shown in fig. 7, the vehicle includes placeDevice 40 and memory 41 are managed, can also include input unit 42 and output device 43；The quantity of processor 40 can be in vehicleOne or more, in Fig. 7 by taking a processor 40 as an example；Processor 40, memory 41, input unit 42 and output in vehicleDevice 43 can be connected by bus or other modes, in Fig. 7 for being connected by bus.
Memory 41 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computerSequence and module, if the corresponding program instruction/module of the method for early warning of the vehicle collision in the embodiment of the present invention is (for example, vehicleData obtaining module 301, time difference determining module 302 and warning module 303 in the prior-warning device of collision).Processor 40 is logicalCross the operation software program, instruction and the module that are stored in memory 41, thereby executing vehicle various function application andThe method for early warning of above-mentioned vehicle collision is realized in data processing.
Memory 41 can mainly include storing program area and storage data area, wherein storing program area can store operation systemApplication program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to terminal.ThisOutside, memory 41 may include high-speed random access memory, can also include nonvolatile memory, for example, at least a magneticDisk storage device, flush memory device or other non-volatile solid state memory parts.In some instances, memory 41 can be furtherIncluding the memory remotely located relative to processor 40, these remote memories can pass through network connection to vehicle.It is above-mentionedThe example of network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Input unit 42 can be used for receiving the number or character information of input, and generate with the user setting of vehicle andThe related key signals input of function control.Output device 43 may include that display screen etc. shows equipment.
The embodiment of the present invention four also provides a kind of storage medium comprising computer executable instructions, and the computer can be heldRow is instructed when being executed by computer processor for executing a kind of method for early warning of vehicle collision, this method comprises:
Obtain the intersection information of the vehicle traveling information of each target vehicle and the intersection of this front side, the target carriageInclude Ben Che and the remote vehicle of target in reversed lanes；
Determine that this vehicle vehicle remote with target reaches the intersection according to the vehicle traveling information and the intersection informationTime difference；
If the time difference is less than the time difference threshold value of setting, anti-collision warning is carried out.Certainly, institute of the embodiment of the present inventionA kind of storage medium comprising computer executable instructions of offer, the side that computer executable instructions are not limited to the described aboveMethod operation, can also be performed the relevant operation in the method for early warning of vehicle collision provided by any embodiment of the invention.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present inventionIt can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is moreGood embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior artPart can be embodied in the form of software products, which can store in computer readable storage mediumIn, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computerAccess Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is setStandby (can be personal computer, server or the network equipment etc.) executes method described in each embodiment of the present invention.
It is worth noting that, in the embodiment of the prior-warning device of above-mentioned vehicle collision, included each unit and moduleIt is only divided according to the functional logic, but is not limited to the above division, as long as corresponding functions can be realized；In addition, the specific name of each functional unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art thatThe invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present inventionIt is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, alsoIt may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.